version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 203
start: 3 30 119 21 18 31
data:
$ID,574
$MISSION,3
$DIVE,203
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,182
$T_ABORT,197
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,95
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,300319,210913,-3000.4048,3105.1311,8,1.0,18,-25.0,0.0,42.8,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.0
$GPS2,300319,211807,-3000.3767,3105.1858,7,1.1,16,-25.0,0.6,273.4,8,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3008.097,3113.917
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,160.6,20000,-23.0,-9.980,-25.43,1422
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1807,621,554,0.0,0.0,0,109,0.00,0.00,-84.97,0.000,16386,0.000,0.000,54,1810,2879,2849,2910,0,0,0,0,0,0,15.11,28.83,15.12
$GC,112,-0.88,-92.5,53,1810,2850,2910,3.4,-6.8,15,138,13.82,2.35,-3.55,0.000,18948,0.288,0.076,2468,399,3078,3067,3089,0,0,0,0,0,0,14.76,14.21,14.97
$GC,270,-0.88,-92.5,2468,398,3070,3087,44.7,-20.7,45,277,0.05,2.28,0.00,0.000,3078,0.353,0.034,2469,1811,3079,3072,3086,0,0,0,0,0,0,14.78,14.92,14.97
$GC,340,-0.88,-92.5,2468,1813,3072,3085,56.8,-16.1,58,347,0.00,2.30,0.00,0.000,2308,0.000,0.049,2459,3221,3078,3072,3085,0,0,0,0,0,0,15.19,14.96,15.20
$GC,401,-0.88,-92.5,2460,3221,3073,3084,66.8,-15.1,69,408,0.00,2.30,0.00,0.000,3078,0.000,0.038,2461,1812,3078,3073,3084,0,0,0,0,0,0,15.07,14.98,15.07
$GC,471,-0.88,-92.5,2461,1812,3073,3084,75.6,-12.0,82,478,0.00,2.33,0.00,0.000,2308,0.000,0.050,2461,3218,3080,3073,3088,0,0,0,0,0,0,15.21,14.97,15.21
$GC,550,-0.88,-92.5,2460,3218,3073,3085,86.4,-14.1,97,557,0.03,2.30,0.00,0.000,3078,0.467,0.042,2468,1810,3078,3073,3084,0,0,0,0,0,0,14.82,14.96,15.00
$GC,620,-0.88,-92.5,2468,1809,3073,3084,96.2,-14.1,110,626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1809,3078,3073,3084,0,0,0,0,0,0,15.22,15.23,15.23
$GC,692,-0.88,-92.5,2468,1809,3073,3083,106.3,-13.6,123,698,0.00,2.35,0.00,0.000,2564,0.000,0.063,2468,405,3078,3073,3083,0,0,0,0,0,0,15.23,15.01,15.23
$GC,762,-0.88,-92.5,2468,404,3074,3084,116.5,-14.1,136,770,0.05,2.28,0.00,0.000,3078,0.351,0.034,2470,1823,3079,3074,3084,0,0,0,0,0,0,14.88,15.05,15.07
$GC,833,-0.88,-92.5,2470,1824,3073,3084,127.6,-16.5,149,839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1825,3079,3074,3084,0,0,0,0,0,0,15.24,15.25,15.25
$GC,902,-0.88,-92.5,2469,1825,3074,3084,137.9,-15.7,162,909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1824,3079,3074,3084,0,0,0,0,0,0,15.24,15.25,15.24
$GC,974,-0.88,-92.5,2469,1825,3074,3084,148.4,-14.7,175,980,0.00,2.28,0.00,0.000,2308,0.000,0.050,2461,3219,3078,3073,3084,0,0,0,0,0,0,15.24,15.03,15.24
$GC,1018,-0.88,-92.5,2460,3220,3074,3083,154.7,-14.2,183,1025,0.00,2.30,0.00,0.000,3078,0.000,0.043,2461,1809,3078,3074,3083,0,0,0,0,0,0,15.14,15.04,15.14
$GC,1088,-0.88,-92.5,2460,1809,3074,3083,164.3,-13.0,196,1096,0.03,2.30,0.00,0.000,2308,0.500,0.048,2461,3212,3078,3074,3083,0,0,0,0,0,0,14.90,15.04,15.05
$GC,1112,-0.88,-92.5,2461,3212,3074,3083,167.2,-11.7,200,1119,0.00,2.30,0.00,0.000,3078,0.000,0.043,2461,1804,3078,3074,3083,0,0,0,0,0,0,15.14,15.04,15.15
$GC,1182,-0.88,-92.5,2460,1804,3074,3083,175.8,-12.1,213,1189,0.00,2.33,0.00,0.000,2308,0.000,0.051,2461,3211,3078,3074,3083,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1248,-0.88,-92.5,2460,3211,3074,3083,183.1,-10.7,225,1254,0.00,2.28,0.00,0.000,3078,0.000,0.041,2461,1810,3078,3074,3083,0,0,0,0,0,0,15.14,15.05,15.15
$GC,1317,-0.88,-92.5,2460,1810,3074,3082,191.8,-15.0,238,1325,0.00,2.33,0.00,0.000,2308,0.000,0.051,2461,3213,3078,3074,3082,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1397,-0.88,-92.5,2460,3213,3074,3082,203.3,-11.7,253,1404,0.00,2.30,0.00,0.000,3078,0.000,0.044,2461,1810,3078,3074,3082,0,0,0,0,0,0,15.14,15.04,15.15
$GC,1467,-0.88,-92.5,2460,1809,3074,3082,212.5,-12.8,266,1474,0.00,2.33,0.00,0.000,2308,0.000,0.048,2461,3219,3077,3073,3082,0,0,0,0,0,0,15.27,15.04,15.27
$GC,1520,-0.88,-92.5,2460,3219,3074,3080,218.9,-12.3,275,1526,0.00,2.30,0.00,0.000,3078,0.000,0.042,2461,1806,3077,3074,3081,0,0,0,0,0,0,15.14,15.05,15.16
$GC,1589,-0.88,-92.5,2460,1806,3074,3080,228.9,-15.5,288,1595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1806,3077,3074,3081,0,0,0,0,0,0,15.26,15.27,15.26
$GC,1657,-0.88,-92.5,2460,1806,3074,3081,239.9,-15.2,301,1664,0.00,2.33,0.00,0.000,2308,0.000,0.050,2455,3217,3077,3073,3081,0,0,0,0,0,0,15.28,15.06,15.28
$STATE,1669,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1669,begin apogee
$GC,1676,-0.17,0.0,2455,1802,3074,3080,242.1,-16.3,303,1751,1.20,0.00,68.07,1.032,10246,0.160,0.000,2695,1802,2698,2716,2681,0,0,0,0,0,0,14.88,14.78,14.28
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1756,0.88,92.5,2694,1802,2716,2682,247.7,0.0,316,1840,1.52,2.42,73.32,1.040,10756,0.073,0.063,3033,395,2323,2345,2301,0,0,0,0,0,0,14.76,14.54,14.21
$GC,1897,0.88,92.5,3033,394,2341,2299,241.6,10.0,340,1903,0.00,2.30,0.00,0.000,3078,0.000,0.033,3033,1807,2319,2341,2298,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1967,0.88,92.5,3033,1808,2340,2295,234.2,10.4,353,1974,0.00,2.30,0.00,0.000,2308,0.000,0.047,3033,3203,2317,2340,2295,0,0,0,0,0,0,15.05,14.85,15.06
$GC,2011,0.88,92.5,3033,3203,2338,2296,229.0,11.7,361,2017,0.00,2.33,0.00,0.000,1030,0.000,0.044,3039,1799,2316,2338,2294,0,0,0,0,0,0,14.90,14.88,14.91
$GC,2080,0.88,92.5,3040,1799,2338,2294,221.9,10.9,374,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1799,2316,2338,2294,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2149,0.88,92.5,3039,1799,2337,2293,213.7,10.8,387,2156,0.00,2.30,0.00,0.000,260,0.000,0.048,3040,3196,2314,2337,2292,0,0,0,0,0,0,15.16,14.96,15.17
$GC,2426,0.89,101.1,3039,3195,2333,2292,184.4,9.4,441,2439,0.00,2.30,6.65,0.781,9222,0.000,0.047,3040,1799,2288,2311,2265,0,0,0,0,0,0,15.06,15.02,14.48
$GC,2502,0.92,128.1,3040,1799,2310,2265,178.1,8.0,455,2531,0.00,0.00,23.45,0.952,10758,0.000,0.000,3040,1800,2171,2194,2149,0,0,0,0,0,0,15.21,14.81,14.47
$GC,2593,0.92,128.1,3040,1799,2200,2147,168.6,11.9,472,2599,0.00,2.33,0.00,0.000,2308,0.000,0.048,3040,3195,2173,2199,2147,0,0,0,0,0,0,15.14,14.91,15.13
$GC,2827,0.92,128.1,3040,3195,2195,2145,139.1,11.3,518,2835,0.00,2.33,0.00,0.000,3078,0.000,0.048,3044,1800,2169,2195,2144,0,0,0,0,0,0,15.04,14.96,15.07
$GC,2899,0.92,128.1,3043,1800,2195,2144,131.5,11.1,531,2905,0.00,0.00,0.00,0.000,2054,0.000,0.000,3043,1800,2169,2195,2144,0,0,0,0,0,0,15.20,15.20,15.21
$GC,2966,0.92,128.1,3043,1800,2195,2143,124.2,10.0,544,2973,0.00,2.38,0.00,0.000,2564,0.000,0.069,3044,391,2168,2194,2143,0,0,0,0,0,0,15.21,14.92,15.21
$GC,2980,0.95,151.8,3043,390,2193,2143,123.3,8.3,546,3005,0.00,2.28,19.25,0.896,11270,0.000,0.034,3044,1810,2080,2109,2051,0,0,0,0,0,0,15.11,15.03,14.52
$GC,3067,0.95,151.8,3043,1810,2105,2047,112.5,12.8,562,3073,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1810,2075,2104,2047,0,0,0,0,0,0,15.15,15.15,15.16
$GC,3136,0.95,151.8,3043,1810,2103,2046,104.8,12.7,575,3143,0.00,2.42,0.00,0.000,2564,0.000,0.070,3043,396,2071,2095,2047,0,0,0,0,0,0,15.17,14.88,15.16
$GC,3170,0.95,151.8,3043,396,2101,2046,100.3,14.0,581,3176,0.00,2.25,0.00,0.000,3078,0.000,0.034,3044,1798,2073,2101,2046,0,0,0,0,0,0,15.07,15.00,15.09
$GC,3239,0.95,151.8,3043,1799,2101,2045,90.9,13.0,594,3246,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2073,2101,2045,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3308,0.95,151.8,3043,1799,2101,2044,82.5,10.6,607,3315,0.00,2.38,0.00,0.000,2564,0.000,0.067,3046,395,2072,2100,2044,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3333,0.95,151.8,3046,395,2100,2044,80.1,10.1,611,3340,0.00,2.28,0.00,0.000,3078,0.000,0.034,3047,1807,2072,2100,2044,0,0,0,0,0,0,15.09,15.01,15.11
$GC,3403,0.98,172.4,3046,1809,2100,2043,74.2,8.5,624,3421,0.00,0.00,16.52,0.844,10758,0.000,0.000,3047,1813,1997,2027,1967,0,0,0,0,0,0,15.21,14.95,14.56
$GC,3485,0.98,172.4,3046,1809,2023,1962,64.3,11.5,639,3492,0.00,2.28,0.00,0.000,2308,0.000,0.050,3047,3194,1992,2022,1962,0,0,0,0,0,0,15.16,14.95,15.16
$GC,3886,1.00,192.1,3046,3194,2020,1960,30.7,8.6,718,3912,0.05,2.30,15.90,0.782,11270,0.267,0.049,3072,1802,1914,1947,1882,0,0,0,0,0,0,14.88,14.95,14.54
$GC,3974,1.03,216.6,3071,1802,1945,1879,23.2,8.2,734,3994,0.00,2.42,14.85,0.937,10756,0.000,0.069,3074,397,1815,1850,1781,0,0,0,0,0,0,15.18,14.90,14.45
$GC,4077,1.03,216.6,3068,396,1848,1781,12.4,10.6,753,4084,0.00,2.28,0.00,0.000,3078,0.000,0.035,3074,1801,1814,1848,1780,0,0,0,0,0,0,15.02,14.95,15.02
$GC,4148,1.07,243.0,3073,1802,1848,1777,5.8,8.1,766,4172,0.00,2.42,14.82,0.788,10756,0.000,0.068,3074,398,1707,1744,1671,0,0,0,0,0,0,15.17,14.88,14.49
$GC,4180,1.11,276.9,3073,397,1743,1669,3.6,7.5,771,4189,0.10,2.28,3.00,0.428,11266,0.160,0.034,3113,1807,1685,1722,1648,0,0,0,0,0,0,14.92,14.95,15.00
$STATE,4190,end climb,SURFACE_DEPTH_REACHED
$STATE,4190,begin surface coast
$FINISH,0.4,1.023553
$STATE,4201,end surface coast,CONTROL_FINISHED_OK
$STATE,4201,begin surface
$SM_CCo,4223,156.15,0.769,0,0,597,515.37
$SM_GC,0.83,13.82,0.00,156.15,0.044,0.000,0.769,127,1811,597,-8.17,-0.06,515.37,0,0,0,0,0,0,14.94,15.14,14.28
$IRIDIUM_FIX,-2947.56,3106.79,300319,200148
$TT8_MAMPS,0.020972,0.908537
$HUMID,43.26
$INTERNAL_PRESSURE,9.5467
$TCM_TEMP,22.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,215.3,35.8
$SC_FREEKB,3817728
$24V_AH,14.21,78.890
$10V_AH,13.94,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.675,92.725,255.850,156.150,0.000,23.718,43.433,262.082,12.750,0.000,18.284,1797.004,681.307,620.030,1641.666,182.637,0.000,1291.729,0.000,1175.529,0.000,55.801,0.000
$DEVICE_MAMPS,500.310,75.735,1040.400,768.825,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.137,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20088,774
$CAP_FILE_SIZE,141315,0
$CFSIZE,2097086464,2056257536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.214,41.13,1
$GPS,300319,223249,-3000.250,3105.883,12,0.8,38,-25.0,0.4,214.0,11,9.2