version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 341
start: 4 12 119 16 21 40
data:
$ID,574
$MISSION,3
$DIVE,341
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,120
$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,35
$R_STBD_OVSHOOT,52
$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,3
$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
$GPS1,120419,161201,-3357.6096,2700.9556,7,0.8,37,-28.1,2.0,234.6,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.4
$GPS2,120419,162114,-3357.9714,2700.4375,7,0.8,14,-28.1,1.5,216.5,11,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.371,2711.726
$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,148.1,20000,-23.0,-10.010,-25.49,1417
$D_GRID,1000
$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,22,-0.88,-92.5,53,1840,622,553,0.0,0.0,0,122,0.00,0.00,-97.40,0.000,16386,0.000,0.000,53,1841,3076,3047,3106,0,0,0,0,0,0,15.00,28.83,15.02
$GC,127,-0.88,-92.5,53,1841,3047,3107,3.7,-8.9,18,146,14.00,2.47,0.00,0.000,2564,0.286,0.050,2468,398,3077,3053,3102,0,0,0,0,0,0,14.62,14.82,14.85
$GC,311,-0.88,-92.5,2468,398,3062,3094,46.2,-17.9,53,318,0.05,2.33,0.00,0.000,3078,0.350,0.037,2468,1805,3078,3063,3093,0,0,0,0,0,0,14.68,14.85,14.90
$GC,383,-0.88,-92.5,2468,1808,3065,3090,59.0,-18.2,66,390,0.00,2.40,0.00,0.000,2564,0.000,0.065,2468,409,3077,3065,3090,0,0,0,0,0,0,15.10,14.86,15.11
$GC,426,-0.88,-92.5,2468,407,3063,3090,66.2,-17.4,74,434,0.05,2.33,0.00,0.000,3078,0.353,0.037,2469,1821,3077,3065,3090,0,0,0,0,0,0,14.71,14.91,14.92
$GC,499,-0.88,-92.5,2468,1825,3066,3089,77.0,-14.5,87,506,0.00,2.42,0.00,0.000,2564,0.000,0.063,2469,408,3077,3066,3089,0,0,0,0,0,0,15.12,14.79,15.11
$GC,566,-0.88,-92.5,2467,408,3066,3089,86.6,-15.5,99,573,0.00,2.33,0.00,0.000,3078,0.000,0.037,2460,1812,3077,3066,3089,0,0,0,0,0,0,15.00,14.91,15.02
$GC,637,-0.88,-92.5,2460,1817,3067,3089,97.3,-15.1,112,644,0.00,2.33,0.00,0.000,2308,0.000,0.051,2450,3219,3078,3067,3089,0,0,0,0,0,0,15.14,14.90,15.14
$GC,681,-0.88,-92.5,2449,3219,3066,3089,103.9,-14.1,120,688,0.10,2.35,0.00,0.000,3078,0.241,0.045,2469,1806,3077,3066,3089,0,0,0,0,0,0,14.78,14.91,14.95
$GC,753,-0.88,-92.5,2469,1806,3066,3088,113.6,-14.2,133,759,0.00,2.38,0.00,0.000,2564,0.000,0.065,2469,408,3077,3067,3088,0,0,0,0,0,0,15.14,14.89,15.14
$GC,828,-0.88,-92.5,2469,408,3067,3088,124.9,-15.4,147,835,0.00,2.30,0.00,0.000,3078,0.000,0.037,2461,1816,3077,3067,3088,0,0,0,0,0,0,15.02,14.94,15.03
$GC,899,-0.88,-92.5,2461,1818,3067,3088,134.8,-13.6,160,906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1818,3076,3067,3086,0,0,0,0,0,0,15.15,15.15,15.15
$GC,970,-0.88,-92.5,2461,1818,3067,3087,144.6,-13.7,173,977,0.00,2.35,0.00,0.000,2308,0.000,0.055,2461,3222,3077,3067,3088,0,0,0,0,0,0,15.15,14.86,15.15
$GC,1015,-0.88,-92.5,2460,3222,3067,3087,150.5,-12.9,181,1022,0.00,2.35,0.00,0.000,3078,0.000,0.044,2461,1809,3077,3067,3087,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1086,-0.88,-92.5,2460,1809,3067,3087,159.0,-12.4,194,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1809,3077,3068,3087,0,0,0,0,0,0,15.15,15.16,15.16
$GC,1156,-0.88,-92.5,2460,1809,3067,3087,167.7,-11.7,207,1163,0.00,2.38,0.00,0.000,2308,0.000,0.050,2450,3219,3076,3066,3087,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1218,-0.88,-92.5,2450,3219,3067,3087,175.1,-11.7,218,1225,0.10,2.35,0.00,0.000,3078,0.236,0.046,2470,1805,3077,3067,3087,0,0,0,0,0,0,14.80,14.92,14.96
$GC,1290,-0.88,-92.5,2470,1804,3068,3087,183.7,-10.9,231,1297,0.00,2.38,0.00,0.000,2564,0.000,0.065,2470,408,3077,3067,3087,0,0,0,0,0,0,15.16,14.87,15.16
$GC,1315,-0.88,-92.5,2470,408,3068,3087,186.7,-12.7,235,1322,0.00,2.30,0.00,0.000,3078,0.000,0.038,2464,1808,3077,3068,3086,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1386,-0.88,-92.5,2464,1811,3068,3086,195.3,-12.7,248,1392,0.00,2.35,0.00,0.000,2308,0.000,0.054,2455,3218,3078,3068,3088,0,0,0,0,0,0,15.16,14.88,15.16
$GC,1464,-0.88,-92.5,2454,3218,3068,3087,205.3,-12.9,263,1472,0.08,2.35,0.00,0.000,3078,0.264,0.046,2470,1802,3076,3067,3086,0,0,0,0,0,0,14.79,14.93,14.96
$STATE,1482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1482,begin apogee
$GC,1488,-0.17,0.0,2469,1802,3074,3086,207.9,-12.6,266,1565,1.15,0.00,69.38,1.012,10246,0.162,0.000,2697,1802,2699,2711,2687,0,0,0,0,0,0,14.76,14.55,14.17
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1571,0.88,92.5,2697,1801,2711,2687,211.2,0.0,280,1657,1.55,2.45,74.32,1.011,10756,0.078,0.068,3033,395,2321,2341,2301,0,0,0,0,0,0,14.66,14.47,14.03
$GC,1720,0.88,92.5,3033,395,2337,2301,203.5,10.4,306,1727,0.00,2.35,0.00,0.000,3078,0.000,0.036,3033,1812,2316,2336,2297,0,0,0,0,0,0,14.77,14.70,14.78
$GC,1791,0.88,92.5,3033,1813,2336,2294,196.5,10.3,319,1797,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1813,2314,2335,2294,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1859,0.90,105.3,3033,1813,2336,2293,189.5,9.1,332,1878,0.00,2.30,10.55,0.889,10500,0.000,0.050,3033,3201,2271,2293,2249,0,0,0,0,0,0,15.00,14.76,14.28
$GC,1905,0.90,105.3,3033,3201,2291,2249,185.2,10.7,340,1912,0.00,2.38,0.00,0.000,3078,0.000,0.048,3040,1796,2270,2291,2249,0,0,0,0,0,0,14.88,14.78,14.89
$GC,1976,0.90,105.3,3040,1792,2290,2247,177.7,11.7,353,1982,0.00,2.42,0.00,0.000,2564,0.000,0.071,3040,388,2268,2290,2247,0,0,0,0,0,0,15.02,14.72,15.02
$GC,2106,0.90,110.5,3040,388,2286,2246,164.6,9.6,378,2119,0.00,2.33,4.75,0.689,11270,0.000,0.037,3040,1800,2252,2274,2230,0,0,0,0,0,0,14.88,14.80,14.26
$GC,2183,0.92,121.0,3039,1801,2273,2230,157.8,9.2,392,2201,0.00,2.33,10.73,1.001,10500,0.000,0.049,3041,3199,2206,2230,2183,0,0,0,0,0,0,15.08,14.68,14.23
$GC,2259,0.92,121.0,3039,3198,2229,2177,149.5,11.3,406,2266,0.00,2.38,0.00,0.000,3078,0.000,0.050,3044,1790,2206,2229,2183,0,0,0,0,0,0,14.94,14.84,14.95
$GC,2330,0.92,124.0,3043,1789,2226,2182,142.6,9.8,419,2343,0.00,2.38,3.80,0.572,10500,0.000,0.049,3043,3194,2193,2217,2170,0,0,0,0,0,0,15.07,14.83,14.25
$GC,2356,0.93,129.1,3043,3194,2217,2170,139.9,9.6,423,2369,0.00,2.35,5.85,0.806,11270,0.000,0.051,3044,1800,2172,2197,2148,0,0,0,0,0,0,14.88,14.78,14.21
$GC,2432,0.93,129.1,3043,1800,2191,2148,132.1,10.0,437,2438,0.00,2.42,0.00,0.000,2564,0.000,0.072,3044,395,2172,2196,2148,0,0,0,0,0,0,15.07,14.79,15.06
$GC,2663,0.93,129.1,3043,395,2193,2147,104.6,11.7,482,2670,0.00,2.33,0.00,0.000,3078,0.000,0.037,3044,1803,2169,2193,2146,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2734,0.95,149.3,3043,1805,2192,2145,97.9,8.5,495,2758,0.00,2.33,17.25,1.057,10500,0.000,0.050,3043,3197,2090,2118,2062,0,0,0,0,0,0,15.11,14.73,14.30
$GC,2827,0.95,149.3,3043,3197,2117,2061,89.0,10.9,512,2833,0.00,2.38,0.00,0.000,3078,0.000,0.052,3047,1795,2089,2117,2061,0,0,0,0,0,0,14.88,14.78,14.89
$GC,2897,0.96,152.1,3047,1795,2116,2060,81.8,9.8,525,2904,0.00,2.42,0.00,0.000,2564,0.000,0.073,3047,395,2087,2115,2060,0,0,0,0,0,0,15.08,14.81,15.09
$GC,3160,0.99,180.6,3046,395,2111,2059,61.3,7.9,576,3194,0.00,2.30,25.42,1.048,11270,0.000,0.037,3047,1802,1961,1993,1930,0,0,0,0,0,0,15.01,14.93,14.28
$GC,3258,1.00,186.2,3047,1802,1992,1927,52.6,9.6,594,3271,0.05,2.45,5.25,0.882,10756,0.269,0.070,3082,387,1940,1972,1909,0,0,0,0,0,0,14.75,14.78,14.21
$GC,3324,1.00,186.2,3089,387,1970,1908,45.1,12.0,606,3331,0.00,2.35,0.00,0.000,5126,0.000,0.037,3082,1802,1939,1970,1908,0,0,0,0,0,0,14.93,14.85,14.94
$GC,3395,1.00,186.2,3082,1804,1970,1907,36.3,12.6,619,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1803,1938,1970,1907,0,0,0,0,0,0,15.04,15.05,15.05
$GC,3463,1.00,186.2,3082,1803,1969,1906,28.0,10.5,632,3470,0.00,2.45,0.00,0.000,4612,0.000,0.070,3090,392,1937,1969,1906,0,0,0,0,0,0,15.09,14.83,15.08
$STATE,3727,end climb,SURFACE_DEPTH_REACHED
$STATE,3727,begin surface coast
$FINISH,0.5,1.025155
$STATE,3753,end surface coast,CONTROL_FINISHED_OK
$STATE,3754,begin surface
$SM_CCo,3780,198.90,0.783,0,0,598,515.37
$SM_GC,0.68,13.88,2.38,198.90,0.048,0.040,0.783,122,1798,598,-8.17,-1.47,515.37,0,0,0,0,0,0,14.94,14.93,14.16
$IRIDIUM_FIX,-3343.50,2702.94,120419,150337
$TT8_MAMPS,0.021721,0.923517
$HUMID,44.68
$INTERNAL_PRESSURE,9.38069
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.4,37.2
$SC_FREEKB,3742176
$24V_AH,14.03,111.705
$10V_AH,13.82,0.000
$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,31.000,89.875,227.300,198.900,0.000,27.393,38.549,254.580,7.000,0.000,17.533,1509.161,676.614,612.687,1492.861,251.597,0.000,1222.303,0.000,1054.555,0.000,46.500,0.000
$DEVICE_MAMPS,352.665,72.675,1057.230,783.360,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3818.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.133,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16736,689
$CAP_FILE_SIZE,127388,0
$CFSIZE,2097086464,2027782144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2903.05,0x2131ca,1,24
$GPS,120419,172857,-3359.143,2659.114,7,0.9,16,-28.1,2.5,240.1,9,9.1