version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 365
start: 4 14 119 20 11 58
data:
$ID,574
$MISSION,3
$DIVE,365
$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,200
$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,315
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,140419,200159,-3424.2537,2557.5347,7,1.0,16,-28.1,0.0,221.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-62.5
$GPS2,140419,201131,-3424.2329,2557.5928,6,1.0,17,-28.1,0.8,84.8,9,8.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.597,2548.352
$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,343.1,20000,-15.7,-10.010,-18.71,2973
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.76,-194.6,66,1808,623,551,0.0,0.0,0,128,0.00,0.00,-102.82,0.000,16386,0.000,0.000,62,1808,3132,3099,3166,0,0,0,0,0,0,14.92,28.83,14.93
$GC,133,-0.76,-194.6,61,1809,3099,3165,4.0,-10.0,19,163,14.62,2.47,-6.03,0.000,18948,0.308,0.089,2503,402,3498,3504,3492,0,0,0,0,0,0,14.46,13.56,14.71
$GC,217,-0.76,-194.6,2503,402,3506,3491,30.6,-19.0,34,224,0.05,2.38,0.00,0.000,3078,0.338,0.041,2508,1805,3497,3507,3488,0,0,0,0,0,0,14.59,14.77,14.79
$GC,289,-0.76,-194.6,2508,1808,3508,3487,42.0,-16.9,47,295,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3218,3496,3506,3487,0,0,0,0,0,0,15.00,14.77,15.00
$GC,323,-0.76,-194.6,2500,3218,3512,3486,47.8,-15.8,53,330,0.00,2.38,0.00,0.000,3078,0.000,0.045,2500,1811,3497,3509,3486,0,0,0,0,0,0,14.89,14.78,14.90
$GC,395,-0.76,-194.6,2500,1811,3509,3486,58.0,-14.2,66,402,0.00,2.42,0.00,0.000,2564,0.000,0.066,2500,405,3497,3509,3485,0,0,0,0,0,0,15.03,14.70,15.03
$GC,415,-0.76,-194.6,2500,405,3509,3485,60.7,-13.0,69,422,0.08,2.35,0.00,0.000,3078,0.269,0.040,2510,1812,3497,3509,3486,0,0,0,0,0,0,14.59,14.71,14.75
$GC,487,-0.76,-194.6,2511,1815,3507,3486,69.2,-12.0,82,497,0.00,2.38,0.00,0.000,2308,0.000,0.056,2502,3215,3498,3510,3486,0,0,0,0,0,0,15.04,14.80,15.04
$GC,591,-0.76,-194.6,2502,3216,3510,3485,80.4,-10.4,101,598,0.00,2.38,0.00,0.000,3078,0.000,0.044,2502,1810,3497,3510,3485,0,0,0,0,0,0,14.90,14.78,14.92
$GC,663,-0.76,-194.6,2502,1809,3510,3485,88.6,-12.6,114,668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3498,3511,3485,0,0,0,0,0,0,15.05,15.05,15.05
$GC,733,-0.76,-194.6,2502,1809,3511,3485,97.5,-13.1,127,739,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1809,3498,3511,3485,0,0,0,0,0,0,15.05,15.06,15.06
$GC,803,-0.76,-194.6,2502,1809,3516,3485,107.1,-13.7,140,808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3498,3511,3485,0,0,0,0,0,0,15.06,15.06,15.06
$GC,872,-0.76,-194.6,2502,1809,3511,3485,115.7,-12.2,153,878,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1809,3498,3511,3485,0,0,0,0,0,0,15.07,15.07,15.07
$GC,940,-0.76,-194.6,2502,1809,3511,3485,124.2,-12.0,166,946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1809,3498,3511,3485,0,0,0,0,0,0,15.08,15.09,15.08
$GC,1011,-0.76,-194.6,2502,1809,3511,3485,132.5,-11.9,179,1017,0.00,2.42,0.00,0.000,2564,0.000,0.067,2502,404,3498,3511,3485,0,0,0,0,0,0,15.07,14.77,15.09
$GC,1031,-0.76,-194.6,2502,402,3511,3485,135.1,-12.1,182,1037,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1816,3498,3511,3485,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1103,-0.76,-194.6,2501,1817,3511,3485,143.1,-11.9,195,1110,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3223,3498,3511,3485,0,0,0,0,0,0,15.08,14.83,15.09
$GC,1169,-0.76,-194.6,2501,3222,3511,3485,150.0,-10.0,207,1178,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1806,3498,3511,3485,0,0,0,0,0,0,14.96,14.85,14.97
$GC,1243,-0.76,-194.6,2501,1806,3511,3485,158.7,-12.2,220,1250,0.00,2.40,0.00,0.000,2564,0.000,0.065,2501,407,3496,3511,3481,0,0,0,0,0,0,15.09,14.83,15.09
$GC,1267,-0.76,-194.6,2501,406,3511,3485,162.0,-12.8,224,1274,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1824,3498,3511,3485,0,0,0,0,0,0,14.96,14.87,14.97
$GC,1341,-0.76,-194.6,2501,1826,3512,3485,170.6,-12.5,237,1348,0.00,2.35,0.00,0.000,2308,0.000,0.057,2501,3211,3498,3511,3485,0,0,0,0,0,0,15.09,14.80,15.10
$GC,1376,-0.76,-194.6,2501,3215,3511,3485,175.1,-10.8,243,1382,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1814,3498,3511,3485,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1447,-0.76,-194.6,2501,1810,3511,3485,183.6,-13.6,256,1453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3498,3511,3485,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1515,-0.76,-194.6,2501,1810,3511,3484,193.1,-13.3,269,1521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1810,3500,3515,3485,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,1526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1526,begin apogee
$GC,1532,-0.17,0.0,2501,1811,3511,3485,195.1,-14.6,271,1687,1.00,0.00,147.88,1.213,10246,0.153,0.000,2697,1808,2699,2728,2671,0,0,0,0,0,0,14.61,14.34,13.84
$STATE,1689,end apogee,CONTROL_FINISHED_OK
$STATE,1689,begin climb
$GC,1691,0.76,194.6,2697,1808,2727,2671,204.3,0.0,299,1854,1.40,2.55,152.52,1.193,11012,0.081,0.069,2992,392,1903,1944,1862,0,0,0,0,0,0,14.38,14.19,13.80
$GC,2075,0.76,194.6,2990,393,1932,1863,179.5,12.5,370,2082,0.00,2.35,0.00,0.000,3078,0.000,0.037,2991,1799,1896,1932,1861,0,0,0,0,0,0,14.80,14.71,14.81
$GC,2146,0.76,194.6,2991,1802,1931,1860,170.6,13.3,383,2153,0.00,2.38,0.00,0.000,2308,0.000,0.051,2992,3206,1895,1931,1860,0,0,0,0,0,0,14.95,14.66,14.95
$GC,2186,0.76,194.6,2991,3206,1930,1860,164.8,14.0,390,2192,0.00,2.40,0.00,0.000,3078,0.000,0.053,2992,1800,1894,1930,1858,0,0,0,0,0,0,14.85,14.75,14.87
$GC,2256,0.76,194.6,2992,1800,1930,1859,155.3,14.4,403,2263,0.00,2.45,0.00,0.000,2564,0.000,0.072,2992,388,1894,1930,1859,0,0,0,0,0,0,14.98,14.67,15.00
$GC,2286,0.76,194.6,2992,388,1929,1859,151.3,12.8,408,2292,0.00,2.35,0.00,0.000,3078,0.000,0.035,2993,1808,1894,1930,1859,0,0,0,0,0,0,14.89,14.81,14.90
$GC,2357,0.76,194.6,2992,1810,1929,1858,141.6,14.2,421,2363,0.00,2.33,0.00,0.000,2308,0.000,0.050,2992,3199,1893,1929,1858,0,0,0,0,0,0,15.02,14.71,15.02
$GC,2396,0.76,194.6,2992,3199,1929,1858,135.4,14.5,428,2403,0.00,2.38,0.00,0.000,1030,0.000,0.050,3000,1799,1893,1929,1858,0,0,0,0,0,0,14.88,14.80,14.88
$GC,2467,0.76,194.6,3000,1799,1927,1858,125.8,13.8,441,2474,0.00,2.35,0.00,0.000,260,0.000,0.048,3000,3198,1894,1929,1859,0,0,0,0,0,0,15.04,14.74,15.04
$GC,2496,0.76,194.6,3000,3198,1928,1858,121.3,13.7,446,2503,0.00,2.40,0.00,0.000,1030,0.000,0.052,3003,1796,1893,1928,1858,0,0,0,0,0,0,14.81,14.72,14.83
$GC,2568,0.76,194.6,3003,1796,1928,1858,112.4,13.2,459,2574,0.00,2.42,0.00,0.000,516,0.000,0.071,3008,393,1893,1929,1858,0,0,0,0,0,0,15.05,14.76,15.07
$GC,2607,0.76,194.6,3008,393,1928,1858,106.7,13.6,466,2613,0.00,2.33,0.00,0.000,5126,0.000,0.034,3008,1802,1893,1928,1858,0,0,0,0,0,0,14.85,14.76,14.87
$GC,2678,0.76,194.6,3007,1803,1928,1857,98.4,11.7,479,2685,0.00,2.33,0.00,0.000,4356,0.000,0.048,3008,3200,1892,1928,1857,0,0,0,0,0,0,15.06,14.80,15.07
$GC,2727,0.76,194.6,3008,3200,1927,1857,92.2,12.0,488,2734,0.00,2.40,0.00,0.000,5126,0.000,0.052,3009,1790,1892,1927,1857,0,0,0,0,0,0,14.88,14.76,14.90
$GC,2798,0.76,194.6,3009,1791,1928,1857,84.7,11.5,501,2805,0.00,2.42,0.00,0.000,4612,0.000,0.073,3009,394,1892,1927,1857,0,0,0,0,0,0,15.07,14.79,15.08
$GC,2863,0.76,194.6,3009,394,1927,1857,76.7,11.6,513,2869,0.00,2.33,0.00,0.000,5126,0.000,0.034,3009,1802,1892,1928,1857,0,0,0,0,0,0,14.91,14.83,14.92
$GC,2934,0.82,241.2,3010,1805,1927,1856,70.3,8.4,526,2979,0.00,2.38,36.55,1.082,10500,0.000,0.049,3009,3198,1714,1754,1674,0,0,0,0,0,0,15.08,14.68,14.21
$GC,3058,0.82,241.2,3009,3198,1751,1672,57.2,12.4,549,3065,0.00,2.40,0.00,0.000,3078,0.000,0.054,3010,1802,1712,1751,1673,0,0,0,0,0,0,14.79,14.69,14.81
$GC,3129,0.82,241.2,3009,1802,1750,1671,49.2,11.6,562,3136,0.00,2.47,0.00,0.000,2564,0.000,0.073,3010,390,1710,1750,1670,0,0,0,0,0,0,14.97,14.73,14.97
$GC,3173,0.82,241.2,3009,389,1750,1670,43.5,12.3,570,3180,0.00,2.35,0.00,0.000,3078,0.000,0.034,3009,1805,1709,1749,1670,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3244,0.82,241.2,3009,1809,1749,1669,35.3,12.0,583,3251,0.00,2.33,0.00,0.000,2308,0.000,0.048,3010,3200,1709,1749,1669,0,0,0,0,0,0,15.00,14.79,15.00
$GC,3269,0.82,241.2,3010,3200,1748,1669,32.2,12.4,587,3276,0.00,2.40,0.00,0.000,3078,0.000,0.053,3010,1798,1708,1747,1669,0,0,0,0,0,0,14.90,14.78,14.92
$GC,3340,0.82,241.2,3011,1798,1748,1668,24.5,10.6,600,3346,0.00,0.00,0.00,0.000,2054,0.000,0.000,3010,1798,1708,1748,1668,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3409,0.90,305.5,3010,1798,1748,1668,18.7,7.8,613,3460,0.08,2.53,45.12,0.972,10756,0.189,0.071,3050,387,1451,1497,1406,0,0,0,0,0,0,14.71,14.62,14.19
$GC,3514,0.90,305.5,3054,387,1496,1404,5.6,15.4,632,3521,0.00,2.38,0.00,0.000,1030,0.000,0.034,3050,1802,1450,1496,1404,0,0,0,0,0,0,14.78,14.71,14.79
$STATE,3531,end climb,SURFACE_DEPTH_REACHED
$STATE,3531,begin surface coast
$FINISH,0.0,1.025576
$STATE,3552,end surface coast,CONTROL_FINISHED_OK
$STATE,3553,begin surface
$SM_CCo,3577,141.65,0.832,0,0,597,515.37
$SM_GC,0.88,13.82,0.00,141.65,0.043,0.000,0.832,117,1805,597,-8.18,-0.20,515.37,0,0,0,0,0,0,14.76,14.95,14.05
$IRIDIUM_FIX,-3409.50,2556.54,140419,184912
$TT8_MAMPS,0.021721,0.922768
$HUMID,45.15
$INTERNAL_PRESSURE,9.2635
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,170.6,33.8
$SC_FREEKB,3729280
$24V_AH,13.56,118.370
$10V_AH,13.56,0.000
$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,31.050,95.500,382.075,141.650,0.000,26.398,44.184,258.962,6.500,0.000,18.730,1329.721,579.158,700.645,1429.526,262.530,0.000,1324.492,0.000,967.727,0.000,42.024,0.000
$DEVICE_MAMPS,338.130,88.740,1213.290,831.555,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3619.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.199,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16748,639
$CAP_FILE_SIZE,123548,0
$CFSIZE,2097086464,2022899712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140419,211503,-3424.086,2557.417,7,0.9,23,-28.1,0.0,249.6,8,9.5