version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 385
start: 4 15 119 15 31 18
data:
$ID,574
$MISSION,3
$DIVE,385
$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,70
$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,29
$R_STBD_OVSHOOT,59
$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
$GPS1,150419,152246,-3422.5872,2556.4307,7,1.0,14,-28.1,0.6,123.8,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.3
$GPS2,150419,153053,-3422.6333,2556.4131,7,1.0,14,-28.1,1.2,168.5,8,9.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.940,2608.699
$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,98.1,20000,-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,22,-0.76,-194.6,53,1796,622,547,0.0,0.0,0,127,0.00,0.00,-102.07,0.000,16386,0.000,0.000,53,1796,3133,3101,3165,0,0,0,0,0,0,14.97,28.83,14.97
$GC,132,-0.76,-194.6,53,1797,3101,3165,4.0,-10.3,19,162,14.45,2.40,-5.93,0.000,18692,0.300,0.071,2494,3202,3497,3507,3487,0,0,0,0,0,0,14.50,13.59,14.74
$GC,322,-0.76,-194.6,2494,3203,3508,3486,43.6,-13.9,55,329,0.08,2.35,0.00,0.000,3078,0.252,0.046,2510,1807,3498,3511,3485,0,0,0,0,0,0,14.71,14.83,14.88
$GC,393,-0.76,-194.6,2510,1810,3511,3485,54.1,-15.2,68,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,1807,3503,3521,3485,0,0,0,0,0,0,15.07,15.07,15.07
$GC,461,-0.76,-194.6,2510,1806,3511,3485,62.9,-12.7,81,467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,1807,3498,3511,3485,0,0,0,0,0,0,15.08,15.08,15.08
$GC,531,-0.76,-194.6,2510,1806,3511,3485,70.3,-10.1,94,536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,1806,3497,3511,3484,0,0,0,0,0,0,15.09,15.09,15.09
$GC,601,-0.76,-194.6,2509,1806,3512,3485,77.2,-9.9,107,608,0.00,2.38,0.00,0.000,2308,0.000,0.052,2504,3200,3498,3512,3485,0,0,0,0,0,0,15.09,14.85,15.10
$GC,626,-0.76,-194.6,2503,3201,3512,3485,79.8,-10.2,111,633,0.00,2.35,0.00,0.000,3078,0.000,0.044,2504,1802,3497,3510,3485,0,0,0,0,0,0,14.93,14.83,14.94
$GC,697,-0.76,-194.6,2503,1802,3512,3485,87.3,-11.3,124,704,0.00,2.40,0.00,0.000,2564,0.000,0.064,2504,398,3498,3512,3484,0,0,0,0,0,0,15.09,14.85,15.09
$GC,724,-0.76,-194.6,2503,398,3512,3484,90.3,-11.3,128,730,0.00,2.30,0.00,0.000,3078,0.000,0.036,2502,1797,3498,3512,3484,0,0,0,0,0,0,14.98,14.89,14.99
$GC,796,-0.76,-194.6,2501,1799,3512,3484,98.2,-10.7,141,803,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3211,3500,3512,3489,0,0,0,0,0,0,15.11,14.86,15.11
$GC,846,-0.76,-194.6,2501,3211,3512,3484,102.8,-8.7,150,853,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1811,3498,3513,3484,0,0,0,0,0,0,14.94,14.84,14.95
$GC,916,-0.76,-194.6,2501,1811,3513,3484,109.8,-11.1,163,924,0.00,2.40,0.00,0.000,2564,0.000,0.064,2502,409,3498,3512,3484,0,0,0,0,0,0,15.11,14.85,15.11
$GC,936,-0.76,-194.6,2501,410,3513,3484,112.5,-12.0,166,943,0.00,2.33,0.00,0.000,3078,0.000,0.035,2502,1816,3498,3513,3483,0,0,0,0,0,0,14.99,14.90,15.00
$GC,1010,-0.76,-194.6,2501,1820,3512,3484,121.3,-12.7,179,1017,0.00,2.35,0.00,0.000,2308,0.000,0.054,2502,3214,3498,3512,3484,0,0,0,0,0,0,15.11,14.83,15.11
$GC,1059,-0.76,-194.6,2501,3214,3513,3484,126.8,-10.7,188,1066,0.00,2.35,0.00,0.000,3078,0.000,0.044,2502,1811,3497,3511,3483,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1130,-0.76,-194.6,2501,1811,3512,3484,135.0,-12.6,201,1136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3498,3513,3484,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1199,-0.76,-194.6,2501,1810,3511,3483,143.6,-12.3,214,1205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1810,3498,3513,3483,0,0,0,0,0,0,15.12,15.12,15.12
$STATE,1215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1216,begin apogee
$GC,1221,-0.17,0.0,2504,1811,3512,3483,146.3,-13.2,217,1377,0.98,0.00,145.77,1.134,10246,0.146,0.000,2694,1809,2698,2727,2669,0,0,0,0,0,0,14.68,14.39,13.94
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,0.76,194.6,2695,1809,2727,2668,154.2,0.0,245,1544,1.40,2.55,150.70,1.109,10756,0.093,0.067,2996,396,1903,1940,1866,0,0,0,0,0,0,14.42,14.32,13.88
$GC,1568,0.76,194.6,2995,396,1936,1866,146.6,12.7,277,1574,0.00,2.38,0.00,0.000,3078,0.000,0.034,2996,1801,1899,1935,1863,0,0,0,0,0,0,14.54,14.47,14.54
$GC,1639,0.76,194.6,2995,1805,1934,1860,138.0,12.8,290,1645,0.00,2.38,0.00,0.000,2308,0.000,0.044,2996,3212,1897,1934,1860,0,0,0,0,0,0,14.81,14.62,14.82
$GC,1668,0.76,194.6,2996,3212,1931,1860,133.7,15.8,295,1675,0.00,2.42,0.00,0.000,1030,0.000,0.047,3004,1792,1895,1931,1860,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1739,0.76,194.6,3004,1792,1931,1859,124.1,14.8,308,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1792,1895,1931,1859,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1808,0.76,194.6,3004,1792,1931,1858,114.2,13.3,321,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1792,1894,1931,1858,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1876,0.76,194.6,3004,1791,1930,1858,104.7,14.0,334,1883,0.00,2.38,0.00,0.000,260,0.000,0.047,3005,3206,1894,1930,1858,0,0,0,0,0,0,15.02,14.71,15.01
$GC,1901,0.76,194.6,3004,3206,1929,1858,101.3,13.9,338,1907,0.00,2.38,0.00,0.000,5126,0.000,0.050,3013,1802,1894,1930,1858,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1971,0.76,194.6,3012,1802,1929,1857,91.7,13.8,351,1977,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1802,1893,1929,1857,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2040,0.76,194.6,3012,1802,1929,1857,81.8,13.7,364,2046,0.00,2.42,0.00,0.000,4612,0.000,0.072,3016,394,1893,1929,1857,0,0,0,0,0,0,15.05,14.80,15.06
$GC,2064,0.76,194.6,3016,393,1928,1857,78.1,14.7,368,2071,0.00,2.33,0.00,0.000,5126,0.000,0.033,3016,1809,1892,1928,1857,0,0,0,0,0,0,14.95,14.88,14.96
$GC,2135,0.76,194.6,3015,1812,1928,1857,69.3,11.4,381,2142,0.00,2.47,0.00,0.000,4612,0.000,0.069,3029,388,1892,1928,1856,0,0,0,0,0,0,15.05,14.82,15.06
$GC,2154,0.76,194.6,3023,388,1928,1855,66.8,12.0,384,2162,0.08,2.33,0.00,0.000,5126,0.281,0.034,3009,1805,1892,1928,1856,0,0,0,0,0,0,14.71,14.88,14.90
$GC,2226,0.78,207.6,3009,1808,1927,1856,59.5,9.6,397,2244,0.00,2.35,10.07,0.966,8452,0.000,0.049,3009,3197,1850,1889,1812,0,0,0,0,0,0,15.09,14.76,14.26
$GC,2272,0.78,207.6,3009,3196,1889,1813,54.8,10.1,405,2278,0.00,2.38,0.00,0.000,1030,0.000,0.054,3010,1801,1850,1889,1812,0,0,0,0,0,0,14.85,14.76,14.86
$GC,2343,0.83,252.6,3009,1801,1888,1811,48.3,8.5,418,2383,0.00,0.00,36.70,1.014,10246,0.000,0.000,3009,1801,1669,1712,1627,0,0,0,0,0,0,15.06,14.69,14.18
$GC,2446,0.83,252.6,3009,1801,1707,1624,38.7,11.3,437,2452,0.00,2.47,0.00,0.000,2564,0.000,0.073,3010,395,1665,1707,1624,0,0,0,0,0,0,14.94,14.64,14.94
$GC,2470,0.86,272.1,3009,395,1705,1623,36.3,9.3,441,2494,0.00,2.33,16.73,0.910,11270,0.000,0.033,3010,1800,1586,1626,1547,0,0,0,0,0,0,14.85,14.77,14.13
$GC,2558,0.86,272.1,3009,1800,1629,1544,26.8,10.2,457,2564,0.00,2.47,0.00,0.000,2564,0.000,0.071,3010,394,1589,1635,1544,0,0,0,0,0,0,14.95,14.68,14.95
$GC,2592,0.86,272.1,3009,393,1628,1544,23.2,11.0,463,2599,0.00,2.33,0.00,0.000,3078,0.000,0.034,3010,1801,1585,1627,1543,0,0,0,0,0,0,14.83,14.74,14.83
$GC,2663,0.86,272.1,3010,1803,1627,1542,16.2,10.1,476,2669,0.00,0.00,0.00,0.000,2054,0.000,0.000,3010,1803,1584,1627,1542,0,0,0,0,0,0,15.00,15.01,15.01
$GC,2732,0.86,272.1,3010,1803,1627,1541,8.9,10.6,489,2739,0.00,2.35,0.00,0.000,2308,0.000,0.049,3010,3201,1584,1627,1541,0,0,0,0,0,0,15.02,14.75,15.03
$GC,2746,0.86,272.1,3010,3201,1626,1541,7.5,10.2,491,2752,0.00,2.40,0.00,0.000,3078,0.000,0.054,3010,1792,1583,1626,1541,0,0,0,0,0,0,14.91,14.80,14.92
$STATE,2787,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,0.4,1.017391
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2843,158.98,0.806,0,0,599,515.37
$SM_GC,0.85,13.45,0.00,158.98,0.035,0.000,0.806,123,1789,599,-8.17,-0.65,515.37,0,0,0,0,0,0,14.87,15.07,14.12
$IRIDIUM_FIX,-3409.50,2556.54,150419,142916
$TT8_MAMPS,0.021721,0.950481
$HUMID,45.11
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,35.8
$SC_FREEKB,3719040
$24V_AH,13.59,122.626
$10V_AH,13.77,0.000
$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,30.425,71.425,359.975,158.975,0.000,24.373,16.019,220.549,4.000,0.000,15.161,1034.044,434.769,667.152,1136.810,229.089,0.000,1186.728,0.000,765.280,0.000,28.413,0.000
$DEVICE_MAMPS,299.880,72.675,1133.730,806.310,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2874.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.473,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13418,505
$CAP_FILE_SIZE,101052,0
$CFSIZE,2097086464,2019590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,162231,-3422.779,2556.909,8,0.9,27,-28.1,1.2,300.5,10,6.7