version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 389
start: 4 15 119 19 33 31
data:
$ID,574
$MISSION,3
$DIVE,389
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,150419,192428,-3423.2888,2557.9792,8,1.0,16,-28.1,0.7,255.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.1
$GPS2,150419,193306,-3423.3511,2557.9202,7,1.0,15,-28.1,0.5,257.3,9,9.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.657,2610.208
$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,-194.6,73,1812,623,548,0.0,0.0,0,122,0.00,0.00,-97.22,0.000,16386,0.000,0.000,69,1809,3033,3000,3067,0,0,0,0,0,0,14.95,28.83,14.96
$GC,127,-0.76,-194.6,68,1809,3000,3067,3.8,-9.1,18,158,14.52,2.40,-7.57,0.000,18948,0.308,0.080,2503,401,3496,3509,3484,0,0,0,0,0,0,14.50,13.57,14.75
$GC,308,-0.76,-194.6,2503,401,3510,3484,44.4,-14.4,52,315,0.00,2.35,0.00,0.000,3078,0.000,0.039,2497,1809,3497,3510,3484,0,0,0,0,0,0,14.92,14.82,14.95
$GC,379,-0.76,-194.6,2497,1812,3510,3484,55.9,-15.0,65,386,0.03,2.38,0.00,0.000,2308,0.509,0.054,2499,3223,3497,3510,3484,0,0,0,0,0,0,14.69,14.74,14.90
$GC,434,-0.76,-194.6,2499,3223,3511,3483,63.7,-11.8,75,441,0.00,2.40,0.00,0.000,3078,0.000,0.044,2499,1799,3497,3512,3482,0,0,0,0,0,0,14.95,14.84,14.95
$GC,504,-0.76,-194.6,2498,1800,3516,3482,71.7,-11.3,88,511,0.00,2.40,0.00,0.000,2564,0.000,0.064,2499,402,3497,3512,3483,0,0,0,0,0,0,15.07,14.73,15.07
$GC,538,-0.76,-194.6,2498,402,3512,3482,75.6,-10.8,94,545,0.00,2.35,0.00,0.000,3078,0.000,0.039,2498,1818,3497,3512,3482,0,0,0,0,0,0,14.95,14.86,14.97
$GC,609,-0.76,-194.6,2497,1820,3512,3482,81.9,-9.0,107,616,0.00,2.35,0.00,0.000,2308,0.000,0.055,2498,3216,3497,3512,3482,0,0,0,0,0,0,15.08,14.75,15.08
$GC,649,-0.76,-194.6,2498,3216,3512,3482,85.5,-8.7,114,655,0.00,2.35,0.00,0.000,3078,0.000,0.043,2498,1809,3497,3512,3482,0,0,0,0,0,0,14.96,14.86,14.97
$GC,720,-0.76,-194.6,2498,1809,3512,3482,92.6,-11.4,127,726,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,409,3496,3512,3481,0,0,0,0,0,0,15.09,14.76,15.09
$GC,754,-0.76,-194.6,2497,409,3512,3481,96.5,-10.7,133,761,0.00,2.33,0.00,0.000,3078,0.000,0.037,2498,1815,3496,3512,3481,0,0,0,0,0,0,14.88,14.79,14.88
$GC,826,-0.76,-194.6,2498,1818,3512,3481,104.6,-12.4,146,835,0.00,2.38,0.00,0.000,2308,0.000,0.055,2498,3220,3497,3513,3481,0,0,0,0,0,0,15.09,14.81,15.10
$GC,853,-0.76,-194.6,2497,3220,3513,3481,108.1,-12.4,150,859,0.00,2.35,0.00,0.000,3078,0.000,0.044,2498,1813,3497,3513,3481,0,0,0,0,0,0,14.97,14.87,14.98
$GC,923,-0.76,-194.6,2498,1813,3512,3481,115.8,-12.2,163,929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1813,3496,3511,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,992,-0.76,-194.6,2498,1812,3512,3481,124.4,-12.0,176,999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1812,3496,3512,3481,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1065,-0.76,-194.6,2498,1812,3512,3480,133.8,-12.5,189,1071,0.00,2.38,0.00,0.000,2308,0.000,0.054,2498,3215,3497,3513,3482,0,0,0,0,0,0,15.11,14.78,15.11
$GC,1111,-0.76,-194.6,2497,3215,3513,3481,139.2,-11.8,197,1118,0.03,2.35,0.00,0.000,3078,0.456,0.044,2508,1812,3497,3513,3481,0,0,0,0,0,0,14.71,14.83,14.90
$GC,1182,-0.76,-194.6,2508,1811,3512,3480,147.4,-11.6,210,1188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1812,3496,3512,3481,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1251,-0.76,-194.6,2508,1811,3513,3481,155.5,-11.7,223,1257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3497,3513,3481,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1287,begin apogee
$GC,1293,-0.17,0.0,2508,1812,3513,3481,160.3,-11.9,230,1448,0.95,0.00,146.12,1.144,10246,0.148,0.000,2698,1811,2697,2728,2667,0,0,0,0,0,0,14.73,14.28,13.90
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1453,0.76,194.6,2698,1811,2727,2667,168.6,0.0,258,1615,1.42,2.55,149.52,1.136,10756,0.057,0.069,3020,405,1905,1941,1869,0,0,0,0,0,0,14.45,14.31,13.84
$GC,1630,0.76,194.6,3019,404,1936,1868,161.1,13.4,288,1637,0.05,2.38,0.00,0.000,5126,0.325,0.034,3011,1808,1901,1937,1866,0,0,0,0,0,0,14.32,14.47,14.48
$GC,1700,0.76,194.6,3010,1810,1936,1862,150.9,14.7,301,1707,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3197,1898,1935,1862,0,0,0,0,0,0,14.79,14.59,14.79
$GC,1735,0.76,194.6,3010,3197,1933,1862,146.0,14.7,307,1742,0.00,2.40,0.00,0.000,5126,0.000,0.049,3018,1802,1898,1934,1862,0,0,0,0,0,0,14.73,14.64,14.74
$GC,1806,0.76,194.6,3018,1801,1933,1861,135.7,15.3,320,1812,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1801,1897,1933,1861,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1875,0.76,194.6,3018,1801,1933,1861,124.5,15.5,333,1881,0.00,2.38,0.00,0.000,4356,0.000,0.047,3018,3207,1896,1932,1860,0,0,0,0,0,0,14.96,14.75,14.97
$GC,1909,0.76,194.6,3018,3206,1931,1860,118.7,16.2,339,1916,0.10,2.40,0.00,0.000,5126,0.281,0.050,3008,1800,1895,1931,1860,0,0,0,0,0,0,14.60,14.73,14.78
$GC,1980,0.76,194.6,3008,1800,1931,1860,108.0,15.7,352,1986,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1800,1895,1931,1860,0,0,0,0,0,0,15.01,15.01,15.01
$GC,2049,0.76,194.6,3008,1800,1931,1860,96.8,15.5,365,2054,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1800,1895,1931,1860,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2117,0.76,194.6,3008,1800,1931,1859,86.0,16.2,378,2124,0.00,2.40,0.00,0.000,4612,0.000,0.070,3017,395,1894,1930,1859,0,0,0,0,0,0,15.04,14.80,15.05
$GC,2202,0.76,194.6,3016,394,1928,1859,73.5,13.1,394,2209,0.00,2.33,0.00,0.000,5126,0.000,0.033,3017,1813,1894,1929,1859,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2273,0.76,194.6,3017,1815,1929,1858,66.0,10.9,407,2280,0.00,2.30,0.00,0.000,4356,0.000,0.049,3017,3194,1893,1928,1858,0,0,0,0,0,0,15.07,14.77,15.07
$GC,2298,0.76,194.6,3016,3194,1928,1858,63.0,11.4,411,2304,0.00,2.38,0.00,0.000,5126,0.000,0.051,3017,1792,1893,1928,1858,0,0,0,0,0,0,14.87,14.78,14.88
$GC,2368,0.76,194.6,3017,1792,1929,1858,55.4,11.8,424,2374,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1792,1892,1928,1857,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2437,0.76,194.6,3017,1792,1933,1857,47.3,10.4,437,2444,0.00,2.35,0.00,0.000,4356,0.000,0.047,3017,3197,1892,1928,1857,0,0,0,0,0,0,15.08,14.86,15.09
$GC,2456,0.76,194.6,3016,3197,1928,1857,45.2,11.4,440,2463,0.00,2.38,0.00,0.000,5126,0.000,0.049,3017,1792,1892,1928,1857,0,0,0,0,0,0,14.96,14.85,14.98
$GC,2528,0.80,222.5,3017,1792,1928,1857,38.0,9.0,453,2557,0.00,2.38,22.02,1.041,12548,0.000,0.046,3017,3198,1790,1828,1752,0,0,0,0,0,0,15.09,14.65,14.23
$GC,2602,0.86,273.9,3017,3194,1826,1750,31.8,8.2,466,2653,0.00,2.38,41.65,1.023,11270,0.000,0.049,3017,1797,1581,1623,1540,0,0,0,0,0,0,14.88,14.78,14.11
$GC,2717,0.86,273.9,3018,1798,1621,1536,20.3,12.4,487,2723,0.00,2.45,0.00,0.000,2564,0.000,0.072,3018,397,1578,1621,1536,0,0,0,0,0,0,14.89,14.66,14.90
$GC,2793,0.86,273.9,3017,398,1618,1535,9.8,13.1,501,2800,0.00,2.33,0.00,0.000,3078,0.000,0.034,3017,1796,1576,1618,1534,0,0,0,0,0,0,14.77,14.70,14.78
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,0.7,1.024782
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2897,158.25,0.802,0,0,597,515.37
$SM_GC,0.81,13.60,0.00,158.25,0.046,0.000,0.802,127,1798,597,-8.17,-0.37,515.37,0,0,0,0,0,0,14.80,15.02,14.09
$IRIDIUM_FIX,-3409.50,2556.54,150419,182930
$TT8_MAMPS,0.021721,0.941493
$HUMID,46.10
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.7,34.5
$SC_FREEKB,3716992
$24V_AH,13.57,123.500
$10V_AH,13.60,0.000
$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,30.700,71.250,359.325,158.250,0.000,23.599,41.275,216.854,4.750,0.000,17.134,1057.717,449.927,661.667,1185.514,230.647,0.000,1184.194,0.000,783.997,0.000,31.375,0.000
$DEVICE_MAMPS,508.725,79.560,1143.675,802.485,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2927.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.695,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13425,516
$CAP_FILE_SIZE,101442,0
$CFSIZE,2097086464,2018934784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,202528,-3423.387,2558.260,8,1.0,18,-28.1,0.8,294.3,8,9.3