version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 410
start: 4 17 119 8 27 51
data:
$ID,574
$MISSION,3
$DIVE,410
$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,250
$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,20
$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,51
$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
$GPS1,170419,081728,-3423.8367,2558.8352,6,1.0,15,-28.1,1.5,44.4,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.1
$GPS2,170419,082725,-3423.8567,2558.6692,6,0.8,39,-28.1,0.5,135.1,10,4.3
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.709,2603.136
$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,48.1,20000,-13.9,-10.010,-17.09,3711
$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,21,begin dive
$GC,23,-0.76,-243.3,54,1805,620,551,0.0,0.0,0,118,0.00,0.00,-91.80,0.000,16386,0.000,0.000,52,1805,2837,2797,2877,0,0,0,0,0,0,14.93,28.83,14.94
$GC,123,-0.76,-243.3,53,1806,2799,2877,3.2,-6.4,17,159,14.60,2.47,-15.48,0.000,18948,0.304,0.086,2504,406,3696,3714,3678,0,0,0,0,0,0,14.47,13.47,14.71
$GC,294,-0.76,-243.3,2503,406,3715,3678,36.1,-14.4,49,301,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1803,3697,3716,3678,0,0,0,0,0,0,14.89,14.80,14.90
$GC,365,-0.76,-243.3,2501,1806,3715,3678,47.9,-18.3,62,372,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3212,3696,3714,3679,0,0,0,0,0,0,15.03,14.71,15.02
$GC,424,-0.76,-243.3,2501,3213,3715,3677,55.8,-11.4,73,431,0.00,2.38,0.00,0.000,3078,0.000,0.045,2501,1810,3695,3715,3676,0,0,0,0,0,0,14.87,14.80,14.87
$GC,496,-0.76,-243.3,2501,1809,3716,3678,65.1,-14.4,86,502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1808,3696,3715,3678,0,0,0,0,0,0,15.05,15.05,15.05
$GC,566,-0.76,-243.3,2501,1809,3714,3678,75.4,-14.0,99,571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1808,3696,3715,3678,0,0,0,0,0,0,15.05,15.05,15.05
$GC,636,-0.76,-243.3,2501,1809,3715,3678,85.3,-14.7,112,643,0.00,2.42,0.00,0.000,2308,0.000,0.054,2501,3222,3696,3715,3678,0,0,0,0,0,0,15.07,14.76,15.07
$GC,673,-0.76,-243.3,2500,3222,3715,3682,90.1,-12.5,118,680,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1810,3696,3715,3678,0,0,0,0,0,0,14.93,14.83,14.95
$GC,746,-0.76,-243.3,2501,1810,3715,3678,100.1,-13.8,131,753,0.00,2.45,0.00,0.000,2564,0.000,0.067,2501,401,3696,3715,3678,0,0,0,0,0,0,15.07,14.75,15.07
$GC,782,-0.76,-243.3,2501,401,3715,3678,105.2,-14.6,137,788,0.00,2.38,0.00,0.000,3078,0.000,0.036,2501,1823,3696,3715,3678,0,0,0,0,0,0,14.94,14.84,14.95
$GC,853,-0.76,-243.3,2501,1826,3715,3678,114.5,-13.5,150,860,0.00,2.35,0.00,0.000,2308,0.000,0.057,2501,3214,3696,3715,3678,0,0,0,0,0,0,15.05,14.81,15.06
$GC,893,-0.76,-243.3,2501,3214,3715,3678,120.0,-11.5,157,901,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1812,3696,3715,3678,0,0,0,0,0,0,14.94,14.83,14.95
$GC,965,-0.76,-243.3,2501,1811,3715,3678,128.3,-13.2,170,970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3696,3715,3678,0,0,0,0,0,0,15.07,15.07,15.08
$GC,1035,-0.76,-243.3,2501,1811,3715,3678,138.0,-14.2,183,1041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3696,3715,3678,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1105,-0.76,-243.3,2501,1812,3715,3678,147.5,-13.7,196,1112,0.00,2.42,0.00,0.000,2308,0.000,0.054,2501,3222,3696,3715,3678,0,0,0,0,0,0,15.08,14.74,15.08
$GC,1137,-0.76,-243.3,2501,3222,3715,3678,151.5,-12.3,201,1144,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1813,3696,3715,3678,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1209,-0.76,-243.3,2501,1813,3715,3678,160.2,-13.1,214,1215,0.00,2.42,0.00,0.000,2564,0.000,0.067,2501,406,3696,3714,3678,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1233,-0.76,-243.3,2500,407,3715,3678,163.9,-14.4,218,1240,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1813,3696,3715,3678,0,0,0,0,0,0,14.95,14.86,14.96
$GC,1304,-0.76,-243.3,2500,1818,3714,3677,172.3,-12.9,231,1311,0.00,2.38,0.00,0.000,2308,0.000,0.056,2502,3220,3696,3715,3678,0,0,0,0,0,0,15.07,14.81,15.07
$STATE,1322,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1322,begin apogee
$GC,1330,-0.17,0.0,2500,1791,3714,3678,175.3,-14.2,234,1523,0.98,0.00,182.70,1.176,10246,0.140,0.000,2697,1791,2698,2733,2664,0,0,0,0,0,0,14.69,14.31,13.84
$STATE,1527,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1529,0.76,243.3,2697,1791,2732,2664,184.2,0.0,269,1732,1.40,2.50,188.77,1.151,10756,0.085,0.070,2998,396,1705,1745,1666,0,0,0,0,0,0,14.37,14.27,13.78
$GC,1800,0.76,243.3,2997,396,1738,1665,166.5,14.0,317,1806,0.00,2.38,0.00,0.000,3078,0.000,0.034,2998,1803,1700,1737,1664,0,0,0,0,0,0,14.55,14.47,14.56
$GC,1871,0.76,243.3,2997,1806,1738,1661,156.7,14.3,330,1878,0.00,2.38,0.00,0.000,2308,0.000,0.048,2998,3205,1701,1738,1664,0,0,0,0,0,0,14.83,14.62,14.83
$GC,1901,0.76,243.3,2997,3205,1736,1660,152.0,14.4,335,1907,0.00,2.42,0.00,0.000,3078,0.000,0.054,2999,1806,1698,1736,1660,0,0,0,0,0,0,14.71,14.61,14.73
$GC,1973,0.76,243.3,2998,1806,1736,1659,142.5,13.7,348,1980,0.00,2.47,0.00,0.000,2564,0.000,0.074,2999,391,1698,1737,1659,0,0,0,0,0,0,14.91,14.67,14.90
$GC,1998,0.76,243.3,2999,391,1736,1659,138.8,13.0,352,2005,0.00,2.35,0.00,0.000,3078,0.000,0.034,2999,1809,1697,1736,1659,0,0,0,0,0,0,14.83,14.73,14.83
$GC,2069,0.76,243.3,2999,1812,1735,1659,128.8,14.3,365,2076,0.00,2.33,0.00,0.000,2308,0.000,0.048,2999,3196,1697,1735,1659,0,0,0,0,0,0,14.97,14.66,14.97
$GC,2099,0.76,243.3,2998,3196,1734,1659,124.1,14.5,370,2106,0.00,2.40,0.00,0.000,1030,0.000,0.054,2999,1798,1696,1735,1658,0,0,0,0,0,0,14.85,14.75,14.86
$GC,2170,0.76,243.3,2999,1798,1735,1659,114.0,14.9,383,2176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1797,1696,1735,1658,0,0,0,0,0,0,15.00,15.01,15.01
$GC,2239,0.76,243.3,2999,1798,1735,1658,103.7,14.3,396,2246,0.00,2.38,0.00,0.000,2308,0.000,0.049,2999,3198,1696,1735,1657,0,0,0,0,0,0,15.02,14.73,15.02
$GC,2259,0.76,243.3,2999,3198,1734,1657,100.9,14.2,399,2265,0.00,2.40,0.00,0.000,1030,0.000,0.054,3003,1796,1695,1734,1657,0,0,0,0,0,0,14.88,14.78,14.91
$GC,2330,0.76,243.3,3003,1795,1734,1657,91.8,13.3,412,2336,0.00,2.45,0.00,0.000,516,0.000,0.073,3011,387,1695,1734,1656,0,0,0,0,0,0,15.03,14.70,15.04
$GC,2359,0.76,243.3,3011,386,1734,1657,87.3,13.6,417,2366,0.00,2.35,0.00,0.000,5126,0.000,0.033,3011,1809,1696,1736,1657,0,0,0,0,0,0,14.82,14.74,14.83
$GC,2431,0.76,243.3,3011,1812,1734,1657,77.9,13.3,430,2437,0.00,2.33,0.00,0.000,4356,0.000,0.047,3011,3201,1695,1734,1657,0,0,0,0,0,0,15.05,14.78,15.05
$GC,2465,0.76,243.3,3011,3201,1733,1657,73.0,13.7,436,2471,0.00,2.40,0.00,0.000,5126,0.000,0.054,3013,1799,1694,1733,1656,0,0,0,0,0,0,14.84,14.72,14.86
$GC,2536,0.76,243.3,3013,1799,1733,1653,64.0,12.4,449,2543,0.00,2.45,0.00,0.000,4612,0.000,0.073,3014,392,1695,1734,1656,0,0,0,0,0,0,15.06,14.79,15.06
$GC,2556,0.76,243.3,3013,392,1733,1656,61.5,12.5,452,2563,0.00,2.33,0.00,0.000,5126,0.000,0.033,3014,1805,1694,1733,1656,0,0,0,0,0,0,14.90,14.82,14.90
$GC,2627,0.76,243.3,3014,1808,1734,1656,53.7,11.8,465,2634,0.00,2.33,0.00,0.000,4356,0.000,0.049,3014,3198,1694,1733,1656,0,0,0,0,0,0,15.05,14.83,15.05
$GC,2704,0.76,243.3,3014,3198,1732,1656,44.5,11.8,479,2710,0.00,2.40,0.00,0.000,5126,0.000,0.054,3014,1790,1693,1732,1655,0,0,0,0,0,0,14.94,14.83,14.96
$GC,2775,0.76,243.3,3014,1790,1733,1655,36.5,13.2,492,2781,0.00,2.38,0.00,0.000,4356,0.000,0.049,3014,3195,1694,1733,1655,0,0,0,0,0,0,15.07,14.74,15.07
$GC,2851,0.79,266.8,3014,3195,1732,1655,28.5,9.4,506,2875,0.00,2.40,18.17,1.023,9222,0.000,0.050,3014,1797,1610,1651,1569,0,0,0,0,0,0,14.88,14.79,14.23
$GC,2939,0.79,266.8,3014,1797,1650,1566,19.9,10.9,522,2945,0.00,2.42,0.00,0.000,516,0.000,0.073,3016,395,1608,1650,1566,0,0,0,0,0,0,15.00,14.75,15.00
$GC,2963,0.79,266.8,3017,395,1650,1567,17.3,10.3,526,2970,0.00,2.33,0.00,0.000,5126,0.000,0.034,3017,1805,1608,1649,1567,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3034,0.79,266.8,3016,1807,1650,1565,9.8,10.1,539,3041,0.00,2.35,0.00,0.000,4356,0.000,0.049,3017,3202,1607,1649,1565,0,0,0,0,0,0,15.02,14.70,15.02
$STATE,3096,end climb,SURFACE_DEPTH_REACHED
$STATE,3097,begin surface coast
$FINISH,0.1,1.025188
$STATE,3124,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3151,168.12,0.815,0,0,598,515.37
$SM_GC,0.91,13.62,2.40,168.12,0.050,0.049,0.815,128,1811,598,-8.17,0.99,515.37,0,0,0,0,0,0,14.83,14.82,14.07
$IRIDIUM_FIX,-3412.10,2557.68,170419,070935
$TT8_MAMPS,0.021721,0.946736
$HUMID,45.78
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.2,34.4
$SC_FREEKB,3706048
$24V_AH,13.47,129.432
$10V_AH,13.55,0.000
$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,30.600,95.575,389.650,168.125,0.000,27.998,40.210,258.615,5.500,0.000,40.835,1139.376,491.282,711.942,1312.810,272.193,0.000,1275.478,0.000,836.212,0.000,37.624,0.000
$DEVICE_MAMPS,303.705,85.680,1175.805,815.490,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.578,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13427,556
$CAP_FILE_SIZE,110729,0
$CFSIZE,2097086464,2014904320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,092410,-3423.713,2558.618,7,0.8,16,-28.1,0.8,340.4,10,9.5