version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 429
start: 4 18 119 19 4 27
data:
$ID,574
$MISSION,3
$DIVE,429
$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,310
$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,28
$R_STBD_OVSHOOT,56
$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
$GPS1,180419,185225,-3427.8689,2531.5166,7,0.8,42,-28.0,0.0,187.8,10,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.6
$GPS2,180419,190401,-3428.0586,2531.3560,7,0.8,14,-28.0,0.8,214.0,10,9.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.117,2521.336
$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,338.0,20000,-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,20,begin dive
$GC,22,-0.76,-243.3,53,1789,624,544,0.0,0.0,0,127,0.00,0.00,-102.03,0.000,16386,0.000,0.000,53,1794,3084,3049,3119,0,0,0,0,0,0,14.92,28.83,14.93
$GC,133,-0.76,-243.3,53,1794,3050,3119,3.7,-8.5,19,163,14.60,2.45,-10.05,0.000,18692,0.301,0.070,2497,3207,3694,3708,3681,0,0,0,0,0,0,14.45,13.45,14.72
$GC,288,-0.76,-243.3,2497,3207,3710,3682,36.2,-13.5,48,294,0.00,2.38,0.00,0.000,3078,0.000,0.044,2497,1802,3695,3709,3682,0,0,0,0,0,0,14.88,14.77,14.89
$GC,359,-0.76,-243.3,2497,1802,3710,3681,47.0,-15.1,61,366,0.05,0.00,0.00,0.000,2054,0.324,0.000,2508,1802,3696,3710,3682,0,0,0,0,0,0,14.64,14.83,14.79
$GC,430,-0.76,-243.3,2508,1802,3710,3682,56.4,-11.7,74,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3696,3710,3682,0,0,0,0,0,0,15.03,15.04,15.04
$GC,500,-0.76,-243.3,2508,1802,3710,3682,65.3,-11.6,87,505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3696,3710,3682,0,0,0,0,0,0,15.04,15.04,15.04
$GC,568,-0.76,-243.3,2508,1802,3710,3682,73.0,-10.5,100,574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3696,3710,3682,0,0,0,0,0,0,15.05,15.05,15.05
$GC,639,-0.76,-243.3,2508,1802,3710,3681,80.3,-11.1,113,646,0.00,2.40,0.00,0.000,2308,0.000,0.055,2508,3198,3696,3710,3682,0,0,0,0,0,0,15.06,14.69,15.07
$GC,689,-0.76,-243.3,2508,3199,3710,3682,85.8,-9.9,122,696,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1804,3696,3710,3682,0,0,0,0,0,0,14.81,14.71,14.83
$GC,760,-0.76,-243.3,2508,1803,3710,3681,93.5,-11.6,135,766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1804,3696,3710,3682,0,0,0,0,0,0,15.07,15.07,15.07
$GC,832,-0.76,-243.3,2508,1803,3711,3682,101.8,-11.5,148,838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1804,3696,3710,3682,0,0,0,0,0,0,15.04,15.05,15.04
$GC,904,-0.76,-243.3,2508,1803,3710,3680,110.3,-11.6,161,910,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1804,3696,3710,3682,0,0,0,0,0,0,15.07,15.08,15.08
$GC,973,-0.76,-243.3,2508,1804,3711,3681,118.9,-11.8,174,979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1803,3695,3710,3681,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1043,-0.76,-243.3,2508,1804,3710,3682,126.8,-12.0,187,1050,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3197,3696,3711,3682,0,0,0,0,0,0,15.06,14.70,15.07
$GC,1074,-0.76,-243.3,2508,3197,3710,3682,130.6,-11.5,192,1080,0.00,2.33,0.00,0.000,3078,0.000,0.044,2508,1810,3696,3710,3682,0,0,0,0,0,0,14.82,14.71,14.83
$GC,1145,-0.76,-243.3,2508,1810,3710,3682,138.7,-11.7,205,1152,0.00,2.45,0.00,0.000,2564,0.000,0.065,2507,401,3695,3710,3681,0,0,0,0,0,0,15.07,14.74,15.08
$GC,1165,-0.76,-243.3,2508,401,3709,3681,141.1,-11.2,208,1172,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1804,3695,3709,3681,0,0,0,0,0,0,14.88,14.79,14.90
$GC,1236,-0.76,-243.3,2508,1807,3709,3682,149.3,-11.8,221,1244,0.00,2.40,0.00,0.000,2308,0.000,0.054,2508,3217,3695,3709,3681,0,0,0,0,0,0,15.07,14.80,15.08
$GC,1272,-0.76,-243.3,2508,3217,3708,3681,153.3,-10.2,227,1278,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1806,3695,3709,3681,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1345,-0.76,-243.3,2508,1806,3709,3681,161.9,-12.5,240,1350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2513,1806,3695,3709,3681,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1413,-0.76,-243.3,2508,1806,3709,3681,170.3,-11.7,253,1419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3695,3709,3681,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1482,-0.76,-243.3,2508,1806,3709,3681,178.3,-12.2,266,1488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3709,3681,0,0,0,0,0,0,15.07,15.11,15.08
$STATE,1493,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1493,begin apogee
$GC,1499,-0.17,0.0,2508,1806,3709,3682,179.8,-12.4,268,1692,0.95,0.00,183.50,1.194,10246,0.143,0.000,2697,1803,2697,2729,2665,0,0,0,0,0,0,14.65,14.22,13.82
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1698,0.76,243.3,2697,1802,2728,2664,185.6,0.0,303,1901,1.45,2.45,189.18,1.164,10500,0.067,0.048,3008,3205,1705,1744,1666,0,0,0,0,0,0,14.37,14.25,13.77
$GC,1919,0.76,243.3,3007,3205,1741,1665,174.9,16.0,341,1925,0.00,2.47,0.00,0.000,5126,0.000,0.052,3010,1805,1702,1741,1664,0,0,0,0,0,0,14.42,14.33,14.42
$GC,1990,0.76,243.3,3010,1805,1739,1662,164.8,14.9,354,1996,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1805,1700,1739,1661,0,0,0,0,0,0,14.76,14.76,14.76
$GC,2059,0.76,243.3,3009,1805,1739,1663,154.0,14.6,367,2065,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1805,1699,1738,1660,0,0,0,0,0,0,14.84,14.84,14.85
$GC,2128,0.76,243.3,3010,1805,1738,1660,144.5,14.1,380,2134,0.00,2.38,0.00,0.000,4356,0.000,0.047,3010,3201,1699,1738,1660,0,0,0,0,0,0,14.90,14.62,14.91
$GC,2152,0.76,243.3,3009,3200,1737,1660,141.0,14.1,384,2159,0.00,2.42,0.00,0.000,5126,0.000,0.054,3010,1798,1698,1736,1660,0,0,0,0,0,0,14.80,14.69,14.82
$GC,2223,0.76,243.3,3009,1797,1736,1659,131.0,14.3,397,2230,0.00,2.47,0.00,0.000,4612,0.000,0.073,3010,388,1697,1736,1659,0,0,0,0,0,0,14.95,14.63,14.96
$GC,2248,0.76,243.3,3010,388,1736,1659,127.0,14.9,401,2255,0.00,2.35,0.00,0.000,5126,0.000,0.033,3010,1804,1697,1736,1659,0,0,0,0,0,0,14.76,14.68,14.77
$GC,2319,0.76,243.3,3010,1807,1736,1659,117.3,14.3,414,2326,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3205,1696,1735,1658,0,0,0,0,0,0,15.00,14.73,15.00
$GC,2344,0.76,243.3,3010,3205,1734,1659,113.2,15.9,418,2351,0.00,2.42,0.00,0.000,5126,0.000,0.053,3010,1799,1696,1735,1658,0,0,0,0,0,0,14.83,14.72,14.85
$GC,2416,0.76,243.3,3010,1799,1735,1658,103.2,14.4,431,2421,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1696,1735,1658,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2484,0.76,243.3,3010,1799,1735,1658,93.0,14.9,444,2491,0.00,2.40,0.00,0.000,4356,0.000,0.048,3011,3209,1695,1734,1657,0,0,0,0,0,0,15.02,14.75,15.03
$GC,2509,0.76,243.3,3010,3209,1734,1656,89.1,15.6,448,2516,0.00,2.42,0.00,0.000,5126,0.000,0.052,3017,1794,1696,1734,1658,0,0,0,0,0,0,14.85,14.75,14.87
$GC,2581,0.76,243.3,3018,1794,1734,1657,77.5,17.5,461,2586,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1794,1696,1735,1658,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2649,0.76,243.3,3017,1794,1734,1657,64.7,18.3,474,2656,0.00,2.38,0.00,0.000,4356,0.000,0.047,3017,3200,1695,1734,1657,0,0,0,0,0,0,15.05,14.76,15.05
$GC,2694,0.76,243.3,3017,3200,1733,1657,57.5,15.2,482,2700,0.00,2.40,0.00,0.000,5126,0.000,0.054,3017,1799,1695,1733,1657,0,0,0,0,0,0,14.83,14.72,14.85
$GC,2764,0.76,243.3,3016,1799,1734,1657,48.0,13.3,495,2771,0.00,2.45,0.00,0.000,4612,0.000,0.073,3019,394,1695,1734,1657,0,0,0,0,0,0,15.06,14.74,15.06
$GC,2824,0.76,243.3,3018,398,1734,1657,39.0,13.7,506,2831,0.05,2.33,0.00,0.000,5126,0.323,0.033,3009,1809,1695,1734,1657,0,0,0,0,0,0,14.59,14.76,14.81
$GC,2896,0.76,243.3,3008,1810,1733,1656,30.6,11.1,519,2902,0.00,2.33,0.00,0.000,4356,0.000,0.049,3009,3196,1694,1732,1656,0,0,0,0,0,0,15.06,14.81,15.07
$GC,2945,0.76,243.3,3008,3196,1733,1655,24.6,11.4,528,2952,0.00,2.40,0.00,0.000,5126,0.000,0.051,3009,1794,1694,1733,1656,0,0,0,0,0,0,14.92,14.81,14.95
$GC,3017,0.76,243.3,3009,1794,1733,1655,17.2,10.8,541,3022,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1794,1694,1733,1655,0,0,0,0,0,0,15.04,15.04,15.05
$GC,3085,0.76,243.3,3009,1793,1733,1655,9.9,10.4,554,3091,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1793,1694,1733,1655,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3154,0.85,311.3,3009,1793,1733,1655,3.8,8.1,567,3167,0.00,0.00,10.93,0.827,10498,0.000,0.000,3010,1794,1630,1670,1590,0,0,0,0,0,0,15.07,28.83,15.08
$STATE,3168,end climb,SURFACE_DEPTH_REACHED
$STATE,3168,begin surface coast
$FINISH,0.1,1.025727
$STATE,3193,end surface coast,CONTROL_FINISHED_OK
$STATE,3194,begin surface
$SM_CCo,3218,174.02,0.816,0,0,598,515.37
$SM_GC,0.86,13.62,0.00,174.02,0.047,0.000,0.816,130,1793,598,-8.17,-0.51,515.37,0,0,0,0,0,0,14.81,15.06,14.05
$IRIDIUM_FIX,-3414.71,2534.32,180419,174346
$TT8_MAMPS,0.021721,0.932505
$HUMID,45.43
$INTERNAL_PRESSURE,9.25373
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.5,33.9
$SC_FREEKB,3696064
$24V_AH,13.45,135.175
$10V_AH,13.61,0.000
$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,30.725,62.250,383.600,174.025,0.000,51.745,62.537,263.835,5.750,0.000,15.958,1175.685,564.979,709.763,1375.631,270.640,0.000,1285.815,0.000,865.091,0.000,37.466,0.000
$DEVICE_MAMPS,323.595,72.675,1194.165,816.255,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.255,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13430,574
$CAP_FILE_SIZE,111978,0
$CFSIZE,2097086464,2011332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180419,200158,-3428.155,2530.413,7,1.1,17,-28.0,0.9,224.9,8,9.1