version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 440
start: 4 19 119 14 47 25
data:
$ID,574
$MISSION,3
$DIVE,440
$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,5
$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,280
$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,355
$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,2
$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,48
$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
$GPS1,190419,143015,-3432.5781,2515.6340,25,1.1,56,-27.9,0.6,209.4,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-70.1
$GPS2,190419,144658,-3432.7915,2515.4966,7,1.1,16,-27.9,0.8,190.3,8,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.033,2514.356
$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,22.9,20000,-13.1,-10.010,-16.32,4154
$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,-0.77,-272.5,53,1810,622,549,0.0,0.0,0,128,0.00,0.00,-102.62,0.000,16386,0.000,0.000,53,1811,3091,3057,3125,0,0,0,0,0,0,14.87,28.83,14.88
$GC,134,-0.77,-272.5,52,1811,3057,3125,3.8,-10.0,19,169,14.80,2.42,-11.57,0.000,18692,0.309,0.074,2494,3206,3813,3829,3798,0,0,0,0,0,0,14.42,13.40,14.71
$GC,243,-0.77,-272.5,2494,3205,3830,3797,31.9,-14.1,39,250,0.05,2.38,0.00,0.000,3078,0.293,0.044,2506,1807,3814,3830,3798,0,0,0,0,0,0,14.57,14.71,14.74
$GC,315,-0.77,-272.5,2506,1807,3831,3797,42.4,-15.1,52,322,0.00,2.45,0.00,0.000,2564,0.000,0.067,2506,408,3813,3830,3797,0,0,0,0,0,0,14.97,14.64,14.98
$GC,345,-0.77,-272.5,2506,407,3831,3797,46.9,-15.5,57,351,0.00,2.35,0.00,0.000,3078,0.000,0.038,2506,1807,3813,3830,3797,0,0,0,0,0,0,14.74,14.65,14.76
$GC,417,-0.77,-272.5,2506,1809,3830,3797,55.6,-13.3,70,423,0.00,2.42,0.00,0.000,2308,0.000,0.057,2506,3220,3813,3830,3797,0,0,0,0,0,0,15.00,14.73,15.00
$GC,476,-0.77,-272.5,2506,3220,3829,3797,62.7,-10.8,81,483,0.00,2.40,0.00,0.000,1030,0.000,0.043,2507,1806,3813,3830,3797,0,0,0,0,0,0,14.85,14.75,14.86
$GC,547,-0.77,-272.5,2506,1806,3830,3797,70.9,-12.1,94,553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1806,3813,3830,3797,0,0,0,0,0,0,15.01,15.02,15.02
$GC,615,-0.77,-272.5,2506,1806,3830,3796,79.2,-11.7,107,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1806,3813,3830,3797,0,0,0,0,0,0,15.02,15.02,15.03
$GC,683,-0.77,-272.5,2506,1806,3831,3798,87.3,-11.5,120,689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1806,3813,3829,3798,0,0,0,0,0,0,15.03,15.03,15.02
$GC,752,-0.77,-272.5,2506,1806,3830,3797,94.9,-11.9,133,760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1806,3813,3830,3797,0,0,0,0,0,0,15.03,15.04,15.03
$GC,825,-0.77,-272.5,2507,1806,3831,3797,103.6,-12.1,146,831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1806,3813,3829,3797,0,0,0,0,0,0,15.04,15.04,15.04
$GC,897,-0.77,-272.5,2506,1806,3830,3797,111.6,-10.8,159,903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1806,3813,3830,3797,0,0,0,0,0,0,15.02,15.02,15.02
$GC,967,-0.77,-272.5,2506,1805,3830,3797,119.9,-11.4,172,976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1806,3813,3830,3797,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1041,-0.77,-272.5,2506,1809,3830,3797,128.2,-10.9,185,1047,0.00,2.42,0.00,0.000,2308,0.000,0.054,2507,3213,3813,3830,3796,0,0,0,0,0,0,15.05,14.71,15.07
$GC,1081,-0.77,-272.5,2506,3213,3830,3797,132.5,-10.2,192,1087,0.00,2.38,0.00,0.000,3078,0.000,0.042,2507,1809,3813,3830,3797,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1153,-0.77,-272.5,2506,1808,3830,3798,140.1,-11.2,205,1159,0.00,2.42,0.00,0.000,2564,0.000,0.066,2507,408,3813,3829,3797,0,0,0,0,0,0,15.05,14.76,15.05
$GC,1177,-0.77,-272.5,2506,408,3829,3797,143.1,-11.3,209,1183,0.00,2.35,0.00,0.000,3078,0.000,0.034,2506,1821,3813,3829,3797,0,0,0,0,0,0,14.91,14.82,14.92
$GC,1250,-0.77,-272.5,2506,1823,3830,3797,150.5,-11.1,222,1257,0.00,2.38,0.00,0.000,2308,0.000,0.054,2504,3213,3813,3829,3797,0,0,0,0,0,0,15.06,14.71,15.06
$GC,1285,-0.77,-272.5,2505,3213,3829,3797,154.5,-9.8,228,1292,0.00,2.38,0.00,0.000,3078,0.000,0.041,2505,1811,3813,3829,3797,0,0,0,0,0,0,14.81,14.68,14.83
$GC,1356,-0.77,-272.5,2505,1809,3829,3797,161.8,-11.4,241,1362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1811,3813,3829,3797,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1425,-0.77,-272.5,2505,1811,3828,3797,169.5,-11.2,254,1432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1810,3813,3829,3797,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1498,-0.77,-272.5,2511,1810,3828,3797,177.7,-11.4,267,1503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1810,3812,3828,3797,0,0,0,0,0,0,15.05,15.05,15.06
$GC,1568,-0.77,-272.5,2505,1810,3828,3797,186.0,-12.3,280,1574,0.00,2.42,0.00,0.000,2308,0.000,0.054,2505,3217,3812,3828,3797,0,0,0,0,0,0,15.04,14.76,15.04
$GC,1603,-0.77,-272.5,2504,3216,3828,3797,190.1,-10.2,286,1610,0.00,2.38,0.00,0.000,3078,0.000,0.043,2505,1812,3812,3828,3797,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1675,-0.77,-272.5,2505,1812,3828,3797,198.9,-12.6,299,1681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3812,3827,3797,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1748,-0.77,-272.5,2505,1812,3828,3797,207.6,-12.7,312,1753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3812,3828,3797,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1816,-0.77,-272.5,2504,1812,3828,3796,216.2,-12.1,325,1822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3812,3828,3796,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1885,-0.77,-272.5,2504,1812,3827,3796,224.7,-12.3,338,1892,0.00,2.45,0.00,0.000,2564,0.000,0.066,2505,402,3811,3827,3796,0,0,0,0,0,0,15.09,14.70,15.09
$STATE,1902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1903,begin apogee
$GC,1911,-0.17,0.0,2505,1808,3827,3796,227.3,-12.7,341,2127,0.98,0.00,207.20,1.252,10246,0.132,0.000,2701,1810,2699,2735,2663,0,0,0,0,0,0,14.65,14.28,13.75
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2132,0.77,272.5,2701,1810,2734,2662,233.3,0.0,380,2362,1.40,2.50,215.18,1.206,11012,0.094,0.050,2988,3209,1589,1632,1546,0,0,0,0,0,0,14.28,14.21,13.71
$GC,2491,0.77,272.5,2988,3209,1627,1544,202.9,13.2,445,2498,0.00,2.45,0.00,0.000,3078,0.000,0.053,2989,1801,1585,1627,1543,0,0,0,0,0,0,14.67,14.57,14.69
$GC,2563,0.77,272.5,2988,1802,1628,1542,194.0,13.2,458,2570,0.00,2.50,0.00,0.000,2564,0.000,0.074,2991,394,1584,1627,1542,0,0,0,0,0,0,14.87,14.57,14.87
$GC,2593,0.77,272.5,2991,393,1627,1542,189.3,13.7,463,2600,0.00,2.40,0.00,0.000,3078,0.000,0.034,2991,1817,1584,1626,1542,0,0,0,0,0,0,14.72,14.63,14.73
$GC,2665,0.77,272.5,2991,1819,1626,1541,179.6,13.8,476,2671,0.00,2.35,0.00,0.000,2308,0.000,0.047,2991,3204,1585,1630,1541,0,0,0,0,0,0,14.92,14.70,14.92
$GC,2689,0.77,272.5,2991,3204,1624,1541,175.9,14.2,480,2696,0.00,2.42,0.00,0.000,3078,0.000,0.054,2992,1800,1583,1625,1541,0,0,0,0,0,0,14.81,14.70,14.83
$GC,2761,0.77,272.5,2991,1801,1625,1541,166.3,13.8,493,2767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1800,1583,1625,1541,0,0,0,0,0,0,14.94,14.95,14.95
$GC,2830,0.77,272.5,2991,1800,1625,1541,156.0,14.6,506,2835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1801,1583,1625,1541,0,0,0,0,0,0,14.98,14.98,14.98
$GC,2898,0.77,272.5,2991,1800,1625,1540,146.2,14.1,519,2904,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1802,1582,1625,1540,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2967,0.77,272.5,2991,1800,1624,1540,136.6,14.3,532,2973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1798,1582,1625,1540,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3036,0.77,272.5,2991,1800,1624,1540,126.8,14.4,545,3042,0.00,2.38,0.00,0.000,2308,0.000,0.049,2991,3198,1582,1624,1540,0,0,0,0,0,0,15.02,14.78,15.02
$GC,3070,0.77,272.5,2991,3198,1623,1540,121.5,14.1,551,3076,0.00,2.40,0.00,0.000,3078,0.000,0.053,2999,1800,1581,1623,1540,0,0,0,0,0,0,14.89,14.78,14.91
$GC,3141,0.77,272.5,2998,1800,1623,1540,111.2,14.9,564,3147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1800,1581,1623,1540,0,0,0,0,0,0,15.01,15.02,15.02
$GC,3210,0.77,272.5,2998,1800,1623,1540,100.8,14.4,577,3217,0.00,2.45,0.00,0.000,2564,0.000,0.074,3008,388,1581,1623,1540,0,0,0,0,0,0,15.03,14.75,15.04
$GC,3260,0.77,272.5,3007,388,1627,1540,93.4,14.9,586,3266,0.00,2.35,0.00,0.000,1030,0.000,0.034,3008,1803,1581,1623,1540,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3331,0.77,272.5,3007,1806,1623,1540,83.7,13.7,599,3338,0.00,2.35,0.00,0.000,260,0.000,0.048,3008,3208,1581,1622,1540,0,0,0,0,0,0,15.02,14.79,15.02
$GC,3376,0.77,272.5,3007,3208,1622,1540,77.7,13.1,607,3383,0.00,2.42,0.00,0.000,5126,0.000,0.054,3010,1799,1581,1622,1540,0,0,0,0,0,0,14.91,14.79,14.92
$GC,3447,0.77,272.5,3009,1799,1622,1540,69.1,11.5,620,3454,0.00,2.45,0.00,0.000,4612,0.000,0.073,3012,393,1580,1622,1539,0,0,0,0,0,0,15.05,14.67,15.05
$GC,3477,0.77,272.5,3011,393,1622,1540,65.4,11.2,625,3484,0.00,2.33,0.00,0.000,5126,0.000,0.033,3012,1800,1581,1622,1540,0,0,0,0,0,0,14.79,14.71,14.81
$GC,3548,0.77,272.5,3012,1803,1622,1539,57.0,13.0,638,3555,0.00,2.35,0.00,0.000,4356,0.000,0.046,3012,3199,1580,1622,1539,0,0,0,0,0,0,15.05,14.75,15.06
$GC,3640,0.92,394.9,3011,3200,1621,1539,48.7,7.0,655,3752,0.10,2.42,100.07,1.081,11270,0.158,0.052,3054,1792,1089,1149,1030,0,0,0,0,0,0,14.78,14.79,13.95
$GC,3816,0.92,394.9,3054,1792,1148,1029,24.4,17.0,687,3823,0.00,2.47,0.00,0.000,516,0.000,0.076,3061,393,1088,1148,1028,0,0,0,0,0,0,14.76,14.52,14.76
$GC,3881,0.92,394.9,3061,393,1148,1026,13.6,16.3,699,3888,0.00,2.35,0.00,0.000,5126,0.000,0.032,3061,1802,1086,1147,1025,0,0,0,0,0,0,14.74,14.67,14.76
$STATE,3933,end climb,FINISH_DEPTH_REACHED
$STATE,3933,begin subsurface finish
$FINISH1,4.6,1.025603,97
$GC,3941,0.12,97.2,3061,1805,1149,1024,4.6,16.4,709,4003,1.38,2.47,-53.25,0.000,20996,0.185,0.088,2803,388,2305,2353,2257,0,0,0,0,0,0,14.50,13.86,14.61
$FINISH2,1.3
$STATE,4006,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$IRIDIUM_FIX,-3417.32,2519.03,190419,111931
$TT8_MAMPS,0.021721,0.904043
$HUMID,46.53
$INTERNAL_PRESSURE,9.39045
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.8,36.4
$SC_FREEKB,3690432
$24V_AH,13.40,138.304
$10V_AH,13.38,0.000
$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,18.700,84.200,522.450,0.000,0.000,25.481,19.161,609.013,8.000,0.000,19.044,1415.717,626.591,703.126,1847.930,412.997,0.000,1424.670,0.000,1077.743,0.000,52.949,0.000
$DEVICE_MAMPS,309.060,87.975,1251.540,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4091.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.246,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,20057,720
$CAP_FILE_SIZE,135466,0
$CFSIZE,2097086464,2009202688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,144658,-3432.792,2515.497,7,1.1,16,-27.9,0.8,190.3,8,9.5