version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 454
start: 4 20 119 5 35 33
data:
$ID,574
$MISSION,3
$DIVE,454
$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,30
$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,30
$R_STBD_OVSHOOT,52
$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
$GPS1,200419,052131,-3430.1550,2517.7490,8,1.0,34,-27.9,0.3,22.9,8,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-64.0
$GPS2,200419,053507,-3430.0852,2517.6799,7,0.9,21,-27.9,0.6,302.6,8,8.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.733,2524.220
$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,57.9,20000,-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,-272.5,53,1798,629,540,0.0,0.0,0,123,0.00,0.00,-97.78,0.000,16386,0.000,0.000,54,1798,3068,3031,3105,0,0,0,0,0,0,14.95,28.83,14.96
$GC,129,-0.77,-272.5,53,1798,3032,3105,3.9,-9.4,18,165,14.50,2.45,-11.70,0.000,18948,0.298,0.086,2502,403,3814,3827,3801,0,0,0,0,0,0,14.50,13.45,14.79
$GC,259,-0.77,-272.5,2503,402,3828,3801,36.4,-13.5,42,265,0.00,2.33,0.00,0.000,3078,0.000,0.035,2504,1805,3814,3828,3801,0,0,0,0,0,0,14.78,14.71,14.79
$GC,330,-0.77,-272.5,2503,1808,3828,3801,47.1,-15.5,55,337,0.00,2.40,0.00,0.000,2308,0.000,0.054,2498,3220,3814,3828,3801,0,0,0,0,0,0,15.04,14.75,15.05
$GC,407,-0.77,-272.5,2498,3221,3829,3801,57.5,-13.6,69,413,0.00,2.38,0.00,0.000,3078,0.000,0.041,2496,1804,3814,3828,3801,0,0,0,0,0,0,14.92,14.83,14.94
$GC,478,-0.77,-272.5,2495,1803,3828,3801,66.8,-12.8,82,485,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,402,3814,3828,3801,0,0,0,0,0,0,15.07,14.72,15.07
$GC,513,-0.77,-272.5,2497,402,3827,3801,71.9,-12.9,88,520,0.00,2.33,0.00,0.000,3078,0.000,0.034,2497,1815,3814,3827,3801,0,0,0,0,0,0,14.94,14.85,14.96
$GC,587,-0.77,-272.5,2497,1818,3828,3801,80.8,-14.5,101,593,0.00,2.35,0.00,0.000,2308,0.000,0.054,2498,3211,3814,3828,3801,0,0,0,0,0,0,15.07,14.82,15.07
$GC,653,-0.77,-272.5,2497,3211,3828,3801,89.4,-11.9,113,662,0.00,2.33,0.00,0.000,3078,0.000,0.040,2498,1811,3814,3828,3801,0,0,0,0,0,0,14.95,14.85,14.97
$GC,728,-0.77,-272.5,2497,1812,3828,3801,98.1,-12.7,126,735,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,406,3814,3828,3801,0,0,0,0,0,0,15.07,14.82,15.08
$GC,760,-0.77,-272.5,2497,404,3828,3801,102.2,-12.8,131,766,0.00,2.33,0.00,0.000,3078,0.000,0.034,2497,1817,3814,3828,3800,0,0,0,0,0,0,14.90,14.80,14.91
$GC,830,-0.77,-272.5,2497,1819,3828,3801,109.9,-10.3,144,837,0.00,2.35,0.00,0.000,2308,0.000,0.054,2498,3211,3814,3828,3801,0,0,0,0,0,0,15.09,14.78,15.09
$GC,875,-0.77,-272.5,2497,3211,3828,3801,114.4,-9.2,152,882,0.00,2.35,0.00,0.000,3078,0.000,0.040,2498,1810,3814,3828,3801,0,0,0,0,0,0,14.90,14.81,14.92
$GC,947,-0.77,-272.5,2497,1805,3828,3797,121.9,-12.2,165,953,0.00,2.40,0.00,0.000,2564,0.000,0.060,2497,398,3814,3828,3800,0,0,0,0,0,0,15.09,14.83,15.09
$GC,976,-0.77,-272.5,2497,398,3828,3800,125.5,-10.6,170,983,0.00,2.33,0.00,0.000,3078,0.000,0.034,2497,1813,3814,3828,3800,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,998,begin apogee
$GC,1005,-0.17,0.0,2497,1815,3828,3800,128.2,-10.5,174,1215,1.00,0.00,200.07,1.079,10246,0.133,0.000,2700,1816,2698,2734,2663,0,0,0,0,0,0,14.71,14.39,13.90
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1220,0.77,272.5,2699,1816,2733,2662,137.9,0.0,212,1440,1.38,2.60,208.45,1.067,10756,0.074,0.067,2996,391,1587,1630,1545,0,0,0,0,0,0,14.42,14.34,13.85
$GC,1514,0.77,272.5,2996,391,1622,1545,118.0,12.6,264,1521,0.00,2.35,0.00,0.000,3078,0.000,0.034,2996,1805,1585,1623,1547,0,0,0,0,0,0,14.69,14.61,14.70
$GC,1586,0.77,272.5,2996,1814,1622,1542,107.5,15.0,277,1592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1807,1581,1622,1541,0,0,0,0,0,0,14.89,14.89,14.89
$GC,1655,0.77,272.5,2995,1807,1622,1541,96.6,15.5,290,1661,0.00,2.33,0.00,0.000,2308,0.000,0.047,2996,3197,1581,1622,1541,0,0,0,0,0,0,14.95,14.65,14.96
$GC,1675,0.77,272.5,2996,3197,1621,1540,93.6,15.2,293,1681,0.00,2.40,0.00,0.000,3078,0.000,0.051,2996,1792,1579,1617,1542,0,0,0,0,0,0,14.75,14.65,14.76
$GC,1746,0.77,272.5,2996,1791,1621,1540,83.8,13.8,306,1753,0.00,2.42,0.00,0.000,2564,0.000,0.071,2996,395,1581,1622,1540,0,0,0,0,0,0,15.00,14.71,15.00
$GC,1791,0.77,272.5,2996,394,1621,1540,77.3,12.8,314,1798,0.00,2.33,0.00,0.000,3078,0.000,0.033,2996,1803,1580,1621,1540,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1862,0.77,272.5,2996,1806,1621,1539,68.5,13.4,327,1869,0.00,2.33,0.00,0.000,2308,0.000,0.045,2996,3204,1580,1621,1540,0,0,0,0,0,0,15.01,14.81,15.03
$GC,1897,0.77,272.5,2996,3204,1620,1536,63.5,13.1,333,1904,0.00,2.40,0.00,0.000,3078,0.000,0.053,2996,1798,1580,1621,1539,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1969,0.77,272.5,2996,1798,1621,1538,54.7,12.4,346,1975,0.00,2.42,0.00,0.000,2564,0.000,0.070,2997,393,1579,1621,1538,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2040,0.77,272.5,2997,393,1620,1538,46.4,11.1,359,2047,0.00,2.33,0.00,0.000,3078,0.000,0.032,2998,1810,1579,1621,1538,0,0,0,0,0,0,14.87,14.78,14.88
$GC,2112,0.80,295.7,2998,1813,1620,1538,38.7,9.4,372,2136,0.00,2.38,19.25,0.960,10500,0.000,0.046,2997,3203,1492,1536,1448,0,0,0,0,0,0,15.08,14.78,14.25
$GC,2181,0.80,299.1,2998,3205,1537,1446,32.0,9.9,384,2194,0.00,2.40,4.15,0.552,11270,0.000,0.049,2999,1794,1479,1526,1433,0,0,0,0,0,0,14.85,14.75,14.13
$GC,2259,0.87,352.3,2998,1794,1526,1432,24.4,8.7,398,2304,0.08,0.00,38.03,0.953,10246,0.186,0.000,3043,1794,1262,1317,1207,0,0,0,0,0,0,14.76,14.51,14.14
$GC,2367,0.87,352.3,3042,1794,1317,1204,10.1,13.6,418,2373,0.00,2.40,0.00,0.000,4356,0.000,0.047,3042,3200,1260,1316,1204,0,0,0,0,0,0,14.93,14.71,14.93
$GC,2406,0.87,352.3,3040,3199,1316,1202,5.1,12.2,425,2412,0.00,2.38,0.00,0.000,5126,0.000,0.041,3044,1797,1259,1316,1202,0,0,0,0,0,0,14.78,14.68,14.80
$STATE,2417,end climb,FINISH_DEPTH_REACHED
$STATE,2417,begin subsurface finish
$FINISH1,3.5,1.025142,121
$GC,2425,0.15,120.9,3044,1791,1316,1201,3.5,11.1,427,2476,1.20,2.42,-42.17,0.000,20996,0.168,0.085,2816,384,2209,2256,2162,0,0,0,0,0,0,14.61,13.97,14.71
$FINISH2,1.2
$STATE,2477,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2477,begin surface
$IRIDIUM_FIX,-3417.32,2515.55,200419,033925
$TT8_MAMPS,0.021721,0.90629
$HUMID,45.07
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.1,36.8
$SC_FREEKB,3683264
$24V_AH,13.45,141.495
$10V_AH,13.50,0.000
$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,18.150,68.975,469.950,0.000,0.000,24.036,39.749,445.922,3.000,0.000,22.894,814.946,333.503,574.580,1252.808,323.370,0.000,1056.796,0.000,660.070,0.000,20.748,0.000
$DEVICE_MAMPS,297.585,85.680,1078.650,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2538.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.512,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10112,436
$CAP_FILE_SIZE,87936,0
$CFSIZE,2097086464,2006908928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,053507,-3430.085,2517.680,7,0.9,21,-27.9,0.6,302.6,8,8.4