version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 467
start: 4 20 119 17 0 1
data:
$ID,574
$MISSION,3
$DIVE,467
$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,1
$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,35
$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
$GPS1,200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.67
$_SM_ANGLEo,3.3
$GPS2,200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.909,2532.577
$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,21,begin dive
$GC,24,-0.77,-272.5,2815,1798,2231,2144,0.0,0.0,0,31,0.00,0.00,-5.80,0.000,16386,0.000,0.000,2815,1798,2399,2442,2357,0,0,0,0,0,0,15.07,28.83,15.07
$GC,34,-0.77,-272.5,2815,1798,2445,2358,6.0,0.0,1,80,1.35,2.42,-34.40,0.000,20996,0.088,0.084,2524,405,3814,3830,3799,0,0,0,0,0,0,14.83,13.45,14.85
$GC,140,-0.77,-272.5,2524,405,3832,3799,17.8,-12.3,20,146,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1812,3815,3832,3799,0,0,0,0,0,0,14.85,14.77,14.86
$GC,211,-0.77,-272.5,2522,1815,3832,3799,27.5,-14.7,33,218,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3214,3818,3832,3804,0,0,0,0,0,0,15.09,14.83,15.09
$GC,276,-0.77,-272.5,2522,3214,3832,3799,35.4,-10.6,45,283,0.00,2.35,0.00,0.000,5126,0.000,0.042,2522,1813,3815,3832,3799,0,0,0,0,0,0,14.92,14.81,14.92
$GC,348,-0.77,-272.5,2522,1813,3832,3799,44.7,-13.9,58,353,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1809,3815,3832,3799,0,0,0,0,0,0,15.08,15.09,15.09
$GC,417,-0.77,-272.5,2521,1813,3833,3799,54.2,-12.5,71,426,0.00,2.42,0.00,0.000,4612,0.000,0.064,2522,405,3815,3832,3799,0,0,0,0,0,0,15.10,14.83,15.10
$GC,433,-0.77,-272.5,2522,405,3830,3799,56.6,-13.5,73,440,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1823,3815,3833,3797,0,0,0,0,0,0,14.97,14.88,14.99
$GC,505,-0.77,-272.5,2522,1825,3833,3798,64.8,-12.3,86,513,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3214,3816,3833,3799,0,0,0,0,0,0,15.10,14.79,15.10
$GC,546,-0.77,-272.5,2522,3212,3833,3799,69.3,-10.9,93,553,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1805,3816,3833,3799,0,0,0,0,0,0,14.92,14.82,14.93
$GC,619,-0.77,-272.5,2522,1805,3834,3799,76.8,-10.0,106,625,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,410,3816,3834,3799,0,0,0,0,0,0,15.09,14.84,15.10
$GC,670,-0.77,-272.5,2522,409,3833,3799,82.4,-9.5,115,677,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1816,3816,3833,3799,0,0,0,0,0,0,14.85,14.77,14.86
$GC,742,-0.77,-272.5,2522,1818,3834,3799,88.6,-8.2,128,749,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3213,3816,3834,3799,0,0,0,0,0,0,15.11,14.85,15.11
$GC,782,-0.77,-272.5,2522,3212,3834,3799,91.9,-7.8,135,789,0.00,2.33,0.00,0.000,5126,0.000,0.039,2522,1812,3816,3833,3799,0,0,0,0,0,0,14.97,14.87,14.97
$GC,854,-0.77,-272.5,2522,1812,3834,3794,97.4,-8.1,148,861,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,406,3816,3834,3799,0,0,0,0,0,0,15.09,14.84,15.09
$GC,909,-0.77,-272.5,2521,406,3834,3799,102.8,-9.2,158,916,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1805,3816,3834,3799,0,0,0,0,0,0,14.86,14.78,14.88
$GC,983,-0.77,-272.5,2522,1808,3834,3799,108.3,-8.0,171,990,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3213,3816,3834,3798,0,0,0,0,0,0,15.10,14.83,15.11
$GC,1057,-0.77,-272.5,2522,3213,3834,3799,114.5,-9.2,184,1064,0.00,2.35,0.00,0.000,5126,0.000,0.037,2522,1803,3815,3834,3797,0,0,0,0,0,0,14.97,14.87,14.98
$GC,1129,-0.77,-272.5,2521,1803,3834,3799,120.8,-8.3,197,1136,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,412,3816,3834,3799,0,0,0,0,0,0,15.10,14.73,15.10
$GC,1159,-0.77,-272.5,2522,413,3834,3799,124.2,-11.4,202,1166,0.00,2.30,0.00,0.000,5126,0.000,0.031,2522,1825,3816,3834,3799,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1231,-0.77,-272.5,2522,1827,3834,3799,131.6,-12.5,215,1237,0.00,2.33,0.00,0.000,4356,0.000,0.054,2522,3203,3816,3834,3799,0,0,0,0,0,0,15.11,14.78,15.11
$STATE,1243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1243,begin apogee
$GC,1251,-0.17,0.0,2522,1802,3834,3798,133.1,-10.7,217,1462,0.88,0.00,202.15,1.125,10246,0.116,0.000,2702,1800,2699,2730,2668,0,0,0,0,0,0,14.62,14.35,13.87
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,0.77,272.5,2702,1800,2729,2667,143.0,0.0,255,1692,1.38,2.55,210.57,1.099,10756,0.072,0.070,3003,399,1587,1629,1545,0,0,0,0,0,0,14.40,14.31,13.85
$GC,1771,0.77,272.5,3002,399,1622,1545,127.2,12.3,309,1778,0.00,2.33,0.00,0.000,3078,0.000,0.032,3003,1801,1583,1622,1545,0,0,0,0,0,0,14.69,14.60,14.70
$GC,1843,0.77,272.5,3002,1803,1622,1542,115.6,16.3,322,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1803,1582,1622,1542,0,0,0,0,0,0,14.88,14.89,14.89
$GC,1911,0.77,272.5,3002,1803,1622,1542,104.8,16.6,335,1917,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1800,1581,1622,1541,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1980,0.77,272.5,3002,1803,1622,1541,93.9,15.4,348,1987,0.00,2.35,0.00,0.000,2308,0.000,0.048,3003,3195,1581,1622,1541,0,0,0,0,0,0,14.98,14.76,14.97
$GC,2030,0.77,272.5,3002,3196,1621,1541,86.3,14.7,357,2037,0.00,2.38,0.00,0.000,1030,0.000,0.052,3003,1803,1581,1621,1542,0,0,0,0,0,0,14.87,14.78,14.89
$GC,2102,0.77,272.5,3002,1803,1621,1540,75.9,15.0,370,2109,0.00,2.45,0.00,0.000,516,0.000,0.072,3003,389,1581,1621,1541,0,0,0,0,0,0,15.02,14.68,15.02
$GC,2161,0.77,272.5,3001,389,1620,1541,67.3,14.4,381,2168,0.00,2.33,0.00,0.000,1030,0.000,0.033,3002,1796,1580,1621,1540,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2233,0.77,272.5,3002,1799,1621,1540,57.8,14.0,394,2240,0.00,2.35,0.00,0.000,2308,0.000,0.046,3003,3207,1580,1621,1540,0,0,0,0,0,0,15.05,14.78,15.06
$GC,2287,0.77,272.5,3002,3207,1620,1540,50.3,11.7,404,2294,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1791,1580,1620,1540,0,0,0,0,0,0,14.83,14.74,14.84
$GC,2358,0.77,272.5,3003,1790,1621,1539,42.9,10.3,417,2365,0.00,2.42,0.00,0.000,516,0.000,0.070,3003,387,1580,1621,1540,0,0,0,0,0,0,15.05,14.76,15.07
$GC,2392,0.77,272.5,3002,388,1620,1540,38.7,11.4,423,2399,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1814,1580,1621,1540,0,0,0,0,0,0,14.85,14.77,14.86
$GC,2464,0.84,325.3,3004,1817,1621,1539,32.2,8.7,436,2515,0.00,2.33,43.55,1.032,10500,0.000,0.045,3003,3195,1372,1422,1322,0,0,0,0,0,0,15.08,14.57,14.16
$GC,2564,0.84,325.3,3003,3195,1421,1320,22.1,10.3,454,2571,0.00,2.40,0.00,0.000,3078,0.000,0.049,3003,1803,1370,1420,1320,0,0,0,0,0,0,14.81,14.69,14.81
$GC,2636,0.84,325.3,3003,1802,1421,1319,14.6,11.3,467,2642,0.00,2.47,0.00,0.000,2564,0.000,0.073,3003,390,1369,1421,1318,0,0,0,0,0,0,14.95,14.71,14.95
$GC,2680,0.87,354.3,3003,391,1420,1319,9.9,9.3,475,2710,0.08,2.33,19.92,0.864,11270,0.184,0.031,3042,1813,1250,1309,1191,0,0,0,0,0,0,14.74,14.79,14.21
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2752,begin surface coast
$FINISH,0.1,1.024713
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2803,110.78,0.809,0,0,598,515.37
$SM_GC,0.90,13.73,0.00,110.78,0.041,0.000,0.809,127,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.76,14.99,14.09
$IRIDIUM_FIX,-3414.71,2523.75,200419,141125
$TT8_MAMPS,0.020972,0.83139
$HUMID,45.58
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,32.8
$SC_FREEKB,3676608
$24V_AH,13.45,144.317
$10V_AH,13.47,0.000
$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,17.400,82.850,476.200,110.775,0.000,0.000,0.000,0.000,3.500,0.000,0.000,986.281,420.378,637.616,850.584,170.858,0.000,1147.364,0.000,746.884,0.000,23.752,0.000
$DEVICE_MAMPS,184.365,84.150,1125.315,808.605,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2836.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.443,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,13448,493
$CAP_FILE_SIZE,92507,0
$CFSIZE,2097086464,2004779008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,174938,-3425.656,2527.524,8,1.4,21,-27.9,1.0,298.4,8,10.0