version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 482
start: 4 21 119 4 51 18
data:
$ID,574
$MISSION,3
$DIVE,482
$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,45
$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,36
$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,20
$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
$GPS1,210419,043931,-3420.9780,2536.6660,8,1.1,40,-27.9,0.7,99.3,8,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.1
$GPS2,210419,045053,-3420.9131,2536.6917,8,0.9,18,-27.9,0.0,233.3,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.277,2545.927
$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,72.9,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,53,1799,628,541,0.0,0.0,0,118,0.00,0.00,-91.18,0.000,16386,0.000,0.000,53,1800,2951,2912,2990,0,0,0,0,0,0,14.97,28.83,14.98
$GC,123,-0.77,-272.5,53,1800,2912,2991,3.8,-7.9,17,159,14.40,2.38,-14.05,0.000,18692,0.292,0.073,2496,3205,3815,3832,3798,0,0,0,0,0,0,14.50,13.89,14.78
$GC,268,-0.77,-272.5,2495,3205,3833,3798,33.6,-11.8,44,276,0.05,2.33,0.00,0.000,3078,0.295,0.041,2508,1812,3815,3833,3798,0,0,0,0,0,0,14.68,14.83,14.85
$GC,341,-0.77,-272.5,2507,1812,3833,3795,41.9,-12.0,57,347,0.00,2.40,0.00,0.000,2564,0.000,0.063,2512,409,3815,3833,3798,0,0,0,0,0,0,15.07,14.76,15.07
$GC,380,-0.77,-272.5,2508,411,3833,3798,46.3,-10.7,64,387,0.00,2.30,0.00,0.000,3078,0.000,0.034,2509,1805,3815,3832,3798,0,0,0,0,0,0,14.85,14.77,14.87
$GC,452,-0.77,-272.5,2508,1808,3833,3797,53.9,-11.0,77,459,0.00,2.38,0.00,0.000,2308,0.000,0.054,2509,3214,3817,3836,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,519,-0.77,-272.5,2507,3214,3833,3798,59.8,-8.3,89,527,0.00,2.35,0.00,0.000,3078,0.000,0.040,2508,1803,3815,3833,3798,0,0,0,0,0,0,14.97,14.86,14.97
$GC,592,-0.77,-272.5,2508,1803,3833,3798,67.1,-10.2,102,599,0.00,2.38,0.00,0.000,2564,0.000,0.062,2508,412,3815,3833,3798,0,0,0,0,0,0,15.09,14.83,15.10
$GC,626,-0.77,-272.5,2508,412,3832,3797,70.8,-10.4,108,633,0.00,2.30,0.00,0.000,3078,0.000,0.032,2508,1813,3815,3832,3798,0,0,0,0,0,0,14.92,14.84,14.93
$GC,700,-0.77,-272.5,2508,1815,3832,3798,78.5,-12.3,121,707,0.00,2.35,0.00,0.000,2308,0.000,0.053,2508,3210,3815,3832,3798,0,0,0,0,0,0,15.10,14.77,15.11
$GC,750,-0.77,-272.5,2508,3210,3833,3798,83.8,-10.0,130,757,0.00,2.33,0.00,0.000,3078,0.000,0.039,2508,1810,3815,3833,3798,0,0,0,0,0,0,14.90,14.78,14.92
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,798,begin apogee
$GC,804,-0.17,0.0,2508,1812,3833,3798,88.9,-10.8,139,1015,0.93,0.00,198.15,1.023,10246,0.127,0.000,2698,1812,2699,2734,2664,0,0,0,0,0,0,14.73,14.33,13.95
$STATE,1016,end apogee,CONTROL_FINISHED_OK
$STATE,1016,begin climb
$GC,1019,0.77,272.5,2698,1812,2733,2663,103.2,0.0,177,1238,1.42,0.00,207.05,1.020,11014,0.053,0.000,3022,1812,1587,1629,1546,0,0,0,0,0,0,14.47,14.29,13.95
$GC,1301,0.77,272.5,3022,1812,1625,1543,77.7,17.5,227,1308,0.05,2.38,0.00,0.000,4356,0.345,0.044,3011,3204,1583,1625,1541,0,0,0,0,0,0,14.47,14.57,14.63
$GC,1346,0.77,272.5,3011,3204,1621,1541,69.2,19.5,235,1353,0.00,2.40,0.00,0.000,5126,0.000,0.053,3011,1813,1581,1621,1541,0,0,0,0,0,0,14.76,14.66,14.78
$GC,1418,0.77,272.5,3011,1812,1622,1539,58.4,15.0,248,1425,0.00,2.47,0.00,0.000,4612,0.000,0.069,3019,387,1581,1622,1540,0,0,0,0,0,0,14.94,14.71,14.94
$GC,1463,0.77,272.5,3018,387,1621,1540,51.8,14.4,256,1470,0.00,2.35,0.00,0.000,5126,0.000,0.032,3019,1808,1580,1621,1540,0,0,0,0,0,0,14.88,14.81,14.88
$GC,1535,0.77,272.5,3019,1810,1621,1539,42.1,13.9,269,1542,0.00,2.30,0.00,0.000,4356,0.000,0.045,3019,3196,1579,1621,1538,0,0,0,0,0,0,15.02,14.73,15.02
$GC,1560,0.77,272.5,3019,3196,1620,1538,38.1,14.8,273,1567,0.00,2.40,0.00,0.000,5126,0.000,0.052,3019,1788,1579,1621,1537,0,0,0,0,0,0,14.83,14.71,14.85
$GC,1632,0.77,272.5,3020,1788,1620,1538,29.4,12.2,286,1638,0.00,2.40,0.00,0.000,4612,0.000,0.070,3020,395,1579,1621,1538,0,0,0,0,0,0,15.04,14.79,15.04
$GC,1682,0.77,272.5,3020,394,1621,1538,22.7,12.7,295,1688,0.00,2.30,0.00,0.000,5126,0.000,0.031,3020,1799,1579,1621,1538,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1753,0.77,272.5,3020,1802,1621,1537,14.8,11.1,308,1759,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1802,1578,1620,1537,0,0,0,0,0,0,15.05,15.06,15.05
$GC,1822,0.77,272.5,3020,1802,1620,1536,7.3,10.6,321,1828,0.00,2.33,0.00,0.000,4356,0.000,0.047,3021,3199,1578,1620,1536,0,0,0,0,0,0,15.08,14.85,15.09
$STATE,1849,end climb,FINISH_DEPTH_REACHED
$STATE,1849,begin subsurface finish
$FINISH1,4.7,1.024620,148
$GC,1859,0.18,147.7,3020,1797,1620,1535,4.7,10.1,326,1883,0.98,2.40,-17.98,0.000,20740,0.152,0.069,2824,3198,2100,2142,2059,0,0,0,0,0,0,14.72,13.47,14.82
$FINISH2,3.3
$STATE,1884,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1885,begin surface
$IRIDIUM_FIX,-3409.50,2258.89,210419,032011
$TT8_MAMPS,0.020972,0.944489
$HUMID,45.62
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.4,33.3
$SC_FREEKB,3668928
$24V_AH,13.47,147.276
$10V_AH,13.41,0.000
$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,17.825,49.600,405.200,0.000,0.000,25.092,21.565,346.187,2.000,0.000,19.772,606.379,245.709,474.065,972.434,276.996,0.000,854.469,0.000,502.216,0.000,13.116,0.000
$DEVICE_MAMPS,345.015,72.675,1022.805,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.395,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6798,330
$CAP_FILE_SIZE,67259,0
$CFSIZE,2097086464,2002321408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,045053,-3420.913,2536.692,8,0.9,18,-27.9,0.0,233.3,10,9.7