version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 485
start: 4 21 119 6 46 53
data:
$ID,574
$MISSION,3
$DIVE,485
$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,55
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,210419,061207,-3420.5901,2537.7158,7,0.9,15,-27.9,0.7,71.2,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,0.4
$GPS2,210419,061207,-3420.5901,2537.7158,7,0.9,15,-27.9,0.7,71.2,9,9.1
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.396,2548.417
$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,82.9,20000,-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,-272.5,2817,1799,2193,2103,0.0,0.0,0,32,0.00,0.00,-5.95,0.000,16386,0.000,0.000,2817,1799,2337,2382,2293,0,0,0,0,0,0,15.08,28.83,15.09
$GC,35,-0.77,-272.5,2817,1799,2385,2293,4.3,0.0,1,86,1.35,2.42,-38.95,0.000,20996,0.080,0.082,2522,405,3812,3832,3793,0,0,0,0,0,0,14.83,13.48,14.88
$GC,100,-0.77,-272.5,2522,405,3832,3793,11.3,-16.8,12,107,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1805,3812,3832,3793,0,0,0,0,0,0,14.89,14.81,14.90
$GC,172,-0.77,-272.5,2521,1807,3832,3793,22.0,-15.8,25,178,0.00,2.38,0.00,0.000,4356,0.000,0.053,2521,3216,3813,3833,3793,0,0,0,0,0,0,15.11,14.86,15.11
$GC,206,-0.77,-272.5,2521,3216,3833,3793,27.0,-13.2,31,213,0.00,2.35,0.00,0.000,5126,0.000,0.043,2522,1812,3813,3833,3794,0,0,0,0,0,0,14.93,14.83,14.94
$GC,278,-0.77,-272.5,2521,1812,3833,3793,36.5,-13.8,44,284,0.00,2.42,0.00,0.000,4612,0.000,0.063,2522,401,3812,3833,3791,0,0,0,0,0,0,15.09,14.85,15.10
$GC,312,-0.77,-272.5,2521,401,3833,3793,41.0,-12.2,50,319,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1815,3813,3833,3793,0,0,0,0,0,0,14.99,14.90,15.00
$GC,384,-0.77,-272.5,2521,1818,3833,3793,48.7,-11.6,63,390,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3214,3812,3832,3793,0,0,0,0,0,0,15.09,14.86,15.09
$GC,423,-0.77,-272.5,2521,3214,3833,3792,53.5,-10.8,70,430,0.00,2.35,0.00,0.000,5126,0.000,0.041,2521,1801,3813,3833,3793,0,0,0,0,0,0,14.99,14.88,15.00
$GC,497,-0.77,-272.5,2521,1801,3833,3793,60.4,-10.0,83,504,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,410,3813,3833,3793,0,0,0,0,0,0,15.11,14.85,15.11
$GC,517,-0.77,-272.5,2521,411,3833,3793,62.6,-9.9,86,524,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1825,3811,3829,3793,0,0,0,0,0,0,14.99,14.90,15.00
$GC,590,-0.77,-272.5,2521,1827,3833,3793,69.1,-9.2,99,599,0.00,2.33,0.00,0.000,4356,0.000,0.053,2522,3207,3813,3833,3793,0,0,0,0,0,0,15.11,14.75,15.11
$GC,623,-0.77,-272.5,2521,3212,3833,3793,72.2,-8.0,104,629,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1806,3813,3834,3793,0,0,0,0,0,0,14.98,14.89,15.00
$GC,697,-0.77,-272.5,2521,1806,3834,3793,78.4,-7.4,117,704,0.00,2.38,0.00,0.000,4612,0.000,0.060,2521,411,3813,3833,3793,0,0,0,0,0,0,15.11,14.86,15.12
$GC,732,-0.77,-272.5,2521,411,3833,3793,81.6,-9.2,123,739,0.00,2.28,0.00,0.000,5126,0.000,0.032,2520,1815,3812,3833,3791,0,0,0,0,0,0,14.99,14.91,14.98
$GC,804,-0.77,-272.5,2521,1816,3834,3793,88.1,-10.0,136,811,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3211,3813,3833,3793,0,0,0,0,0,0,15.10,14.86,15.11
$GC,818,-0.77,-272.5,2521,3211,3833,3793,89.8,-10.2,138,825,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1799,3813,3833,3793,0,0,0,0,0,0,14.99,14.90,15.00
$STATE,846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,846,begin apogee
$GC,852,-0.17,0.0,2519,1799,3833,3793,92.4,-8.8,143,1063,0.85,0.00,199.40,1.050,10246,0.103,0.000,2702,1799,2698,2733,2663,0,0,0,0,0,0,14.73,14.31,13.93
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,0.77,272.5,2701,1799,2732,2662,106.9,0.0,181,1288,1.35,2.53,208.48,1.037,10756,0.060,0.069,3002,409,1587,1630,1545,0,0,0,0,0,0,14.47,14.38,13.90
$GC,1301,0.77,272.5,3002,409,1633,1545,90.4,15.9,221,1307,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1796,1587,1629,1545,0,0,0,0,0,0,14.57,14.49,14.57
$GC,1373,0.77,272.5,3002,1799,1627,1542,78.7,16.9,234,1379,0.00,2.38,0.00,0.000,260,0.000,0.045,3002,3200,1583,1626,1541,0,0,0,0,0,0,14.83,14.57,14.83
$GC,1412,0.77,272.5,3002,3200,1623,1541,71.4,17.9,241,1419,0.00,2.40,0.00,0.000,1030,0.000,0.054,3003,1806,1582,1623,1541,0,0,0,0,0,0,14.69,14.61,14.70
$GC,1484,0.77,272.5,3003,1806,1623,1540,61.0,14.6,254,1491,0.00,2.45,0.00,0.000,516,0.000,0.070,3003,391,1585,1630,1541,0,0,0,0,0,0,14.95,14.71,14.96
$GC,1524,0.77,272.5,3002,391,1623,1541,54.8,13.9,261,1530,0.00,2.33,0.00,0.000,3078,0.000,0.031,3002,1803,1581,1623,1540,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1595,0.77,272.5,3003,1806,1623,1540,46.4,11.7,274,1602,0.00,2.33,0.00,0.000,260,0.000,0.047,3003,3203,1581,1623,1540,0,0,0,0,0,0,15.00,14.79,15.01
$GC,1625,0.77,272.5,3002,3203,1622,1539,42.8,12.5,279,1632,0.00,2.40,0.00,0.000,1030,0.000,0.051,3001,1793,1580,1622,1539,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1698,0.77,272.5,3003,1793,1622,1539,35.6,10.7,292,1705,0.00,2.42,0.00,0.000,516,0.000,0.070,3003,389,1580,1622,1539,0,0,0,0,0,0,15.04,14.75,15.05
$GC,1748,0.77,272.5,3003,389,1622,1539,29.6,11.3,301,1755,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1816,1580,1622,1539,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1819,0.77,272.5,3003,1817,1622,1538,21.9,10.9,314,1826,0.00,2.30,0.00,0.000,260,0.000,0.048,3003,3196,1580,1622,1538,0,0,0,0,0,0,15.07,14.84,15.08
$GC,1854,0.77,272.5,3003,3196,1621,1538,17.6,10.8,320,1861,0.00,2.38,0.00,0.000,1030,0.000,0.047,3003,1790,1580,1622,1538,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1926,0.78,282.2,3003,1790,1621,1538,10.9,9.8,333,1939,0.00,2.40,5.55,0.705,10756,0.000,0.070,3003,395,1546,1591,1502,0,0,0,0,0,0,15.07,14.69,14.25
$GC,1963,0.82,316.5,3003,395,1590,1502,7.4,9.2,339,1992,0.00,2.30,22.25,0.811,11270,0.000,0.031,3003,1799,1407,1456,1358,0,0,0,0,0,0,14.85,14.78,14.31
$STATE,2007,end climb,SURFACE_DEPTH_REACHED
$STATE,2007,begin surface coast
$FINISH,0.4,1.011322
$STATE,2040,end surface coast,CONTROL_FINISHED_OK
$STATE,2040,begin surface
$SM_CCo,2065,131.07,0.784,0,0,597,515.37
$SM_GC,0.92,13.45,0.00,131.07,0.037,0.000,0.784,119,1799,597,-8.18,-0.37,515.37,0,0,0,0,0,0,14.84,15.04,14.12
$IRIDIUM_FIX,-3406.89,2533.19,210419,044347
$TT8_MAMPS,0.021721,0.477862
$HUMID,44.95
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.2,36.7
$SC_FREEKB,3667392
$24V_AH,13.48,147.840
$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,17.000,73.175,435.675,131.075,0.000,0.000,0.000,0.000,1.750,0.000,0.000,690.028,271.019,607.848,620.772,149.993,0.000,1009.034,0.000,534.676,0.000,15.074,0.000
$DEVICE_MAMPS,103.275,81.855,1049.580,784.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2088.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.217,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10118,353
$CAP_FILE_SIZE,72777,0
$CFSIZE,2097086464,2001829888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,072427,-3420.392,2538.779,8,1.0,15,-27.9,0.6,74.8,8,9.5