version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 506
start: 4 21 119 21 13 29
data:
$ID,574
$MISSION,3
$DIVE,506
$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,32
$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
$GPS1,210419,210201,-3419.0020,2547.0759,8,0.8,40,-27.9,0.7,33.9,11,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.6
$GPS2,210419,211302,-3418.9988,2547.0037,8,0.8,16,-27.9,0.7,15.7,10,9.1
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.646,2553.529
$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,-272.5,52,1807,634,534,0.0,0.0,0,123,0.00,0.00,-96.85,0.000,16386,0.000,0.000,53,1808,3081,3041,3121,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,52,1808,3042,3119,3.7,-8.6,18,165,14.43,2.38,-11.38,0.000,18692,0.293,0.062,2494,3211,3813,3825,3802,0,0,0,0,0,0,14.53,13.45,14.82
$GC,289,-0.77,-272.5,2495,3211,3826,3802,36.3,-11.7,48,296,0.05,2.35,0.00,0.000,3078,0.291,0.041,2506,1804,3814,3826,3802,0,0,0,0,0,0,14.61,14.78,14.78
$GC,363,-0.77,-272.5,2506,1804,3826,3802,45.0,-12.9,61,369,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1803,3814,3826,3802,0,0,0,0,0,0,15.07,15.08,15.07
$GC,433,-0.77,-272.5,2505,1803,3834,3801,54.4,-12.2,74,439,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3826,3802,0,0,0,0,0,0,15.09,15.09,15.09
$GC,502,-0.77,-272.5,2506,1802,3824,3801,61.9,-11.2,87,508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1804,3813,3825,3802,0,0,0,0,0,0,15.09,15.09,15.09
$GC,579,-0.77,-272.5,2506,1804,3826,3802,70.2,-12.2,100,584,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1804,3813,3826,3801,0,0,0,0,0,0,15.09,15.09,15.09
$GC,647,-0.77,-272.5,2506,1804,3826,3802,78.9,-11.5,113,654,0.00,2.38,0.00,0.000,2564,0.000,0.063,2507,409,3813,3826,3801,0,0,0,0,0,0,15.11,14.85,15.11
$GC,672,-0.77,-272.5,2507,409,3826,3801,81.7,-10.7,117,679,0.00,2.30,0.00,0.000,3078,0.000,0.032,2507,1814,3813,3826,3801,0,0,0,0,0,0,14.99,14.89,15.00
$STATE,699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,700,begin apogee
$GC,706,-0.17,0.0,2507,1815,3826,3801,84.6,-8.5,122,910,0.95,0.00,198.40,1.010,10246,0.129,0.000,2700,1816,2700,2736,2664,0,0,0,0,0,0,14.63,14.44,13.97
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,917,0.77,272.5,2700,1816,2733,2662,98.5,0.0,159,1137,1.40,2.53,207.32,1.001,10756,0.056,0.065,3025,400,1587,1629,1546,0,0,0,0,0,0,14.49,14.32,13.95
$GC,1242,0.77,272.5,3025,399,1621,1546,65.9,13.4,217,1249,0.08,2.33,0.00,0.000,5126,0.262,0.032,3010,1805,1583,1621,1545,0,0,0,0,0,0,14.56,14.71,14.72
$GC,1314,0.77,272.5,3010,1808,1621,1542,55.9,13.9,230,1321,0.00,2.33,0.00,0.000,4356,0.000,0.045,3010,3198,1581,1621,1541,0,0,0,0,0,0,14.96,14.73,14.97
$GC,1363,0.77,272.5,3010,3199,1621,1540,48.5,13.6,239,1370,0.00,2.38,0.00,0.000,5126,0.000,0.048,3010,1800,1580,1621,1540,0,0,0,0,0,0,14.83,14.71,14.84
$GC,1435,0.77,272.5,3010,1800,1621,1540,39.3,14.1,252,1441,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1800,1580,1621,1540,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1504,0.77,272.5,3010,1800,1621,1540,30.4,11.5,265,1510,0.00,2.42,0.00,0.000,4612,0.000,0.069,3011,393,1580,1621,1540,0,0,0,0,0,0,15.05,14.76,15.05
$GC,1568,0.77,272.5,3010,393,1621,1539,23.4,11.0,277,1575,0.00,2.30,0.00,0.000,5126,0.000,0.030,3011,1808,1579,1620,1539,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1640,0.81,305.3,3011,1812,1620,1538,16.8,9.2,290,1669,0.00,2.33,20.62,0.842,10500,0.000,0.045,3011,3190,1453,1500,1406,0,0,0,0,0,0,15.07,14.78,14.29
$STATE,1756,end climb,FINISH_DEPTH_REACHED
$STATE,1756,begin subsurface finish
$FINISH1,4.9,1.025018,127
$GC,1766,0.16,127.2,3012,1798,1496,1401,4.9,10.5,312,1795,0.98,0.00,-24.58,0.000,20742,0.145,0.000,2816,1798,2184,2228,2140,0,0,0,0,0,0,14.70,13.59,14.79
$FINISH2,3.5
$STATE,1796,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1796,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,210419,194552
$TT8_MAMPS,0.021721,0.920521
$HUMID,45.43
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,34.3
$SC_FREEKB,3656640
$24V_AH,13.45,151.706
$10V_AH,13.55,0.000
$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,17.875,28.400,426.350,0.000,0.000,24.844,38.485,315.641,1.500,0.000,18.056,563.484,230.709,474.828,927.568,267.804,0.000,839.569,0.000,485.460,0.000,11.621,0.000
$DEVICE_MAMPS,292.995,68.850,1009.800,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1845.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.929,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6803,317
$CAP_FILE_SIZE,58591,0
$CFSIZE,2097086464,1998422016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,211302,-3418.999,2547.004,8,0.8,16,-27.9,0.7,15.7,10,9.1