version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 516
start: 4 22 119 3 49 2
data:
$ID,574
$MISSION,3
$DIVE,516
$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,49
$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
$GPS1,220419,033731,-3417.8889,2546.8491,8,0.9,44,-27.9,0.8,231.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.7
$GPS2,220419,034836,-3417.9690,2546.7144,7,1.0,15,-27.9,1.3,196.5,10,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.617,2553.239
$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,-272.5,53,1798,634,533,0.0,0.0,0,123,0.00,0.00,-96.95,0.000,16386,0.000,0.000,53,1799,3057,3028,3086,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,52,1799,3028,3086,3.5,-7.1,18,165,14.45,2.38,-12.52,0.000,18692,0.295,0.070,2492,3212,3814,3830,3798,0,0,0,0,0,0,14.54,13.42,14.82
$GC,209,-0.77,-272.5,2492,3213,3831,3798,23.4,-12.2,32,217,0.08,2.38,0.00,0.000,3078,0.236,0.042,2509,1799,3814,3831,3798,0,0,0,0,0,0,14.62,14.71,14.77
$GC,282,-0.77,-272.5,2509,1800,3832,3798,32.5,-13.6,45,288,0.00,2.40,0.00,0.000,2564,0.000,0.064,2510,402,3814,3831,3798,0,0,0,0,0,0,15.05,14.80,15.06
$GC,312,-0.77,-272.5,2509,402,3832,3798,37.1,-13.4,50,319,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1812,3814,3831,3798,0,0,0,0,0,0,14.94,14.85,14.95
$GC,384,-0.77,-272.5,2508,1815,3832,3798,46.2,-13.2,63,390,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3217,3814,3831,3798,0,0,0,0,0,0,15.07,14.71,15.07
$GC,414,-0.77,-272.5,2508,3217,3831,3798,50.1,-12.1,68,421,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1812,3815,3831,3799,0,0,0,0,0,0,14.85,14.76,14.87
$GC,486,-0.77,-272.5,2508,1812,3831,3798,57.9,-11.6,81,493,0.00,2.40,0.00,0.000,2564,0.000,0.062,2508,410,3814,3831,3798,0,0,0,0,0,0,15.09,14.83,15.10
$GC,508,-0.77,-272.5,2508,409,3831,3798,60.4,-11.6,84,515,0.00,2.30,0.00,0.000,3078,0.000,0.033,2508,1815,3814,3831,3798,0,0,0,0,0,0,14.97,14.88,14.98
$GC,581,-0.77,-272.5,2508,1817,3830,3797,68.9,-11.8,97,593,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3214,3815,3833,3798,0,0,0,0,0,0,15.10,14.84,15.11
$GC,616,-0.77,-272.5,2508,3209,3831,3798,72.8,-9.4,102,623,0.00,2.35,0.00,0.000,3078,0.000,0.041,2509,1802,3814,3831,3798,0,0,0,0,0,0,14.97,14.87,14.98
$GC,688,-0.77,-272.5,2508,1802,3831,3798,79.9,-10.4,115,694,0.00,2.38,0.00,0.000,2564,0.000,0.062,2508,410,3814,3831,3798,0,0,0,0,0,0,15.09,14.84,15.09
$GC,718,-0.77,-272.5,2508,409,3831,3798,83.3,-10.2,120,724,0.00,2.30,0.00,0.000,3078,0.000,0.033,2508,1814,3814,3831,3798,0,0,0,0,0,0,14.97,14.89,15.00
$STATE,740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,740,begin apogee
$GC,746,-0.17,0.0,2508,1816,3831,3798,85.6,-8.9,124,951,0.95,0.00,198.57,1.015,10246,0.128,0.000,2701,1816,2702,2737,2667,0,0,0,0,0,0,14.69,14.45,13.97
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,957,0.77,272.5,2701,1816,2735,2664,97.4,0.0,161,1177,1.40,2.53,207.10,1.007,10756,0.055,0.067,3025,403,1588,1629,1547,0,0,0,0,0,0,14.49,14.32,13.95
$GC,1262,0.77,272.5,3026,403,1621,1546,67.4,12.6,215,1269,0.08,2.33,0.00,0.000,5126,0.265,0.032,3012,1805,1583,1621,1545,0,0,0,0,0,0,14.53,14.67,14.69
$GC,1334,0.77,272.5,3010,1808,1621,1542,59.0,11.5,228,1341,0.00,2.45,0.00,0.000,4612,0.000,0.067,3019,400,1581,1621,1542,0,0,0,0,0,0,14.95,14.67,14.95
$GC,1354,0.77,272.5,3019,400,1622,1542,55.9,13.7,231,1361,0.00,2.35,0.00,0.000,5126,0.000,0.033,3019,1808,1581,1621,1542,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1426,0.77,272.5,3019,1811,1622,1541,46.1,14.6,244,1433,0.00,2.33,0.00,0.000,4356,0.000,0.044,3019,3210,1581,1621,1541,0,0,0,0,0,0,14.99,14.78,15.00
$GC,1440,0.77,272.5,3019,3209,1621,1541,43.6,14.8,246,1447,0.00,2.40,0.00,0.000,5126,0.000,0.047,3020,1805,1581,1621,1541,0,0,0,0,0,0,14.90,14.79,14.91
$GC,1512,0.77,272.5,3020,1805,1621,1540,34.4,12.2,259,1519,0.00,2.42,0.00,0.000,4612,0.000,0.067,3023,393,1582,1621,1544,0,0,0,0,0,0,15.03,14.71,15.03
$GC,1532,0.77,272.5,3023,393,1621,1541,32.0,10.9,262,1539,0.08,2.30,0.00,0.000,5126,0.258,0.031,3007,1812,1580,1621,1540,0,0,0,0,0,0,14.69,14.85,14.88
$GC,1605,0.77,272.5,3007,1814,1621,1539,24.3,10.3,275,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1815,1580,1621,1540,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1674,0.77,272.5,3007,1814,1621,1539,17.0,10.6,288,1680,0.00,2.47,0.00,0.000,516,0.000,0.068,3010,389,1579,1619,1539,0,0,0,0,0,0,15.07,14.78,15.10
$GC,1785,0.78,283.8,3009,389,1621,1539,5.7,9.7,309,1798,0.00,2.30,5.90,0.658,9222,0.000,0.031,3010,1802,1540,1584,1497,0,0,0,0,0,0,14.97,14.91,14.29
$STATE,1803,end climb,FINISH_DEPTH_REACHED
$STATE,1803,begin subsurface finish
$FINISH1,3.6,1.025313,112
$GC,1811,0.14,112.1,3009,1802,1583,1495,3.6,9.5,312,1846,1.00,2.38,-28.00,0.000,20740,0.142,0.070,2807,3195,2246,2290,2203,0,0,0,0,0,0,14.73,13.51,14.82
$FINISH2,1.6
$STATE,1847,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1848,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,022327
$TT8_MAMPS,0.021721,0.934752
$HUMID,45.35
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,35.1
$SC_FREEKB,3651488
$24V_AH,13.42,153.511
$10V_AH,13.63,0.000
$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,18.025,54.525,411.575,0.000,0.000,23.782,37.338,320.760,1.500,0.000,16.354,577.804,223.396,494.084,929.555,296.005,0.000,876.598,0.000,488.272,0.000,11.605,0.000
$DEVICE_MAMPS,295.290,69.615,1015.155,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1896.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.009,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6804,318
$CAP_FILE_SIZE,67698,0
$CFSIZE,2097086464,1996750848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,034836,-3417.969,2546.714,7,1.0,15,-27.9,1.3,196.5,10,9.5