version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 555
start: 4 23 119 8 21 49
data:
$ID,574
$MISSION,3
$DIVE,555
$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,300
$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,180
$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,35
$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
$GPS1,230419,074203,-3418.1377,2535.5508,7,1.0,17,-27.8,0.7,204.4,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.66
$_SM_ANGLEo,2.4
$GPS2,230419,074203,-3418.1377,2535.5508,7,1.0,17,-27.8,0.7,204.4,8,9.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3428.937,2535.551
$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,207.8,20000,-12.6,-10.010,-15.87,4448
$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,-0.78,-292.0,2804,1819,2315,2222,0.0,0.0,0,33,0.00,0.00,-6.43,0.000,16386,0.000,0.000,2803,1819,2552,2595,2509,0,0,0,0,0,0,15.10,28.83,15.11
$GC,36,-0.78,-292.0,2803,1819,2596,2509,8.7,0.0,1,71,1.30,2.40,-27.65,0.000,20740,0.074,0.072,2512,3221,3892,3908,3877,0,0,0,0,0,0,14.73,13.36,14.79
$GC,122,-0.78,-292.0,2509,3221,3909,3878,17.4,-9.1,16,128,0.00,2.38,0.00,0.000,1030,0.000,0.041,2512,1800,3893,3909,3878,0,0,0,0,0,0,14.97,14.88,14.99
$GC,194,-0.78,-292.0,2512,1799,3909,3878,26.5,-13.0,29,201,0.00,2.38,0.00,0.000,516,0.000,0.063,2516,409,3893,3909,3878,0,0,0,0,0,0,15.10,14.74,15.11
$GC,229,-0.78,-292.0,2511,409,3909,3878,31.2,-11.4,35,236,0.00,2.33,0.00,0.000,1030,0.000,0.034,2512,1826,3893,3909,3878,0,0,0,0,0,0,14.86,14.81,14.87
$GC,301,-0.78,-292.0,2511,1827,3909,3878,37.8,-10.0,48,308,0.00,2.35,0.00,0.000,260,0.000,0.054,2512,3216,3893,3908,3878,0,0,0,0,0,0,15.11,14.85,15.12
$GC,341,-0.78,-292.0,2512,3216,3909,3878,42.0,-10.3,55,348,0.00,2.35,0.00,0.000,1030,0.000,0.038,2512,1807,3894,3910,3878,0,0,0,0,0,0,14.96,14.88,14.98
$GC,413,-0.78,-292.0,2512,1807,3909,3878,50.7,-13.1,68,420,0.00,2.38,0.00,0.000,516,0.000,0.063,2512,412,3893,3909,3878,0,0,0,0,0,0,15.09,14.84,15.10
$GC,447,-0.78,-292.0,2512,411,3909,3878,55.7,-13.2,74,454,0.00,2.33,0.00,0.000,1030,0.000,0.033,2512,1822,3893,3909,3878,0,0,0,0,0,0,14.97,14.90,14.99
$GC,520,-0.78,-292.0,2512,1824,3909,3878,64.0,-11.6,87,529,0.00,2.35,0.00,0.000,260,0.000,0.054,2512,3215,3893,3909,3878,0,0,0,0,0,0,15.10,14.73,15.11
$GC,577,-0.78,-292.0,2511,3214,3910,3878,70.0,-9.2,97,585,0.00,2.33,0.00,0.000,1030,0.000,0.037,2512,1808,3894,3910,3878,0,0,0,0,0,0,14.97,14.88,14.98
$GC,652,-0.78,-292.0,2512,1808,3910,3878,76.9,-9.6,110,659,0.00,2.35,0.00,0.000,516,0.000,0.061,2512,414,3894,3910,3878,0,0,0,0,0,0,15.10,14.84,15.11
$GC,703,-0.78,-292.0,2512,414,3910,3878,81.5,-9.5,119,709,0.00,2.30,0.00,0.000,1030,0.000,0.033,2512,1824,3893,3910,3876,0,0,0,0,0,0,14.97,14.90,14.99
$GC,776,-0.78,-292.0,2512,1825,3910,3878,87.2,-8.4,132,783,0.00,2.35,0.00,0.000,260,0.000,0.054,2512,3210,3894,3910,3878,0,0,0,0,0,0,15.11,14.84,15.11
$GC,796,-0.78,-292.0,2512,3210,3919,3878,89.4,-9.1,135,808,0.00,2.33,0.00,0.000,1030,0.000,0.037,2512,1812,3894,3910,3878,0,0,0,0,0,0,14.96,14.88,14.97
$GC,874,-0.78,-292.0,2511,1813,3910,3878,95.9,-8.3,148,881,0.00,2.38,0.00,0.000,516,0.000,0.060,2512,405,3894,3910,3878,0,0,0,0,0,0,15.11,14.71,15.11
$GC,938,-0.78,-292.0,2511,405,3909,3878,102.4,-10.7,160,945,0.00,2.30,0.00,0.000,1030,0.000,0.032,2512,1820,3894,3910,3878,0,0,0,0,0,0,14.97,14.90,14.98
$STATE,971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,971,begin apogee
$GC,977,-0.17,0.0,2512,1821,3910,3878,104.7,-7.7,166,1200,0.93,0.00,214.93,1.077,10246,0.125,0.000,2700,1821,2700,2736,2664,0,0,0,0,0,0,14.70,14.41,13.90
$STATE,1202,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1205,0.78,292.0,2700,1822,2733,2663,119.6,0.0,206,1443,1.38,2.53,225.40,1.054,10756,0.060,0.070,3010,403,1507,1553,1462,0,0,0,0,0,0,14.44,14.37,13.89
$GC,1548,0.78,292.0,3010,403,1548,1462,87.4,16.0,267,1555,0.00,2.35,0.00,0.000,1030,0.000,0.034,3011,1800,1505,1548,1462,0,0,0,0,0,0,14.74,14.67,14.76
$GC,1621,0.78,292.0,3010,1802,1547,1460,76.5,15.4,280,1627,0.00,2.35,0.00,0.000,260,0.000,0.047,3010,3197,1503,1547,1460,0,0,0,0,0,0,14.92,14.63,14.93
$GC,1640,0.78,292.0,3010,3197,1547,1459,73.4,14.2,283,1647,0.00,2.38,0.00,0.000,5126,0.000,0.048,3012,1802,1502,1547,1458,0,0,0,0,0,0,14.74,14.65,14.75
$GC,1713,0.78,292.0,3012,1802,1547,1458,62.7,14.2,296,1720,0.00,2.45,0.00,0.000,4612,0.000,0.069,3017,389,1503,1548,1459,0,0,0,0,0,0,15.00,14.73,15.00
$GC,1737,0.78,292.0,3017,389,1545,1458,58.7,15.2,300,1744,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1800,1503,1548,1458,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1809,0.78,292.0,3017,1803,1547,1458,48.0,15.5,313,1816,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3200,1502,1546,1458,0,0,0,0,0,0,15.01,14.80,15.01
$GC,1829,0.78,292.0,3016,3200,1546,1457,44.7,15.5,316,1836,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1802,1501,1546,1457,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1902,0.78,292.0,3017,1802,1546,1457,34.6,14.4,329,1908,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,390,1502,1547,1458,0,0,0,0,0,0,15.05,14.74,15.05
$GC,1942,0.78,292.0,3016,388,1547,1457,28.5,12.7,336,1948,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1812,1501,1546,1457,0,0,0,0,0,0,14.89,14.80,14.90
$GC,2015,0.84,341.5,3017,1814,1546,1456,22.0,8.9,349,2060,0.00,2.30,37.15,0.925,10500,0.000,0.047,3016,3189,1305,1359,1251,0,0,0,0,0,0,15.06,14.69,14.21
$GC,2068,0.86,360.0,3017,3189,1359,1250,16.5,9.6,358,2087,0.00,2.38,12.77,0.838,11270,0.000,0.050,3017,1800,1231,1290,1172,0,0,0,0,0,0,14.81,14.71,14.12
$GC,2151,0.86,360.0,3017,1800,1288,1167,8.0,11.2,373,2158,0.00,2.45,0.00,0.000,2564,0.000,0.068,3017,395,1228,1288,1169,0,0,0,0,0,0,14.95,14.64,14.95
$GC,2181,0.86,360.0,3017,393,1288,1168,4.6,11.3,378,2188,0.00,2.30,0.00,0.000,3078,0.000,0.031,3017,1788,1227,1288,1166,0,0,0,0,0,0,14.78,14.70,14.80
$STATE,2193,end climb,SURFACE_DEPTH_REACHED
$STATE,2193,begin surface coast
$FINISH,0.7,1.025416
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2240,106.35,0.796,0,0,599,515.37
$SM_GC,0.98,13.55,0.00,106.35,0.038,0.000,0.796,116,1791,599,-8.18,-0.59,515.37,0,0,0,0,0,0,14.83,15.01,14.11
$IRIDIUM_FIX,-3404.29,2534.42,230419,061311
$TT8_MAMPS,0.021721,0.955724
$HUMID,45.39
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,34.0
$SC_FREEKB,3631520
$24V_AH,13.36,161.006
$10V_AH,13.32,0.000
$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,17.150,73.200,490.250,106.350,0.000,0.000,0.000,0.000,2.500,0.000,0.000,745.391,298.692,610.424,676.485,168.325,0.000,1045.076,0.000,583.249,0.000,17.662,0.000
$DEVICE_MAMPS,125.460,71.910,1077.120,796.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2270.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.365,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10108,384
$CAP_FILE_SIZE,76156,0
$CFSIZE,2097086464,1990361088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,090219,-3418.723,2534.491,7,0.7,40,-27.8,0.4,278.8,11,5.0