version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 576
start: 4 24 119 0 19 51
data:
$ID,574
$MISSION,3
$DIVE,576
$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,340
$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,27
$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
$GPS1,240419,000713,-3416.3213,2517.5991,9,1.2,20,-27.6,1.0,209.6,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-63.5
$GPS2,240419,001926,-3416.4021,2517.3733,8,1.3,25,-27.6,0.8,2.7,8,9.3
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.254,2512.913
$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,7.6,20000,-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,25,-0.78,-292.0,52,1807,639,530,0.0,0.0,0,124,0.00,0.00,-96.62,0.000,16386,0.000,0.000,52,1807,2993,2956,3031,0,0,0,0,0,0,14.96,28.83,14.97
$GC,130,-0.78,-292.0,52,1807,2957,3031,3.8,-8.8,18,166,14.52,2.42,-14.80,0.000,18692,0.295,0.073,2491,3209,3894,3911,3877,0,0,0,0,0,0,14.50,13.35,14.79
$GC,226,-0.78,-292.0,2490,3205,3912,3877,25.1,-10.3,35,233,0.05,2.38,0.00,0.000,3078,0.295,0.041,2504,1797,3894,3912,3877,0,0,0,0,0,0,14.59,14.73,14.76
$GC,299,-0.78,-292.0,2504,1797,3912,3877,35.1,-15.9,48,306,0.00,2.38,0.00,0.000,2564,0.000,0.063,2505,409,3899,3921,3877,0,0,0,0,0,0,15.04,14.67,15.04
$GC,349,-0.78,-292.0,2504,409,3912,3877,42.3,-10.9,57,356,0.00,2.30,0.00,0.000,3078,0.000,0.034,2505,1809,3894,3912,3877,0,0,0,0,0,0,14.91,14.83,14.91
$GC,422,-0.78,-292.0,2504,1812,3912,3874,49.4,-10.5,70,429,0.00,2.38,0.00,0.000,2308,0.000,0.054,2505,3207,3894,3912,3877,0,0,0,0,0,0,15.07,14.79,15.07
$GC,463,-0.78,-292.0,2511,3207,3908,3877,53.1,-8.5,77,469,0.00,2.33,0.00,0.000,3078,0.000,0.038,2504,1810,3894,3912,3877,0,0,0,0,0,0,14.93,14.83,14.95
$GC,537,-0.78,-292.0,2504,1810,3912,3877,61.3,-12.0,90,543,0.00,2.40,0.00,0.000,2564,0.000,0.062,2504,413,3894,3912,3876,0,0,0,0,0,0,15.07,14.80,15.07
$GC,572,-0.78,-292.0,2504,411,3912,3877,65.3,-11.5,96,578,0.00,2.33,0.00,0.000,3078,0.000,0.033,2505,1817,3894,3912,3877,0,0,0,0,0,0,14.95,14.85,14.95
$GC,645,-0.78,-292.0,2504,1818,3911,3876,72.8,-10.1,109,652,0.00,2.35,0.00,0.000,2308,0.000,0.055,2504,3208,3894,3912,3877,0,0,0,0,0,0,15.09,14.71,15.09
$GC,691,-0.78,-292.0,2504,3209,3912,3877,77.4,-8.9,117,697,0.00,2.33,0.00,0.000,3078,0.000,0.038,2505,1810,3894,3912,3877,0,0,0,0,0,0,14.87,14.75,14.89
$GC,765,-0.78,-292.0,2504,1810,3912,3877,83.7,-8.6,130,771,0.00,2.40,0.00,0.000,2564,0.000,0.061,2504,406,3892,3908,3877,0,0,0,0,0,0,15.09,14.68,15.10
$GC,820,-0.78,-292.0,2504,406,3912,3885,89.7,-10.1,140,831,0.00,2.33,0.00,0.000,3078,0.000,0.034,2505,1816,3894,3912,3877,0,0,0,0,0,0,14.81,14.73,14.83
$GC,897,-0.78,-292.0,2504,1817,3912,3877,97.0,-9.1,153,904,0.00,2.38,0.00,0.000,2308,0.000,0.059,2505,3208,3894,3911,3877,0,0,0,0,0,0,15.08,14.81,15.09
$GC,947,-0.78,-292.0,2504,3208,3912,3877,101.9,-10.2,162,954,0.00,2.33,0.00,0.000,3078,0.000,0.037,2505,1809,3894,3912,3877,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,959,begin apogee
$GC,966,-0.17,0.0,2504,1809,3913,3877,103.4,-11.1,164,1193,0.95,0.00,215.07,1.041,10246,0.129,0.000,2698,1809,2697,2734,2661,0,0,0,0,0,0,14.58,14.28,13.90
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1198,0.78,292.0,2698,1809,2733,2660,120.5,0.0,205,1437,1.38,2.42,224.05,1.033,10500,0.054,0.047,3008,3197,1507,1552,1462,0,0,0,0,0,0,14.46,14.24,13.85
$GC,1482,0.78,292.0,3008,3196,1549,1458,96.1,15.9,254,1489,0.00,2.40,0.00,0.000,1030,0.000,0.050,3010,1810,1504,1549,1459,0,0,0,0,0,0,14.64,14.55,14.66
$GC,1555,0.78,292.0,3010,1810,1548,1458,85.1,16.4,267,1561,0.00,2.50,0.00,0.000,516,0.000,0.071,3015,391,1503,1548,1458,0,0,0,0,0,0,14.88,14.60,14.88
$GC,1589,0.78,292.0,3015,390,1547,1458,79.1,15.5,273,1596,0.00,2.35,0.00,0.000,5126,0.000,0.031,3015,1806,1503,1549,1458,0,0,0,0,0,0,14.73,14.66,14.73
$GC,1661,0.78,292.0,3015,1809,1548,1457,68.8,14.9,286,1667,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1809,1502,1548,1457,0,0,0,0,0,0,14.96,14.96,14.97
$GC,1730,0.78,292.0,3015,1809,1548,1456,57.0,17.5,299,1737,0.00,2.33,0.00,0.000,4356,0.000,0.045,3015,3201,1502,1548,1456,0,0,0,0,0,0,15.00,14.78,15.01
$GC,1755,0.78,292.0,3015,3201,1547,1456,52.6,18.0,303,1762,0.00,2.40,0.00,0.000,5126,0.000,0.050,3016,1799,1501,1547,1456,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1828,0.78,292.0,3016,1798,1547,1455,42.3,14.2,316,1835,0.00,2.42,0.00,0.000,4612,0.000,0.070,3022,394,1501,1547,1456,0,0,0,0,0,0,15.02,14.77,15.02
$GC,1863,0.78,292.0,3016,394,1547,1456,37.7,12.2,322,1869,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1816,1505,1547,1463,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1936,0.78,292.0,3016,1819,1547,1455,29.9,13.0,335,1943,0.00,2.30,0.00,0.000,4356,0.000,0.046,3017,3199,1501,1547,1455,0,0,0,0,0,0,15.05,14.82,15.05
$GC,1951,0.78,292.0,3016,3198,1547,1455,26.9,15.1,337,1957,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1789,1500,1546,1455,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2022,0.78,292.0,3016,1789,1547,1455,17.5,11.5,350,2029,0.00,2.40,0.00,0.000,4612,0.000,0.070,3017,395,1501,1547,1455,0,0,0,0,0,0,15.04,14.79,15.04
$GC,2129,0.78,292.0,3016,395,1545,1455,5.6,12.0,370,2136,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1799,1500,1546,1455,0,0,0,0,0,0,14.85,14.76,14.86
$STATE,2141,end climb,FINISH_DEPTH_REACHED
$STATE,2141,begin subsurface finish
$FINISH1,4.4,1.025401,108
$GC,2149,0.13,107.6,3017,1802,1547,1454,4.4,10.2,372,2184,1.05,2.35,-25.77,0.000,20740,0.151,0.068,2807,3196,2262,2305,2220,0,0,0,0,0,0,14.69,13.96,14.78
$FINISH2,3.7
$STATE,2185,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2185,begin surface
$IRIDIUM_FIX,-3353.88,3037.30,230419,223919
$TT8_MAMPS,0.021721,0.850115
$HUMID,46.33
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,33.0
$SC_FREEKB,3620768
$24V_AH,13.35,165.250
$10V_AH,13.33,0.000
$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,17.950,63.900,439.125,0.000,0.000,23.559,17.519,369.818,2.500,0.000,26.550,699.706,279.275,531.771,1062.697,348.825,0.000,970.936,0.000,571.166,0.000,17.679,0.000
$DEVICE_MAMPS,295.290,72.675,1041.165,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.251,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10126,378
$CAP_FILE_SIZE,77574,0
$CFSIZE,2097086464,1986920448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,001926,-3416.402,2517.373,8,1.3,25,-27.6,0.8,2.7,8,9.3