version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 582
start: 4 24 119 5 2 26
data:
$ID,574
$MISSION,3
$DIVE,582
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,240419,044908,-3415.3083,2512.9292,9,1.2,23,-27.6,0.7,325.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-59.6
$GPS2,240419,050201,-3415.3804,2512.6750,8,1.0,28,-27.6,0.6,299.4,8,7.8
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.232,2508.215
$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,-292.0,52,1819,638,531,0.0,0.0,0,124,0.00,0.00,-96.68,0.000,16386,0.000,0.000,53,1820,2952,2920,2985,0,0,0,0,0,0,14.95,28.83,14.97
$GC,130,-0.78,-292.0,52,1820,2921,2986,3.4,-7.0,18,166,14.60,2.47,-15.80,0.000,18692,0.299,0.080,2500,3225,3895,3914,3877,0,0,0,0,0,0,14.49,13.31,14.78
$GC,246,-0.78,-292.0,2500,3225,3915,3878,28.2,-12.3,39,253,0.00,2.40,0.00,0.000,3078,0.000,0.040,2500,1800,3896,3915,3877,0,0,0,0,0,0,14.89,14.78,14.90
$GC,318,-0.78,-292.0,2500,1799,3915,3877,36.8,-13.5,52,325,0.00,2.40,0.00,0.000,2564,0.000,0.065,2501,408,3896,3915,3877,0,0,0,0,0,0,15.02,14.77,15.03
$GC,368,-0.78,-292.0,2501,407,3915,3877,43.8,-12.2,61,375,0.00,2.35,0.00,0.000,3078,0.000,0.035,2501,1825,3895,3914,3877,0,0,0,0,0,0,14.92,14.83,14.94
$GC,441,-0.78,-292.0,2500,1828,3915,3878,51.8,-11.7,74,447,0.00,2.35,0.00,0.000,2308,0.000,0.056,2501,3209,3896,3915,3878,0,0,0,0,0,0,15.07,14.74,15.07
$GC,503,-0.78,-292.0,2501,3209,3915,3878,58.0,-8.7,85,509,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1810,3896,3915,3877,0,0,0,0,0,0,14.94,14.83,14.95
$GC,575,-0.78,-292.0,2500,1810,3915,3877,63.7,-7.4,98,582,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,410,3896,3915,3878,0,0,0,0,0,0,15.07,14.69,15.08
$GC,606,-0.78,-292.0,2501,411,3915,3877,66.5,-8.6,103,612,0.00,2.33,0.00,0.000,3078,0.000,0.034,2500,1815,3896,3915,3877,0,0,0,0,0,0,14.88,14.80,14.90
$GC,680,-0.78,-292.0,2500,1818,3915,3878,71.9,-8.2,116,686,0.00,2.38,0.00,0.000,2308,0.000,0.055,2500,3217,3896,3915,3877,0,0,0,0,0,0,15.09,14.68,15.09
$GC,726,-0.78,-292.0,2501,3217,3915,3878,76.2,-8.0,124,733,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1805,3896,3915,3878,0,0,0,0,0,0,14.89,14.81,14.90
$GC,800,-0.78,-292.0,2500,1805,3915,3877,83.9,-11.9,137,809,0.00,2.38,0.00,0.000,2564,0.000,0.060,2501,412,3895,3915,3876,0,0,0,0,0,0,15.09,14.68,15.10
$GC,823,-0.78,-292.0,2500,411,3915,3877,87.3,-12.4,140,830,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1824,3896,3915,3878,0,0,0,0,0,0,14.95,14.86,14.96
$GC,896,-0.78,-292.0,2501,1825,3914,3877,95.7,-9.7,153,902,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3213,3896,3915,3878,0,0,0,0,0,0,15.09,14.76,15.09
$GC,926,-0.78,-292.0,2500,3213,3915,3878,98.5,-8.7,158,933,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1807,3896,3915,3878,0,0,0,0,0,0,14.89,14.78,14.90
$STATE,938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,938,begin apogee
$GC,945,-0.17,0.0,2501,1807,3915,3878,100.1,-9.9,160,1168,0.98,0.00,214.73,1.040,10246,0.127,0.000,2700,1807,2699,2736,2663,0,0,0,0,0,0,14.69,14.39,13.88
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1173,0.78,292.0,2699,1807,2734,2660,116.6,0.0,200,1411,1.42,2.50,223.93,1.033,10756,0.060,0.071,3020,409,1506,1551,1461,0,0,0,0,0,0,14.43,14.24,13.85
$GC,1480,0.78,292.0,3019,409,1547,1461,85.3,16.2,254,1487,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1805,1504,1548,1460,0,0,0,0,0,0,14.70,14.61,14.71
$GC,1553,0.78,292.0,3019,1808,1546,1457,73.4,17.4,267,1559,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3190,1501,1546,1456,0,0,0,0,0,0,14.90,14.61,14.90
$GC,1573,0.78,292.0,3019,3194,1545,1456,69.8,15.8,270,1580,0.00,2.38,0.00,0.000,5126,0.000,0.053,3020,1807,1501,1546,1456,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1645,0.78,292.0,3020,1810,1546,1455,57.7,16.4,283,1652,0.00,2.47,0.00,0.000,4612,0.000,0.070,3023,388,1501,1546,1456,0,0,0,0,0,0,14.97,14.71,14.97
$GC,1675,0.78,292.0,3023,388,1545,1455,52.0,17.6,288,1683,0.05,2.33,0.00,0.000,5126,0.316,0.032,3013,1798,1501,1546,1456,0,0,0,0,0,0,14.61,14.78,14.81
$GC,1749,0.78,292.0,3012,1800,1545,1455,41.2,14.6,301,1755,0.00,2.35,0.00,0.000,4356,0.000,0.046,3012,3202,1500,1545,1455,0,0,0,0,0,0,15.04,14.70,15.02
$GC,1774,0.78,292.0,3012,3203,1545,1455,37.6,13.1,305,1780,0.00,2.40,0.00,0.000,5126,0.000,0.047,3017,1789,1500,1545,1455,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1846,0.88,375.1,3014,1789,1545,1454,31.1,8.1,318,1918,0.00,2.45,64.88,0.949,10756,0.000,0.067,3017,391,1167,1228,1106,0,0,0,0,0,0,15.04,14.45,14.08
$GC,1969,0.88,375.1,3016,390,1228,1104,16.7,10.8,340,1976,0.00,2.35,0.00,0.000,3078,0.000,0.031,3017,1798,1165,1227,1103,0,0,0,0,0,0,14.69,14.63,14.71
$GC,2041,0.92,407.8,3016,1799,1226,1101,9.4,9.3,353,2065,0.08,0.00,21.10,0.790,10502,0.177,0.000,3062,1799,1036,1100,973,0,0,0,0,0,0,14.69,14.66,14.17
$STATE,2070,end climb,FINISH_DEPTH_REACHED
$STATE,2070,begin subsurface finish
$FINISH1,4.9,1.025535,101
$GC,2078,0.12,100.7,3062,1799,1098,968,4.9,14.5,358,2135,1.33,2.38,-45.90,0.000,20740,0.152,0.075,2803,3197,2293,2334,2253,0,0,0,0,0,0,14.56,13.43,14.65
$FINISH2,2.6
$STATE,2136,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2138,begin surface
$IRIDIUM_FIX,-3401.68,2513.45,240419,031932
$TT8_MAMPS,0.021721,0.952728
$HUMID,45.90
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.2,33.8
$SC_FREEKB,3617696
$24V_AH,13.31,166.518
$10V_AH,13.49,0.000
$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,18.450,59.400,524.625,0.000,0.000,25.811,39.948,372.102,2.500,0.000,29.894,642.485,245.682,593.731,1084.560,347.076,0.000,1036.342,0.000,559.651,0.000,16.167,0.000
$DEVICE_MAMPS,315.945,80.325,1039.635,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.383,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10102,368
$CAP_FILE_SIZE,75630,0
$CFSIZE,2097086464,1985937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,050201,-3415.380,2512.675,8,1.0,28,-27.6,0.6,299.4,8,7.8