version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 598
start: 4 24 119 14 36 31
data:
$ID,574
$MISSION,3
$DIVE,598
$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,167
$T_MISSION,177
$T_ABORT,245
$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,350
$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,28
$R_STBD_OVSHOOT,40
$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
$GPS1,240419,142325,-3413.7974,2506.2017,8,0.9,43,-27.5,0.5,237.3,9,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.5
$GPS2,240419,143606,-3413.8003,2506.0798,8,0.9,15,-27.5,0.5,256.0,9,9.2
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.652,2501.621
$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,7.5,20000,-22.5,-19.960,-24.24,2247
$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,-1.11,-292.0,53,1826,1295,1232,0.0,0.0,0,97,0.00,0.00,-69.95,0.000,16386,0.000,0.000,52,1826,2951,2909,2994,0,0,0,0,0,0,14.97,28.83,14.98
$GC,102,-1.11,-292.0,53,1826,2911,2993,3.2,-6.0,13,143,13.82,2.40,-16.80,0.000,18692,0.289,0.069,2387,3228,3894,3908,3880,0,0,0,0,0,0,14.49,13.28,14.78
$GC,310,-1.11,-292.0,2386,3228,3908,3880,50.5,-17.9,52,318,0.05,2.40,0.00,0.000,3078,0.302,0.047,2397,1809,3897,3914,3880,0,0,0,0,0,0,14.55,14.70,14.74
$GC,384,-1.11,-292.0,2396,1809,3909,3880,65.2,-20.4,65,390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,1809,3894,3908,3880,0,0,0,0,0,0,15.07,15.07,15.07
$GC,458,-1.11,-292.0,2397,1809,3909,3880,78.7,-18.9,78,465,0.00,2.42,0.00,0.000,2564,0.000,0.064,2397,401,3893,3907,3880,0,0,0,0,0,0,15.07,14.80,15.07
$GC,489,-1.11,-292.0,2397,400,3908,3880,84.7,-18.1,83,496,0.00,2.35,0.00,0.000,3078,0.000,0.035,2392,1822,3894,3908,3880,0,0,0,0,0,0,14.95,14.85,14.96
$GC,563,-1.11,-292.0,2391,1825,3908,3880,98.9,-20.1,96,569,0.00,2.35,0.00,0.000,2308,0.000,0.052,2385,3217,3894,3908,3880,0,0,0,0,0,0,15.07,14.82,15.07
$STATE,595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,595,begin apogee
$GC,605,-0.17,0.0,2385,1789,3908,3880,105.4,-17.4,102,834,1.58,0.00,215.12,1.050,10246,0.161,0.000,2697,1789,2697,2734,2660,0,0,0,0,0,0,14.63,14.28,13.88
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,838,1.11,292.0,2697,1789,2733,2659,123.4,0.0,143,1077,1.95,2.50,224.68,1.037,10756,0.055,0.069,3134,402,1507,1548,1467,0,0,0,0,0,0,14.49,14.35,13.88
$GC,1115,1.11,292.0,3134,402,1546,1466,82.3,24.8,190,1123,0.08,2.35,0.00,0.000,5126,0.295,0.032,3121,1808,1506,1546,1466,0,0,0,0,0,0,14.35,14.54,14.54
$GC,1188,1.11,292.0,3121,1811,1539,1463,65.3,23.5,203,1195,0.00,2.50,0.00,0.000,4612,0.000,0.069,3128,393,1504,1546,1463,0,0,0,0,0,0,14.88,14.56,14.88
$GC,1223,1.11,292.0,3127,393,1545,1463,56.6,24.3,209,1230,0.00,2.33,0.00,0.000,5126,0.000,0.032,3128,1798,1504,1545,1463,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1296,1.11,292.0,3128,1800,1545,1462,41.1,22.6,222,1302,0.00,2.38,0.00,0.000,4356,0.000,0.047,3129,3208,1503,1545,1462,0,0,0,0,0,0,14.97,14.74,14.97
$GC,1356,1.11,292.0,3127,3208,1544,1461,26.1,22.5,233,1363,0.00,2.42,0.00,0.000,5126,0.000,0.053,3128,1805,1502,1544,1461,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1429,1.20,368.4,3127,1805,1547,1461,13.5,16.5,246,1474,0.00,0.00,42.95,0.812,10754,0.000,0.000,3128,1805,1247,1300,1194,0,0,0,0,0,0,15.02,28.83,15.02
$STATE,1475,end climb,FINISH_DEPTH_REACHED
$STATE,1475,begin subsurface finish
$FINISH1,4.3,1.025625,96
$GC,1483,0.12,96.1,3128,1804,1298,1190,4.3,19.0,254,1546,1.73,2.47,-54.35,0.000,20996,0.193,0.080,2805,392,2310,2359,2261,0,0,0,0,0,0,14.54,13.45,14.65
$FINISH2,0.2
$STATE,1549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1549,begin surface
$IRIDIUM_FIX,-3359.08,2507.63,240419,132003
$TT8_MAMPS,0.021721,0.912282
$HUMID,44.76
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,34.1
$SC_FREEKB,3609504
$24V_AH,13.28,169.553
$10V_AH,12.98,0.000
$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,19.200,31.325,482.750,0.000,0.000,59.988,43.229,293.365,2.500,0.000,16.163,424.242,216.121,512.135,869.956,292.990,0.000,856.579,0.000,408.600,0.000,17.680,0.000
$DEVICE_MAMPS,302.175,79.560,1050.345,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.088,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6811,265
$CAP_FILE_SIZE,54713,0
$CFSIZE,2097086464,1983348736
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,973.73,0x23609a,1,24
$INTR,1,1053.90,0x213430,1,24
$GPS,240419,143606,-3413.800,2506.080,8,0.9,15,-27.5,0.5,256.0,9,9.2