version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 624
start: 4 25 119 4 18 36
data:
$ID,574
$MISSION,3
$DIVE,624
$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,70
$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,2
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,250419,040731,-3412.9761,2502.9727,8,1.0,30,-27.4,0.5,141.8,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.9
$GPS2,250419,041811,-3413.0249,2502.9546,8,1.0,18,-27.4,0.0,166.8,8,9.4
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.332,2515.218
$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,97.4,20000,-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,22,begin dive
$GC,25,-1.11,-292.0,64,1826,1300,1230,0.0,0.0,0,97,0.00,0.00,-69.80,0.000,16386,0.000,0.000,58,1826,2948,2909,2987,0,0,0,0,0,0,15.03,28.83,15.04
$GC,102,-1.11,-292.0,57,1826,2910,2987,3.1,-6.0,13,143,13.75,2.45,-16.88,0.000,18948,0.290,0.080,2393,405,3894,3911,3878,0,0,0,0,0,0,14.52,13.28,14.83
$GC,275,-1.11,-292.0,2400,404,3911,3878,43.8,-18.0,45,283,0.05,2.35,0.00,0.000,3078,0.339,0.035,2399,1828,3895,3912,3878,0,0,0,0,0,0,14.59,14.76,14.81
$GC,350,-1.11,-292.0,2395,1830,3911,3878,58.4,-19.1,58,356,0.00,2.33,0.00,0.000,2308,0.000,0.051,2387,3216,3894,3911,3878,0,0,0,0,0,0,15.09,14.71,15.09
$GC,387,-1.11,-292.0,2387,3215,3911,3878,63.8,-13.4,64,394,0.05,2.38,0.00,0.000,3078,0.304,0.041,2398,1805,3894,3911,3878,0,0,0,0,0,0,14.68,14.85,14.87
$GC,461,-1.11,-292.0,2398,1805,3912,3878,75.7,-18.4,77,467,0.00,2.40,0.00,0.000,2564,0.000,0.062,2399,408,3894,3911,3878,0,0,0,0,0,0,15.10,14.77,15.10
$STATE,473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,473,begin apogee
$GC,483,-0.17,0.0,2399,1807,3912,3878,79.1,-18.8,79,706,1.50,0.00,213.30,1.017,10246,0.155,0.000,2699,1811,2698,2737,2659,0,0,0,0,0,0,14.70,14.43,13.92
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,711,1.11,292.0,2700,1811,2735,2659,96.3,0.0,119,948,1.88,0.00,224.55,0.995,10758,0.073,0.000,3102,1811,1508,1549,1467,0,0,0,0,0,0,14.47,14.26,13.90
$GC,1011,1.11,292.0,3101,1811,1548,1464,58.5,25.0,172,1018,0.00,2.50,0.00,0.000,2564,0.000,0.072,3104,402,1506,1548,1464,0,0,0,0,0,0,14.82,14.50,14.83
$GC,1037,1.11,292.0,3104,402,1548,1463,51.8,26.5,176,1043,0.00,2.35,0.00,0.000,3078,0.000,0.032,3103,1814,1504,1547,1462,0,0,0,0,0,0,14.67,14.60,14.68
$GC,1110,1.11,293.5,3104,1817,1547,1462,37.5,19.9,189,1116,0.00,0.00,0.00,0.000,2054,0.000,0.000,3104,1816,1504,1547,1462,0,0,0,0,0,0,14.93,14.94,14.92
$GC,1179,1.18,351.5,3104,1817,1547,1461,24.4,17.3,202,1231,0.05,2.50,42.67,0.874,10756,0.256,0.070,3134,395,1264,1316,1212,0,0,0,0,0,0,14.66,14.59,14.14
$STATE,1271,end climb,FINISH_DEPTH_REACHED
$STATE,1271,begin subsurface finish
$FINISH1,4.9,1.025669,94
$GC,1282,0.12,93.8,3134,1803,1316,1209,4.9,21.3,218,1345,1.77,2.42,-52.38,0.000,20996,0.190,0.080,2803,397,2319,2367,2272,0,0,0,0,0,0,14.49,13.95,14.60
$FINISH2,0.0
$STATE,1348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$IRIDIUM_FIX,-3359.08,2504.16,250419,031836
$TT8_MAMPS,0.020972,0.951979
$HUMID,44.52
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.8,35.5
$SC_FREEKB,3596192
$24V_AH,13.28,174.035
$10V_AH,12.97,0.000
$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,19.050,26.400,480.525,0.000,0.000,25.922,40.312,112.007,1.000,0.000,19.677,345.338,116.239,501.357,613.388,416.900,0.000,814.989,0.000,350.576,0.000,11.002,0.000
$DEVICE_MAMPS,338.895,79.560,1016.685,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.296,0.000,0.000,0.000
$MEM,340852
$DATA_FILE_SIZE,6811,229
$CAP_FILE_SIZE,45801,0
$CFSIZE,2097086464,1976696832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,1228.08,0x2131ca,1,24
$GPS,250419,041811,-3413.025,2502.955,8,1.0,18,-27.4,0.0,166.8,8,9.4