version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 24
start: 3 31 119 6 38 56
data:
$ID,573
$MISSION,30
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$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,182
$T_ABORT,197
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$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,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$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,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$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,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310319,062511,-2848.0745,3219.2817,18,0.8,26,-23.6,0.7,185.3,11,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.3
$GPS2,310319,063831,-2848.2234,3219.2476,17,0.8,32,-23.6,0.5,278.3,10,5.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2844.409,3207.725
$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,314.3,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.0,72,2001,628,617,0.0,0.0,0,114,0.00,0.00,-92.30,0.000,16386,0.000,0.000,72,2002,3269,3282,3257,0,0,0,0,0,0,15.02,28.83,15.04
$GC,117,-0.85,-146.0,72,2002,3284,3257,4.7,-13.8,16,137,12.50,2.38,-2.12,0.000,18692,0.301,0.081,2197,3390,3410,3439,3381,0,0,0,0,0,0,14.48,13.46,14.68
$GC,296,-0.85,-146.0,2196,3392,3441,3379,50.8,-16.0,50,304,0.05,2.33,0.00,0.000,3078,0.341,0.040,2207,1976,3410,3442,3378,0,0,0,0,0,0,14.62,14.85,14.84
$GC,368,-0.85,-146.0,2207,1976,3442,3379,62.1,-15.9,63,373,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1976,3410,3442,3379,0,0,0,0,0,0,15.09,15.09,15.09
$GC,435,-0.85,-146.0,2207,1976,3442,3379,72.2,-15.7,76,441,0.00,2.40,0.00,0.000,2308,0.000,0.066,2204,3388,3410,3442,3379,0,0,0,0,0,0,15.10,14.74,15.10
$GC,488,-0.85,-146.0,2203,3387,3441,3379,80.8,-15.8,86,496,0.00,2.28,0.00,0.000,3078,0.000,0.040,2204,1981,3410,3442,3379,0,0,0,0,0,0,14.95,14.84,14.97
$GC,559,-0.85,-146.0,2203,1981,3442,3378,91.8,-15.6,99,566,0.00,2.33,0.00,0.000,2564,0.000,0.063,2204,587,3410,3442,3378,0,0,0,0,0,0,15.11,14.69,15.11
$GC,593,-0.85,-146.0,2203,588,3442,3378,97.4,-16.1,105,599,0.00,2.30,0.00,0.000,3078,0.000,0.046,2204,1989,3410,3442,3378,0,0,0,0,0,0,14.96,14.86,14.97
$GC,662,-0.85,-146.0,2204,1989,3442,3378,107.0,-14.5,118,669,0.00,2.38,0.00,0.000,2308,0.000,0.070,2204,3393,3410,3442,3378,0,0,0,0,0,0,15.11,14.80,15.11
$STATE,855,end dive,NO_VERTICAL_VELOCITY
$STATE,855,begin apogee
$GC,861,-0.19,0.0,2204,1969,3443,3377,113.7,0.0,156,975,0.95,0.00,106.22,1.036,10246,0.063,0.000,2426,1967,2811,2847,2775,0,0,0,0,0,0,14.74,14.56,14.07
$STATE,977,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,978,0.85,146.0,2426,1967,2848,2775,113.9,0.0,176,1098,1.50,2.40,108.85,1.021,11012,0.085,0.064,2750,3393,2215,2256,2174,0,0,0,0,0,0,14.54,14.42,13.97
$GC,1141,0.95,224.0,2749,3394,2252,2174,108.0,6.4,203,1213,0.12,2.33,60.12,1.008,11270,0.121,0.041,2810,2002,1896,1940,1852,0,0,0,0,0,0,14.61,14.59,13.97
$GC,1276,0.95,224.0,2808,2002,1936,1849,95.2,10.1,227,1282,0.05,0.00,0.00,0.000,4102,0.321,0.000,2800,2002,1892,1935,1850,0,0,0,0,0,0,14.46,14.60,14.58
$GC,1345,0.99,255.4,2799,2002,1934,1849,89.0,8.5,240,1375,0.00,2.47,25.05,0.971,10756,0.000,0.070,2799,576,1769,1816,1722,0,0,0,0,0,0,14.92,14.60,14.12
$GC,1388,1.05,305.9,2799,576,1814,1722,85.4,7.7,247,1436,0.00,2.33,39.83,0.981,11270,0.000,0.041,2799,1993,1564,1618,1511,0,0,0,0,0,0,14.71,14.69,14.06
$GC,1499,1.05,305.9,2799,1993,1614,1508,75.2,10.0,267,1505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2799,1993,1560,1613,1508,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1566,1.05,305.9,2799,1993,1612,1508,68.8,10.0,280,1572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2799,1993,1559,1612,1507,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1634,1.06,309.7,2799,1993,1613,1507,61.8,9.8,293,1648,0.00,2.38,3.83,0.666,10500,0.000,0.064,2799,3390,1549,1603,1496,0,0,0,0,0,0,15.00,14.67,14.14
$GC,1655,1.06,309.7,2799,3390,1601,1496,59.8,10.2,296,1662,0.00,2.33,0.00,0.000,3078,0.000,0.044,2799,1981,1553,1611,1496,0,0,0,0,0,0,14.83,14.75,14.85
$GC,1724,1.06,309.7,2799,1980,1603,1496,52.6,10.2,309,1731,0.00,2.38,0.00,0.000,2564,0.000,0.073,2799,583,1549,1602,1496,0,0,0,0,0,0,15.02,14.67,15.02
$GC,1759,1.06,312.2,2799,583,1601,1496,49.5,9.9,315,1771,0.00,2.30,3.38,0.627,11270,0.000,0.042,2799,1996,1540,1593,1487,0,0,0,0,0,0,14.80,14.72,14.16
$GC,1834,1.09,341.0,2799,1996,1593,1487,42.7,8.7,329,1866,0.08,2.40,24.62,0.947,10500,0.182,0.065,2855,3389,1420,1475,1366,0,0,0,0,0,0,14.81,14.69,14.25
$GC,1883,1.09,341.0,2855,3389,1473,1366,37.5,12.5,337,1891,0.08,2.33,0.00,0.000,5126,0.293,0.044,2843,1979,1419,1473,1365,0,0,0,0,0,0,14.56,14.76,14.73
$GC,1954,1.10,348.0,2843,1979,1473,1364,29.5,9.7,350,1968,0.00,2.40,6.35,0.799,8452,0.000,0.063,2843,3391,1392,1447,1338,0,0,0,0,0,0,15.00,14.73,14.20
$GC,1990,1.10,348.5,2842,3391,1447,1338,25.8,10.0,356,1996,0.00,2.30,0.00,0.000,1030,0.000,0.043,2842,1987,1392,1447,1337,0,0,0,0,0,0,14.81,14.70,14.83
$GC,2059,1.16,391.0,2842,1986,1447,1337,20.1,8.0,369,2092,0.00,0.00,26.98,0.877,10246,0.000,0.000,2842,1987,1215,1272,1159,0,0,0,0,0,0,15.04,14.59,14.21
$GC,2154,1.16,397.5,2842,1986,1272,1156,11.9,9.7,386,2162,0.00,0.00,3.25,0.511,10246,0.000,0.000,2842,1986,1192,1249,1135,0,0,0,0,0,0,14.99,14.72,14.17
$GC,2226,1.22,442.7,2842,1987,1249,1133,6.0,7.9,399,2257,0.08,2.25,25.67,0.765,10755,0.180,0.068,2899,674,1005,1056,954,0,0,0,0,0,0,14.80,14.72,14.25
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,-0.0,1.023267
$STATE,2284,end surface coast,CONTROL_FINISHED_OK
$STATE,2284,begin surface
$SM_CCo,2308,51.25,0.748,0,0,639,532.78
$SM_GC,0.75,12.80,2.22,51.25,0.047,0.053,0.748,145,1978,639,-7.27,-1.16,532.78,0,0,0,0,0,0,14.76,14.74,14.21
$IRIDIUM_FIX,-2835.91,3218.84,310319,062922
$TT8_MAMPS,0.019474,0.820904
$HUMID,54.52
$INTERNAL_PRESSURE,9.36524
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.2
$SC_FREEKB,3910784
$24V_AH,13.46,91.111
$10V_AH,13.56,0.000
$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,28.200,51.500,434.150,51.250,0.000,76.064,56.750,344.958,0.750,0.000,33.241,854.735,426.023,568.825,1218.255,106.337,0.000,996.039,0.000,619.125,0.000,5.789,0.000
$DEVICE_MAMPS,341.190,81.090,1035.810,748.170,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2318.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.696,0.000,0.000,0.000
$MEM,339612
$DATA_FILE_SIZE,13444,409
$CAP_FILE_SIZE,85928,0
$CFSIZE,1023623168,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149,209.22,1
$GPS,310319,071912,-2848.252,3218.925,17,0.9,20,-23.6,0.7,196.2,9,7.3