version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 25
start: 3 31 119 7 28 46
data:
$ID,573
$MISSION,30
$DIVE,25
$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,270
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,310319,071912,-2848.2522,3218.9253,17,0.9,20,-23.6,0.7,196.2,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-63.9
$GPS2,310319,072822,-2848.3508,3218.8730,13,0.8,15,-23.6,0.5,198.1,10,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.622,3229.639
$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,142.8,20000,-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,18,begin dive
$GC,20,-0.85,-146.0,78,1986,628,616,0.0,0.0,0,108,0.00,0.00,-86.28,0.000,16386,0.000,0.000,73,1987,3052,3049,3056,0,0,0,0,0,0,15.01,28.83,15.02
$GC,111,-0.85,-146.0,73,1986,3050,3057,3.8,-9.5,15,137,12.48,2.35,-5.90,0.000,18948,0.300,0.077,2206,580,3410,3442,3378,0,0,0,0,0,0,14.49,13.93,14.66
$GC,149,-0.85,-146.0,2206,580,3442,3379,18.7,-34.9,21,157,0.00,2.33,0.00,0.000,3078,0.000,0.047,2203,1995,3407,3441,3373,0,0,0,0,0,0,14.78,14.69,14.79
$GC,220,-0.85,-146.0,2203,1995,3442,3378,36.7,-26.7,34,226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1995,3410,3442,3378,0,0,0,0,0,0,15.05,15.05,15.05
$GC,287,-0.85,-146.0,2203,1995,3446,3378,50.3,-18.1,47,294,0.00,2.38,0.00,0.000,2308,0.000,0.069,2204,3388,3412,3447,3378,0,0,0,0,0,0,15.08,14.78,15.09
$GC,311,-0.85,-146.0,2203,3389,3442,3378,54.4,-17.3,51,318,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1984,3410,3442,3378,0,0,0,0,0,0,14.92,14.78,14.94
$GC,380,-0.85,-146.0,2203,1984,3442,3378,65.9,-17.0,64,387,0.00,2.42,0.00,0.000,2308,0.000,0.066,2204,3393,3410,3442,3378,0,0,0,0,0,0,15.08,14.75,15.09
$GC,434,-0.85,-146.0,2203,3393,3443,3378,75.1,-15.8,74,441,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1974,3410,3443,3378,0,0,0,0,0,0,14.82,14.71,14.83
$GC,503,-0.85,-146.0,2203,1974,3443,3378,86.4,-16.8,87,510,0.00,2.40,0.00,0.000,2308,0.000,0.065,2204,3391,3410,3443,3378,0,0,0,0,0,0,15.10,14.81,15.11
$GC,536,-0.85,-146.0,2203,3391,3443,3378,91.6,-16.2,93,544,0.00,2.30,0.00,0.000,3078,0.000,0.040,2204,1982,3410,3443,3378,0,0,0,0,0,0,14.96,14.87,14.97
$GC,610,-0.85,-146.0,2203,1983,3443,3378,102.6,-15.4,106,617,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3390,3410,3443,3377,0,0,0,0,0,0,15.12,14.76,15.13
$GC,644,-0.85,-146.0,2203,3390,3443,3378,108.2,-16.0,112,650,0.00,2.28,0.00,0.000,3078,0.000,0.039,2204,1984,3411,3444,3378,0,0,0,0,0,0,14.93,14.87,14.93
$GC,714,-0.85,-146.0,2203,1982,3445,3374,111.2,0.1,125,721,0.00,2.33,0.00,0.000,2564,0.000,0.063,2204,589,3410,3446,3374,0,0,0,0,0,0,15.11,14.69,15.12
$STATE,802,end dive,NO_VERTICAL_VELOCITY
$STATE,802,begin apogee
$GC,809,-0.19,0.0,2204,1995,3445,3374,111.4,0.0,142,923,1.05,0.00,106.72,1.030,10246,0.107,0.000,2429,1997,2811,2848,2775,0,0,0,0,0,0,14.75,14.54,14.07
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,926,0.85,146.0,2429,1997,2848,2776,111.2,0.0,162,1044,1.48,2.38,108.78,1.014,11012,0.079,0.067,2749,586,2215,2255,2175,0,0,0,0,0,0,14.54,14.42,13.99
$GC,1221,0.91,191.2,2748,586,2247,2174,96.7,7.9,216,1264,0.05,2.30,35.42,0.988,11270,0.250,0.042,2792,1998,2030,2072,1988,0,0,0,0,0,0,14.57,14.67,14.10
$GC,1326,0.91,191.2,2791,1998,2067,1986,86.0,11.9,235,1333,0.00,2.35,0.00,0.000,4356,0.000,0.065,2792,3384,2026,2067,1986,0,0,0,0,0,0,14.93,14.60,14.92
$GC,1407,0.92,201.1,2792,3385,2067,1986,77.9,9.5,250,1420,0.00,2.28,8.60,0.874,13318,0.000,0.041,2796,1995,1991,2033,1950,0,0,0,0,0,0,14.76,14.66,14.18
$GC,1483,0.99,257.0,2796,1995,2031,1948,71.9,7.4,264,1536,0.00,2.45,44.22,0.975,10756,0.000,0.070,2797,580,1762,1810,1714,0,0,0,0,0,0,15.02,14.58,14.16
$GC,1588,1.02,278.1,2797,580,1806,1714,63.1,9.0,283,1613,0.00,2.33,17.40,0.931,11270,0.000,0.042,2797,1987,1677,1728,1626,0,0,0,0,0,0,14.76,14.68,14.13
$GC,1675,1.11,350.2,2796,1986,1726,1623,56.8,6.7,299,1741,0.08,2.40,56.95,0.963,10500,0.181,0.063,2854,3391,1383,1438,1328,0,0,0,0,0,0,14.70,14.47,14.08
$GC,1778,1.11,350.2,2854,3391,1436,1326,44.4,16.8,317,1785,0.00,2.35,0.00,0.000,5126,0.000,0.044,2856,1985,1381,1436,1327,0,0,0,0,0,0,14.71,14.61,14.71
$GC,1849,1.11,350.2,2856,1984,1435,1326,33.2,14.2,330,1855,0.00,2.40,0.00,0.000,4612,0.000,0.073,2856,582,1380,1435,1326,0,0,0,0,0,0,14.92,14.68,14.94
$GC,1907,1.14,378.2,2856,581,1433,1326,27.3,8.7,341,1932,0.00,2.30,19.90,0.902,9222,0.000,0.041,2856,1989,1269,1325,1214,0,0,0,0,0,0,14.77,14.69,14.20
$GC,1994,1.17,404.2,2856,1989,1325,1212,21.3,8.8,357,2020,0.00,2.42,16.38,0.854,10756,0.000,0.072,2856,589,1163,1219,1107,0,0,0,0,0,0,14.97,14.67,14.20
$GC,2048,1.21,438.0,2856,588,1220,1107,17.1,8.4,366,2079,0.00,2.30,20.88,0.830,11270,0.000,0.041,2856,1991,1024,1078,970,0,0,0,0,0,0,14.83,14.75,14.17
$GC,2141,1.21,438.0,2856,1992,1078,967,7.6,11.9,383,2147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2856,1992,1022,1078,966,0,0,0,0,0,0,14.95,14.96,14.95
$STATE,2182,end climb,SURFACE_DEPTH_REACHED
$STATE,2182,begin surface coast
$FINISH,0.2,1.021544
$STATE,2214,end surface coast,CONTROL_FINISHED_OK
$STATE,2214,begin surface
$SM_CCo,2235,53.92,0.740,0,0,640,532.78
$SM_GC,0.74,12.45,0.00,53.92,0.043,0.000,0.740,148,1993,640,-7.26,0.17,532.78,0,0,0,0,0,0,14.81,15.03,14.27
$IRIDIUM_FIX,-2838.37,3218.84,310319,063401
$TT8_MAMPS,0.019474,0.86135
$HUMID,54.60
$INTERNAL_PRESSURE,9.375
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$SC_FREEKB,3910272
$24V_AH,13.93,91.307
$10V_AH,13.51,0.000
$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,27.575,56.325,435.250,53.925,0.000,22.723,39.206,318.665,1.000,0.000,15.411,823.918,287.622,564.166,1075.752,101.160,0.000,983.835,0.000,602.079,0.000,8.607,0.000
$DEVICE_MAMPS,299.880,77.265,1030.455,739.755,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.044,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,13456,397
$CAP_FILE_SIZE,81040,0
$CFSIZE,1023623168,1018085376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,190.12,1
$GPS,310319,080750,-2848.650,3219.080,14,0.9,18,-23.6,0.9,161.9,9,8.8