version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 94
start: 4 4 119 8 52 16
data:
$ID,573
$MISSION,30
$DIVE,94
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$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,290
$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,542.59473
$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,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,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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,040419,084419,-2904.2583,3209.0464,37,1.0,37,-23.9,1.3,193.8,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-62.2
$GPS2,040419,085152,-2904.3879,3209.0530,19,0.9,20,-23.9,0.0,0.0,9,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.694,3157.449
$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,313.9,20000,-18.3,-10.010,-21.05,2234
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,91,1981,587,578,0.0,0.0,0,120,0.00,0.00,-97.88,0.000,16386,0.000,0.000,80,1981,3234,3245,3223,0,0,0,0,0,0,15.01,28.83,15.02
$GC,124,-0.86,-146.0,79,1981,3246,3223,3.7,-8.7,18,148,12.62,2.45,-2.92,0.000,18692,0.313,0.087,2196,3384,3410,3441,3379,0,0,0,0,0,0,14.36,13.36,14.55
$GC,290,-0.86,-146.0,2196,3385,3444,3379,38.4,-13.0,50,298,0.05,2.30,0.00,0.000,3078,0.326,0.037,2207,1984,3411,3444,3379,0,0,0,0,0,0,14.59,14.78,14.80
$GC,361,-0.86,-146.0,2207,1984,3443,3379,47.3,-12.8,63,368,0.00,2.42,0.00,0.000,2308,0.000,0.067,2204,3388,3410,3444,3376,0,0,0,0,0,0,15.09,14.78,15.09
$GC,400,-0.86,-146.0,2203,3387,3444,3379,52.4,-13.1,70,406,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1986,3412,3445,3379,0,0,0,0,0,0,14.83,14.72,14.85
$GC,468,-0.86,-146.0,2203,1986,3445,3379,61.4,-12.3,83,475,0.00,2.40,0.00,0.000,2308,0.000,0.067,2203,3386,3411,3445,3378,0,0,0,0,0,0,15.09,14.79,15.09
$GC,537,-0.86,-146.0,2204,3386,3445,3379,70.8,-12.8,96,544,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1981,3411,3445,3378,0,0,0,0,0,0,14.95,14.83,14.97
$GC,606,-0.86,-146.0,2203,1981,3446,3378,79.7,-13.4,109,613,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3392,3412,3446,3378,0,0,0,0,0,0,15.11,14.81,15.11
$GC,670,-0.86,-146.0,2203,3393,3445,3378,88.4,-12.4,121,676,0.00,2.30,0.00,0.000,3078,0.000,0.039,2203,1983,3411,3445,3378,0,0,0,0,0,0,14.90,14.78,14.91
$GC,739,-0.86,-146.0,2203,1982,3446,3378,97.6,-13.7,134,745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1983,3412,3446,3379,0,0,0,0,0,0,15.11,15.11,15.11
$GC,809,-0.86,-146.0,2203,1983,3446,3378,107.0,-13.2,147,815,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3395,3410,3442,3378,0,0,0,0,0,0,15.11,14.66,15.11
$STATE,1006,end dive,NO_VERTICAL_VELOCITY
$STATE,1007,begin apogee
$GC,1013,-0.19,0.0,2203,1988,3447,3378,114.4,0.0,186,1130,1.02,0.00,108.07,1.029,10246,0.096,0.000,2428,1988,2810,2848,2773,0,0,0,0,0,0,14.76,14.42,14.02
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1133,0.86,146.0,2428,1988,2848,2773,114.4,0.0,207,1255,1.50,2.45,110.25,1.011,10756,0.088,0.070,2749,597,2213,2254,2173,0,0,0,0,0,0,14.52,14.40,13.93
$GC,1268,0.94,214.2,2747,597,2252,2172,108.5,6.9,230,1330,0.10,2.33,53.60,0.994,11270,0.142,0.041,2799,1999,1936,1982,1891,0,0,0,0,0,0,14.53,14.54,13.95
$GC,1393,0.94,214.2,2798,1999,1976,1888,95.9,11.2,253,1400,0.00,2.40,0.00,0.000,4356,0.000,0.066,2799,3385,1931,1976,1887,0,0,0,0,0,0,14.83,14.50,14.83
$GC,1427,0.94,214.2,2798,3385,1975,1887,92.0,12.5,259,1434,0.00,2.33,0.00,0.000,5126,0.000,0.041,2804,1988,1930,1975,1886,0,0,0,0,0,0,14.76,14.66,14.78
$GC,1497,0.94,214.2,2804,1988,1974,1886,83.0,12.8,272,1502,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,1991,1930,1975,1885,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1564,0.94,214.2,2804,1987,1974,1885,75.0,11.4,285,1571,0.00,2.40,0.00,0.000,4356,0.000,0.063,2804,3390,1929,1973,1885,0,0,0,0,0,0,14.99,14.68,15.00
$GC,1583,0.94,214.2,2804,3390,1973,1885,72.9,11.0,288,1589,0.00,2.33,0.00,0.000,5126,0.000,0.042,2804,1981,1926,1973,1880,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1652,0.94,214.2,2804,1983,1973,1885,65.0,11.5,301,1658,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1982,1929,1973,1885,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1720,0.94,214.2,2804,1982,1973,1884,57.0,11.4,314,1727,0.00,2.42,0.00,0.000,4356,0.000,0.062,2805,3394,1928,1972,1884,0,0,0,0,0,0,15.06,14.73,15.06
$GC,1749,0.94,214.2,2804,3394,1972,1885,53.2,13.9,319,1755,0.00,2.33,0.00,0.000,5126,0.000,0.044,2805,1987,1928,1972,1884,0,0,0,0,0,0,14.80,14.70,14.82
$GC,1818,0.94,214.2,2805,1986,1972,1884,44.7,11.1,332,1825,0.00,2.38,0.00,0.000,4356,0.000,0.062,2805,3385,1927,1972,1883,0,0,0,0,0,0,15.07,14.69,15.07
$GC,1831,0.94,214.2,2805,3386,1972,1884,43.3,11.0,334,1838,0.00,2.33,0.00,0.000,5126,0.000,0.044,2805,1978,1927,1972,1883,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1901,0.94,214.2,2805,1978,1971,1883,34.9,12.1,347,1908,0.03,2.42,0.00,0.000,4356,0.511,0.060,2797,3393,1927,1971,1884,0,0,0,0,0,0,14.62,14.78,14.76
$GC,1925,0.94,214.2,2796,3393,1971,1883,31.7,13.0,351,1932,0.00,2.33,0.00,0.000,5126,0.000,0.044,2797,1988,1927,1971,1883,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1995,0.94,214.2,2797,1988,1971,1882,23.7,10.5,364,2001,0.00,2.40,0.00,0.000,4356,0.000,0.062,2797,3389,1926,1970,1882,0,0,0,0,0,0,15.09,14.75,15.09
$GC,2036,0.94,214.6,2796,3389,1970,1882,19.6,10.0,371,2043,0.00,2.33,0.00,0.000,5126,0.000,0.044,2797,1984,1927,1971,1883,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2106,1.01,273.1,2796,1984,1970,1882,14.1,7.3,384,2140,0.00,0.00,31.92,0.843,10246,0.000,0.000,2797,1983,1697,1749,1645,0,0,0,0,0,0,15.10,14.78,14.28
$GC,2202,1.04,293.0,2796,1984,1744,1638,6.7,9.1,402,2220,0.00,2.40,10.15,0.721,10500,0.000,0.064,2797,3394,1612,1666,1559,0,0,0,0,0,0,15.02,14.75,14.19
$STATE,2236,end climb,SURFACE_DEPTH_REACHED
$STATE,2236,begin surface coast
$FINISH,0.0,1.023878
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2285,135.00,0.745,0,0,599,542.59
$SM_GC,0.49,12.38,2.38,135.00,0.053,0.040,0.745,140,1978,599,-7.26,0.90,542.59,0,0,0,0,0,0,14.80,14.81,14.12
$IRIDIUM_FIX,-2853.13,3207.65,040419,075346
$TT8_MAMPS,0.019474,0.922019
$HUMID,56.06
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$SC_FREEKB,3875360
$24V_AH,13.36,108.156
$10V_AH,13.38,0.000
$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,27.700,61.575,314.000,135.000,0.000,24.746,41.205,207.157,1.000,0.000,20.446,849.278,362.705,566.997,1010.654,97.788,0.000,987.778,0.000,624.255,0.000,8.623,0.000
$DEVICE_MAMPS,511.020,87.210,1028.925,745.110,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.571,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13445,413
$CAP_FILE_SIZE,82384,0
$CFSIZE,1023623168,1009876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,093334,-2904.556,3208.655,19,0.7,20,-23.9,0.0,221.8,12,8.2