version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 191
start: 4 11 119 8 41 23
data:
$ID,573
$MISSION,30
$DIVE,191
$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,335
$T_MISSION,345
$T_ABORT,360
$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,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,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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,42
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,110419,083340,-3000.6140,3103.1748,15,0.8,16,-24.8,0.8,210.9,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-63.6
$GPS2,110419,084059,-3000.7742,3103.1360,20,0.9,21,-24.8,1.1,199.9,9,8.9
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3000.774,3050.665
$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,294.8,20000,-18.2,-9.950,-20.98,2247
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,74,1969,584,580,0.0,0.0,0,121,0.00,0.00,-98.05,0.000,16386,0.000,0.000,74,1970,3319,3335,3303,0,0,0,0,0,0,15.02,28.83,15.03
$GC,125,-0.85,-146.0,74,1970,3336,3303,4.2,-11.3,18,144,12.60,2.50,-1.42,0.000,18692,0.303,0.073,2196,3421,3409,3437,3382,0,0,0,0,0,0,14.35,13.26,14.57
$GC,321,-0.85,-146.0,2195,3420,3442,3382,46.1,-14.8,56,328,0.08,2.33,0.00,0.000,3078,0.269,0.037,2212,2010,3411,3442,3381,0,0,0,0,0,0,14.64,14.84,14.83
$GC,391,-0.85,-146.0,2211,2010,3445,3381,54.7,-11.1,69,398,0.00,2.38,0.00,0.000,2564,0.000,0.066,2212,612,3412,3443,3381,0,0,0,0,0,0,15.09,14.78,15.09
$GC,425,-0.85,-146.0,2212,611,3443,3381,58.8,-12.5,75,432,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,2014,3412,3443,3381,0,0,0,0,0,0,14.83,14.73,14.84
$GC,495,-0.85,-146.0,2209,2014,3443,3381,66.9,-11.4,88,501,0.00,2.40,0.00,0.000,2308,0.000,0.070,2210,3412,3412,3443,3381,0,0,0,0,0,0,15.10,14.67,15.11
$GC,640,-0.85,-146.0,2209,3412,3444,3381,82.6,-10.3,116,647,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2008,3413,3445,3381,0,0,0,0,0,0,14.91,14.82,14.92
$GC,710,-0.85,-146.0,2209,2008,3445,3381,90.0,-10.4,129,717,0.00,2.42,0.00,0.000,2308,0.000,0.067,2209,3412,3413,3445,3381,0,0,0,0,0,0,15.11,14.74,15.12
$GC,744,-0.85,-146.0,2209,3412,3445,3381,93.8,-10.9,135,750,0.00,2.28,0.00,0.000,3078,0.000,0.037,2209,2014,3417,3453,3381,0,0,0,0,0,0,14.96,14.88,14.95
$STATE,812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,812,begin apogee
$GC,817,-0.19,0.0,2209,1944,3445,3381,101.6,-11.1,148,934,1.08,0.00,107.38,0.964,10246,0.164,0.000,2422,1942,2811,2847,2775,0,0,0,0,0,0,14.57,14.53,13.97
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,938,0.85,146.0,2422,1942,2847,2775,105.7,0.0,169,1055,1.55,0.00,108.50,0.965,10758,0.098,0.000,2749,1942,2214,2256,2172,0,0,0,0,0,0,14.54,14.33,13.93
$GC,1118,0.88,169.1,2748,1942,2251,2170,95.7,8.9,201,1141,0.00,0.00,18.45,0.894,10502,0.000,0.000,2748,1942,2120,2162,2079,0,0,0,0,0,0,14.86,14.59,13.99
$GC,1204,0.91,192.0,2748,1942,2158,2077,88.0,8.9,217,1228,0.05,0.00,18.80,0.910,10246,0.250,0.000,2790,1942,2027,2071,1984,0,0,0,0,0,0,14.64,14.63,14.02
$GC,1290,0.91,192.0,2790,1942,2067,1981,79.4,10.2,233,1297,0.00,2.47,0.00,0.000,4356,0.000,0.063,2790,3366,2024,2067,1981,0,0,0,0,0,0,14.95,14.68,14.95
$GC,1409,0.91,192.0,2790,3365,2066,1981,65.8,11.6,256,1416,0.08,2.28,0.00,0.000,5126,0.288,0.040,2785,1988,2023,2066,1980,0,0,0,0,0,0,14.50,14.68,14.70
$GC,1480,0.92,196.3,2784,1987,2064,1979,58.8,9.8,269,1487,0.00,0.00,4.07,0.678,8198,0.000,0.000,2785,1987,2010,2054,1967,0,0,0,0,0,0,15.04,14.73,14.02
$GC,1550,0.92,199.5,2784,1993,2053,1967,52.1,9.8,282,1563,0.00,2.47,4.28,0.688,8708,0.000,0.073,2785,560,1997,2040,1954,0,0,0,0,0,0,15.05,14.70,14.05
$GC,1585,0.92,199.5,2784,560,2039,1954,48.7,10.7,288,1592,0.00,2.30,0.00,0.000,1030,0.000,0.041,2785,1969,1996,2039,1954,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1655,0.94,214.7,2784,1969,2039,1953,42.2,9.3,301,1673,0.00,0.00,13.65,0.841,10502,0.000,0.000,2785,1970,1933,1979,1887,0,0,0,0,0,0,15.07,14.77,14.14
$GC,1735,1.02,283.4,2784,1969,1976,1887,36.3,6.8,316,1797,0.05,2.38,53.75,0.915,10500,0.256,0.063,2828,3358,1654,1706,1602,0,0,0,0,0,0,14.75,14.60,14.08
$GC,1870,1.05,305.1,2828,3359,1702,1598,23.3,9.0,341,1889,0.00,2.33,12.45,0.814,9222,0.000,0.041,2827,1961,1569,1623,1515,0,0,0,0,0,0,14.81,14.72,14.04
$GC,1951,1.05,309.3,2828,1961,1619,1512,16.3,9.8,356,1959,0.00,2.45,1.85,0.176,8708,0.000,0.073,2829,564,1551,1605,1498,0,0,0,0,0,0,14.97,14.59,14.57
$GC,1986,1.07,325.1,2827,564,1605,1498,12.6,9.2,362,2005,0.00,2.30,9.18,0.718,11270,0.000,0.039,2828,1975,1484,1538,1431,0,0,0,0,0,0,14.87,14.78,14.11
$GC,2066,1.08,328.1,2828,1975,1534,1428,4.7,9.8,377,2074,0.00,2.35,0.82,0.117,10500,0.000,0.060,2828,3360,1474,1527,1421,0,0,0,0,0,0,15.03,14.73,14.64
$STATE,2079,end climb,SURFACE_DEPTH_REACHED
$STATE,2079,begin surface coast
$FINISH,0.6,1.023492
$STATE,2105,end surface coast,CONTROL_FINISHED_OK
$STATE,2106,begin surface
$SM_CCo,2130,115.97,0.715,0,0,598,542.59
$SM_GC,0.69,12.50,2.25,115.97,0.054,0.035,0.715,147,2016,598,-7.26,1.13,542.59,0,0,0,0,0,0,14.81,14.82,14.12
$IRIDIUM_FIX,-2947.56,3104.65,110419,074514
$TT8_MAMPS,0.019474,0.90629
$HUMID,55.15
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,80.3,36.0
$SC_FREEKB,3824768
$24V_AH,13.26,132.739
$10V_AH,13.26,0.000
$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,27.975,42.500,353.175,115.975,0.000,25.308,16.256,211.790,0.750,0.000,22.192,776.986,326.588,543.357,941.666,109.891,0.000,937.037,0.000,585.828,0.000,7.176,0.000
$DEVICE_MAMPS,302.940,287.640,965.430,714.510,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2150.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.671,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13475,384
$CAP_FILE_SIZE,76331,0
$CFSIZE,1023623168,995999744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,091953,-3001.148,3102.589,24,0.7,26,-24.8,0.7,153.1,11,8.0