version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 192
start: 4 11 119 9 27 24
data:
$ID,573
$MISSION,30
$DIVE,192
$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,120
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,110419,091953,-3001.1482,3102.5891,24,0.7,26,-24.8,0.7,153.1,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-63.3
$GPS2,110419,092700,-3001.3035,3102.5449,19,0.7,22,-24.8,0.5,211.7,12,9.9
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3006.703,3113.356
$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,144.8,20000,-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,18,begin dive
$GC,20,-0.85,-146.0,102,2012,585,580,0.0,0.0,0,121,0.00,0.00,-98.25,0.000,16386,0.000,0.000,92,2013,3335,3354,3317,0,0,0,0,0,0,15.03,28.83,15.04
$GC,125,-0.85,-146.0,92,2011,3355,3317,4.4,-12.6,18,144,12.50,2.45,-1.12,0.000,18948,0.305,0.086,2205,603,3409,3437,3382,0,0,0,0,0,0,14.36,13.26,14.57
$GC,241,-0.85,-146.0,2205,602,3440,3382,33.6,-15.6,40,248,0.00,2.33,0.00,0.000,3078,0.000,0.044,2203,2014,3411,3441,3381,0,0,0,0,0,0,14.92,14.81,14.93
$GC,311,-0.85,-146.0,2202,2015,3441,3381,43.4,-14.3,53,317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2015,3411,3441,3381,0,0,0,0,0,0,15.09,15.09,15.09
$GC,379,-0.85,-146.0,2202,2015,3446,3381,51.7,-11.9,66,385,0.00,2.40,0.00,0.000,2308,0.000,0.070,2203,3418,3411,3441,3381,0,0,0,0,0,0,15.10,14.69,15.10
$GC,487,-0.85,-146.0,2202,3418,3442,3381,64.6,-11.1,87,494,0.00,2.30,0.00,0.000,3078,0.000,0.036,2203,2007,3411,3442,3381,0,0,0,0,0,0,14.97,14.88,14.98
$GC,557,-0.85,-146.0,2202,2007,3447,3381,71.8,-11.5,100,564,0.00,2.35,0.00,0.000,2564,0.000,0.065,2203,613,3412,3443,3381,0,0,0,0,0,0,15.11,14.81,15.11
$GC,600,-0.85,-146.0,2202,613,3442,3381,77.3,-12.4,108,607,0.00,2.30,0.00,0.000,3078,0.000,0.043,2202,2026,3412,3443,3381,0,0,0,0,0,0,14.90,14.79,14.92
$GC,673,-0.85,-146.0,2202,2023,3442,3381,86.2,-12.0,121,679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2023,3412,3443,3381,0,0,0,0,0,0,15.14,15.13,15.13
$GC,741,-0.85,-146.0,2202,2023,3443,3381,94.1,-11.5,134,748,0.00,2.38,0.00,0.000,2308,0.000,0.069,2200,3411,3412,3443,3381,0,0,0,0,0,0,15.14,14.81,15.14
$STATE,778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,778,begin apogee
$GC,785,-0.19,0.0,2200,1964,3443,3381,98.5,-10.9,141,901,1.12,0.00,107.10,0.958,10246,0.164,0.000,2424,1963,2811,2847,2775,0,0,0,0,0,0,14.54,14.54,14.02
$STATE,903,end apogee,CONTROL_FINISHED_OK
$STATE,903,begin climb
$GC,905,0.85,146.0,2423,1963,2847,2775,101.5,0.0,162,1023,1.52,2.47,108.30,0.959,10756,0.097,0.070,2749,560,2214,2256,2173,0,0,0,0,0,0,14.54,14.45,13.95
$GC,1060,0.89,176.2,2749,560,2250,2172,92.2,8.6,189,1090,0.00,2.30,24.00,0.913,11270,0.000,0.039,2749,1962,2092,2136,2049,0,0,0,0,0,0,14.62,14.57,13.97
$GC,1152,0.94,217.8,2749,1962,2131,2046,84.6,8.0,206,1192,0.08,2.40,32.60,0.923,10500,0.178,0.061,2805,3359,1923,1968,1879,0,0,0,0,0,0,14.68,14.44,13.99
$GC,1224,0.94,217.8,2805,3359,1966,1878,77.0,11.7,219,1231,0.08,2.33,0.00,0.000,5126,0.289,0.041,2798,1959,1921,1966,1877,0,0,0,0,0,0,14.51,14.67,14.69
$GC,1295,0.94,217.8,2797,1959,1964,1875,69.6,10.3,232,1301,0.00,2.40,0.00,0.000,4612,0.000,0.073,2798,560,1919,1963,1875,0,0,0,0,0,0,14.96,14.68,14.96
$GC,1403,0.94,217.8,2797,560,1961,1875,57.9,10.6,253,1410,0.00,2.30,0.00,0.000,5126,0.000,0.039,2798,1975,1918,1961,1875,0,0,0,0,0,0,14.89,14.80,14.90
$GC,1473,0.96,232.3,2797,1975,1960,1875,50.9,9.3,266,1492,0.00,2.35,12.20,0.827,8452,0.000,0.062,2798,3360,1864,1909,1820,0,0,0,0,0,0,15.04,14.59,14.12
$GC,1604,0.96,232.3,2797,3362,1905,1817,35.7,11.8,291,1611,0.00,2.30,0.00,0.000,1030,0.000,0.042,2798,1960,1861,1905,1817,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1674,1.01,276.6,2797,1960,1905,1817,29.1,7.9,304,1715,0.00,2.42,31.45,0.895,10756,0.000,0.073,2797,566,1682,1733,1631,0,0,0,0,0,0,15.07,14.66,14.15
$GC,1782,1.08,329.0,2796,565,1728,1630,20.4,7.6,324,1819,0.08,2.28,30.70,0.834,11270,0.181,0.038,2845,1968,1469,1523,1415,0,0,0,0,0,0,14.69,14.74,14.11
$GC,1881,1.08,331.0,2845,1968,1518,1413,11.2,9.9,342,1887,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1968,1465,1518,1413,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1949,1.10,346.0,2845,1968,1516,1413,4.9,9.3,355,1962,0.00,0.00,8.07,0.649,12550,0.000,0.000,2844,1968,1399,1452,1347,0,0,0,0,0,0,15.02,14.65,14.11
$STATE,1972,end climb,SURFACE_DEPTH_REACHED
$STATE,1972,begin surface coast
$FINISH,0.2,1.011887
$STATE,2004,end surface coast,CONTROL_FINISHED_OK
$STATE,2004,begin surface
$SM_CCo,2025,106.43,0.708,0,0,599,542.59
$SM_GC,0.63,12.48,0.00,106.43,0.047,0.000,0.708,138,1969,599,-7.28,-1.24,542.59,0,0,0,0,0,0,14.81,15.05,14.13
$IRIDIUM_FIX,-2950.05,3102.52,110419,083618
$TT8_MAMPS,0.018725,0.888314
$HUMID,55.15
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.5
$ALTIM_BOTTOM_PING,80.1,33.3
$SC_FREEKB,3824256
$24V_AH,13.26,132.905
$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,27.850,42.450,354.425,106.425,0.000,26.441,41.553,180.142,0.750,0.000,23.532,728.930,303.983,533.445,904.435,102.769,0.000,914.659,0.000,558.206,0.000,7.194,0.000
$DEVICE_MAMPS,305.235,85.680,958.545,707.625,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.331,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10157,365
$CAP_FILE_SIZE,71708,0
$CFSIZE,1023623168,995901440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,100401,-3001.758,3102.522,18,0.8,28,-24.8,0.5,160.2,11,6.7