version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 256
start: 4 18 119 2 55 44
data:
$ID,573
$MISSION,30
$DIVE,256
$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,200
$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,180
$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,37
$R_STBD_OVSHOOT,43
$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,3
$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
$GPS1,180419,024805,-3131.8247,2950.3330,17,0.8,19,-26.2,1.0,205.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-65.0
$GPS2,180419,025518,-3131.9353,2950.1819,19,0.8,21,-26.2,1.4,257.4,11,8.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3142.734,2950.182
$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,206.2,20000,-15.6,-9.950,-18.64,2991
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,72,1979,583,579,0.0,0.0,0,122,0.00,0.00,-98.62,0.000,16386,0.000,0.000,72,1980,3293,3311,3275,0,0,0,0,0,0,15.07,28.83,15.07
$GC,126,-0.82,-194.6,72,1980,3313,3281,4.0,-11.3,18,151,12.70,2.45,-4.95,0.000,18692,0.308,0.087,2213,3413,3607,3668,3546,0,0,0,0,0,0,14.47,13.81,14.81
$GC,209,-0.82,-194.6,2213,3414,3671,3545,27.4,-14.4,33,216,0.00,2.30,0.00,0.000,3078,0.000,0.038,2213,2007,3608,3672,3545,0,0,0,0,0,0,14.81,14.70,14.83
$GC,278,-0.82,-194.6,2213,2007,3672,3545,37.6,-15.1,46,285,0.00,2.42,0.00,0.000,2308,0.000,0.071,2213,3405,3608,3672,3545,0,0,0,0,0,0,15.10,14.70,15.11
$GC,292,-0.82,-194.6,2212,3405,3672,3545,39.4,-13.5,48,299,0.00,2.28,0.00,0.000,3078,0.000,0.038,2213,2015,3608,3672,3545,0,0,0,0,0,0,14.97,14.87,14.99
$GC,362,-0.82,-194.6,2212,2015,3672,3544,47.8,-13.6,61,369,0.00,2.38,0.00,0.000,2564,0.000,0.067,2213,610,3609,3673,3545,0,0,0,0,0,0,15.11,14.82,15.11
$GC,421,-0.82,-194.6,2212,609,3673,3544,56.3,-14.2,72,429,0.05,2.33,0.00,0.000,3078,0.344,0.047,2221,2017,3608,3673,3544,0,0,0,0,0,0,14.66,14.86,14.88
$GC,492,-0.82,-194.6,2221,2017,3673,3545,63.9,-8.9,85,499,0.00,2.40,0.00,0.000,2308,0.000,0.074,2218,3418,3609,3674,3544,0,0,0,0,0,0,15.14,14.81,15.14
$GC,557,-0.82,-194.6,2219,3418,3673,3544,68.6,-6.9,97,563,0.00,2.30,0.00,0.000,3078,0.000,0.036,2218,2013,3609,3674,3544,0,0,0,0,0,0,15.00,14.91,15.01
$GC,627,-0.82,-194.6,2218,2013,3679,3544,74.3,-8.9,110,634,0.00,2.40,0.00,0.000,2308,0.000,0.071,2218,3409,3609,3674,3544,0,0,0,0,0,0,15.13,14.83,15.14
$GC,661,-0.82,-194.6,2217,3409,3674,3544,77.4,-9.3,116,668,0.00,2.28,0.00,0.000,3078,0.000,0.036,2218,2017,3609,3674,3544,0,0,0,0,0,0,15.00,14.92,15.02
$GC,735,-0.82,-194.6,2217,2016,3674,3544,85.1,-10.6,129,741,0.00,2.42,0.00,0.000,2308,0.000,0.073,2217,3411,3609,3674,3544,0,0,0,0,0,0,15.14,14.71,15.14
$STATE,746,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,747,begin apogee
$GC,754,-0.19,0.0,2217,1958,3674,3544,86.7,-10.5,131,903,1.02,0.00,143.10,0.934,10246,0.151,0.000,2425,1956,2811,2857,2765,0,0,0,0,0,0,14.69,14.54,13.93
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,907,0.82,194.6,2425,1956,2856,2764,92.4,0.0,158,1063,1.48,2.45,145.25,0.933,11012,0.090,0.071,2739,549,2016,2060,1972,0,0,0,0,0,0,14.54,14.31,13.88
$GC,1096,0.83,203.4,2739,549,2056,1972,82.3,9.7,191,1109,0.00,2.35,8.12,0.807,11270,0.000,0.041,2739,1977,1982,2028,1937,0,0,0,0,0,0,14.73,14.65,13.93
$GC,1172,0.83,203.8,2739,1976,2023,1934,75.0,9.9,205,1179,0.00,2.40,0.00,0.000,2308,0.000,0.069,2746,3364,1977,2022,1933,0,0,0,0,0,0,14.95,14.59,14.95
$GC,1222,0.84,216.0,2739,3365,2021,1932,70.4,9.5,214,1240,0.00,2.33,11.15,0.838,11270,0.000,0.041,2739,1956,1929,1974,1884,0,0,0,0,0,0,14.86,14.76,14.01
$GC,1302,0.89,253.9,2740,1956,1971,1882,63.7,8.6,229,1343,0.08,2.47,30.80,0.883,10500,0.174,0.066,2794,3356,1773,1821,1726,0,0,0,0,0,0,14.78,14.61,14.03
$GC,1381,0.89,253.9,2795,3356,1819,1726,55.4,12.0,243,1388,0.10,2.33,0.00,0.000,5126,0.247,0.043,2778,1953,1771,1818,1725,0,0,0,0,0,0,14.60,14.73,14.77
$GC,1452,1.01,350.9,2777,1953,1817,1724,50.2,6.6,256,1537,0.08,2.40,76.60,0.905,10756,0.181,0.073,2828,565,1380,1436,1324,0,0,0,0,0,0,14.78,14.38,13.94
$GC,1624,1.01,350.9,2827,565,1432,1324,31.5,11.2,288,1631,0.00,2.30,0.00,0.000,5126,0.000,0.039,2828,1973,1377,1432,1323,0,0,0,0,0,0,14.84,14.75,14.85
$GC,1696,1.03,365.3,2828,1973,1430,1323,24.9,9.5,301,1709,0.00,2.42,8.40,0.769,12548,0.000,0.067,2828,3354,1322,1378,1266,0,0,0,0,0,0,15.02,14.66,14.00
$GC,1762,1.03,365.3,2827,3355,1376,1266,18.1,10.5,313,1769,0.00,2.30,0.00,0.000,5126,0.000,0.043,2828,1963,1321,1377,1266,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1832,1.03,365.3,2827,1963,1373,1266,11.1,10.6,326,1839,0.00,2.40,0.00,0.000,4612,0.000,0.076,2828,561,1321,1376,1266,0,0,0,0,0,0,15.07,14.65,15.07
$GC,1875,1.03,365.3,2827,562,1375,1266,6.5,10.5,334,1882,0.00,2.28,0.00,0.000,5126,0.000,0.041,2828,1956,1320,1375,1266,0,0,0,0,0,0,14.95,14.86,14.96
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,0.3,1.023815
$STATE,1935,end surface coast,CONTROL_FINISHED_OK
$STATE,1935,begin surface
$SM_CCo,1957,95.82,0.702,0,0,599,542.59
$SM_GC,0.61,12.32,0.08,95.82,0.042,0.155,0.702,138,2045,599,-7.28,-0.99,542.59,0,0,0,0,0,0,14.88,14.86,14.12
$IRIDIUM_FIX,-3117.71,2950.65,180419,020814
$TT8_MAMPS,0.019474,0.895055
$HUMID,56.06
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,80.3,21.0
$SC_FREEKB,3788224
$24V_AH,13.81,153.538
$10V_AH,13.17,0.000
$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,27.825,56.850,423.425,95.825,0.000,24.215,41.479,180.624,0.750,0.000,21.719,663.668,256.857,586.480,864.035,130.979,0.000,972.639,0.000,529.350,0.000,7.131,0.000
$DEVICE_MAMPS,344.250,154.530,934.065,701.505,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.521,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10144,345
$CAP_FILE_SIZE,72419,0
$CFSIZE,1023623168,985415680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180419,033056,-3132.409,2949.723,18,0.8,20,-26.2,0.9,193.0,12,9.9