version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 264
start: 4 19 119 0 45 41
data:
$ID,573
$MISSION,30
$DIVE,264
$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,260
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,190419,003758,-3139.5896,2937.5762,17,0.9,18,-26.2,0.8,139.5,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-64.2
$GPS2,190419,004516,-3139.7166,2937.5425,18,0.9,19,-26.2,0.6,246.1,10,7.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3141.592,2925.043
$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,286.2,20000,-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,-194.6,72,2002,553,608,0.0,0.0,0,117,0.00,0.00,-93.53,0.000,16386,0.000,0.000,72,2002,3130,3131,3129,0,0,0,0,0,0,14.97,28.83,14.97
$GC,121,-0.82,-194.6,72,2003,3132,3130,3.3,-8.8,17,152,12.88,2.53,-8.05,0.000,18692,0.311,0.092,2212,3408,3607,3674,3541,0,0,0,0,0,0,14.33,12.95,14.69
$GC,194,-0.82,-194.6,2213,3408,3676,3541,22.3,-17.5,30,201,0.00,2.33,0.00,0.000,3078,0.000,0.041,2213,2016,3609,3677,3541,0,0,0,0,0,0,14.69,14.61,14.70
$GC,264,-0.82,-194.6,2213,2016,3677,3542,34.2,-16.1,43,271,0.00,2.47,0.00,0.000,2308,0.000,0.073,2210,3408,3609,3677,3541,0,0,0,0,0,0,15.02,14.54,15.02
$GC,304,-0.82,-194.6,2210,3408,3677,3541,39.5,-13.3,50,311,0.05,2.33,0.00,0.000,3078,0.322,0.041,2221,2010,3609,3677,3542,0,0,0,0,0,0,14.45,14.76,14.63
$GC,374,-0.82,-194.6,2220,2010,3677,3541,48.0,-11.2,63,380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2009,3609,3677,3541,0,0,0,0,0,0,15.03,15.03,15.03
$GC,442,-0.82,-194.6,2221,2013,3677,3541,55.7,-11.2,76,449,0.00,2.50,0.00,0.000,2308,0.000,0.074,2221,3412,3609,3677,3541,0,0,0,0,0,0,15.04,14.69,15.04
$GC,501,-0.82,-194.6,2220,3412,3677,3542,62.0,-11.2,87,508,0.00,2.35,0.00,0.000,3078,0.000,0.040,2221,2005,3609,3678,3541,0,0,0,0,0,0,14.88,14.76,14.90
$GC,570,-0.82,-194.6,2220,2005,3678,3541,69.6,-11.0,100,577,0.00,2.50,0.00,0.000,2308,0.000,0.075,2221,3412,3609,3678,3541,0,0,0,0,0,0,15.04,14.63,15.05
$GC,619,-0.82,-194.6,2220,3412,3674,3541,75.0,-11.0,109,626,0.00,2.33,0.00,0.000,3078,0.000,0.039,2221,2016,3609,3678,3541,0,0,0,0,0,0,14.72,14.60,14.73
$GC,693,-0.82,-194.6,2220,2016,3678,3541,82.8,-9.6,122,699,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2016,3609,3678,3541,0,0,0,0,0,0,15.07,15.07,15.07
$STATE,729,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,729,begin apogee
$GC,735,-0.19,0.0,2221,1928,3678,3541,86.9,-10.1,129,889,1.02,0.00,145.52,0.955,10246,0.159,0.000,2425,1926,2810,2858,2763,0,0,0,0,0,0,14.55,14.23,13.78
$STATE,891,end apogee,CONTROL_FINISHED_OK
$STATE,891,begin climb
$GC,893,0.82,194.6,2424,1926,2858,2763,92.7,0.0,157,1049,1.48,2.42,147.32,0.948,10756,0.101,0.074,2736,585,2017,2063,1972,0,0,0,0,0,0,14.42,14.33,13.78
$GC,1063,0.89,252.6,2735,585,2061,1972,85.1,8.0,186,1116,0.10,2.33,45.85,0.925,11270,0.140,0.041,2788,1974,1783,1833,1733,0,0,0,0,0,0,14.40,14.40,13.77
$GC,1178,0.89,252.6,2787,1974,1827,1732,73.7,10.0,207,1185,0.00,2.45,0.00,0.000,4356,0.000,0.068,2788,3363,1778,1826,1731,0,0,0,0,0,0,14.81,14.45,14.81
$GC,1222,0.89,252.6,2788,3363,1826,1731,69.3,10.2,215,1230,0.05,2.33,0.00,0.000,5126,0.335,0.044,2780,1983,1778,1826,1730,0,0,0,0,0,0,14.45,14.64,14.66
$GC,1294,0.92,279.8,2780,1983,1826,1730,63.2,9.0,228,1322,0.00,0.00,22.90,0.897,10246,0.000,0.000,2780,1984,1671,1722,1620,0,0,0,0,0,0,14.92,14.35,13.88
$GC,1385,0.96,309.3,2780,1984,1719,1616,55.0,8.9,245,1419,0.00,2.45,24.65,0.896,10500,0.000,0.065,2780,3355,1550,1605,1496,0,0,0,0,0,0,14.91,14.53,13.91
$GC,1432,0.98,324.8,2779,3354,1604,1496,50.8,9.4,253,1455,0.00,2.35,13.88,0.860,11270,0.000,0.045,2780,1963,1488,1542,1434,0,0,0,0,0,0,14.73,14.62,13.88
$GC,1518,0.98,324.8,2779,1962,1541,1434,42.2,10.8,269,1525,0.00,2.45,0.00,0.000,2564,0.000,0.079,2780,563,1487,1540,1434,0,0,0,0,0,0,14.90,14.49,14.90
$GC,1547,1.03,362.6,2780,562,1540,1434,39.8,8.6,274,1588,0.10,2.33,31.70,0.883,11270,0.146,0.040,2830,1968,1332,1390,1275,0,0,0,0,0,0,14.68,14.70,13.90
$GC,1651,1.03,363.7,2830,1968,1389,1274,28.3,9.9,293,1657,0.00,2.45,0.00,0.000,4356,0.000,0.068,2830,3365,1332,1390,1274,0,0,0,0,0,0,14.92,14.62,14.91
$GC,1685,1.03,366.4,2830,3365,1388,1273,24.9,9.9,299,1693,0.00,2.38,2.40,0.451,13318,0.000,0.044,2831,1955,1318,1376,1260,0,0,0,0,0,0,14.79,14.68,13.84
$GC,1758,1.11,431.9,2831,1955,1376,1260,18.7,7.7,312,1804,0.00,2.47,39.35,0.822,10756,0.000,0.079,2831,565,1051,1111,992,0,0,0,0,0,0,14.97,14.49,13.95
$GC,1827,1.17,476.7,2830,565,1111,992,12.6,8.4,324,1863,0.05,2.33,26.77,0.772,11270,0.252,0.040,2877,1973,867,916,819,0,0,0,0,0,0,14.54,14.64,13.94
$STATE,1924,end climb,SURFACE_DEPTH_REACHED
$STATE,1924,begin surface coast
$FINISH,0.5,1.023977
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1971,37.58,0.705,0,0,599,542.59
$SM_GC,0.51,12.65,0.00,37.58,0.041,0.000,0.705,140,1978,599,-7.26,-0.99,542.59,0,0,0,0,0,0,14.76,14.95,14.02
$IRIDIUM_FIX,-3125.29,2939.67,180419,235049
$TT8_MAMPS,0.019474,0.829892
$HUMID,54.41
$INTERNAL_PRESSURE,9.15038
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,80.5,21.1
$SC_FREEKB,3783552
$24V_AH,12.95,156.382
$10V_AH,13.48,0.000
$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,28.375,48.125,500.350,37.575,0.000,22.996,36.954,187.878,0.750,0.000,19.905,635.674,241.319,584.897,868.254,131.321,0.000,985.835,0.000,529.621,0.000,8.226,0.000
$DEVICE_MAMPS,335.070,153.765,955.485,705.330,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.703,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10139,347
$CAP_FILE_SIZE,72163,0
$CFSIZE,1023623168,984055808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,012022,-3139.983,2936.938,16,0.9,33,-26.2,0.9,181.2,10,10.0