version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 282
start: 4 20 119 13 20 44
data:
$ID,573
$MISSION,30
$DIVE,282
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,200419,131201,-3213.3577,2907.4429,18,1.2,58,-26.7,2.6,227.6,7,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-61.7
$GPS2,200419,132019,-3213.6206,2907.0459,19,1.2,59,-26.7,0.8,256.5,7,3.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3224.420,2907.046
$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,206.7,20000,-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,-194.6,72,1981,603,574,0.0,0.0,0,117,0.00,0.00,-93.03,0.000,16386,0.000,0.000,72,1982,3195,3202,3188,0,0,0,0,0,0,15.04,28.83,15.05
$GC,121,-0.82,-194.6,72,1982,3205,3187,4.1,-12.1,17,146,12.75,2.53,-6.43,0.000,18692,0.307,0.090,2214,3401,3609,3673,3546,0,0,0,0,0,0,14.41,13.01,14.76
$GC,184,-0.82,-194.6,2213,3401,3677,3545,25.2,-20.1,28,191,0.00,2.30,0.00,0.000,3078,0.000,0.040,2213,2008,3611,3677,3546,0,0,0,0,0,0,14.76,14.66,14.77
$GC,255,-0.82,-194.6,2213,2009,3678,3546,37.4,-15.4,41,261,0.00,2.40,0.00,0.000,2564,0.000,0.067,2213,606,3611,3677,3546,0,0,0,0,0,0,15.07,14.64,15.07
$GC,399,-0.82,-194.6,2213,607,3678,3545,56.5,-12.4,69,406,0.05,2.30,0.00,0.000,3078,0.350,0.044,2221,2010,3612,3678,3546,0,0,0,0,0,0,14.49,14.72,14.69
$GC,470,-0.82,-194.6,2220,2009,3679,3546,64.6,-10.4,82,476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2009,3611,3678,3545,0,0,0,0,0,0,15.09,15.09,15.09
$GC,538,-0.82,-194.6,2220,2010,3678,3546,72.2,-11.0,95,545,0.00,2.40,0.00,0.000,2564,0.000,0.067,2221,609,3612,3678,3546,0,0,0,0,0,0,15.11,14.79,15.11
$GC,572,-0.82,-194.6,2221,612,3678,3546,76.3,-13.4,101,579,0.00,2.30,0.00,0.000,3078,0.000,0.044,2221,2016,3612,3678,3546,0,0,0,0,0,0,14.95,14.83,14.96
$GC,644,-0.82,-194.6,2221,2017,3678,3545,84.2,-10.8,114,649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2017,3612,3679,3545,0,0,0,0,0,0,15.11,15.11,15.11
$GC,712,-0.82,-194.6,2221,2017,3678,3545,91.0,-11.1,127,718,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2017,3611,3678,3545,0,0,0,0,0,0,15.11,15.12,15.11
$STATE,778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,778,begin apogee
$GC,784,-0.19,0.0,2221,1940,3678,3545,98.4,-10.9,140,939,0.98,0.00,144.77,0.955,10246,0.145,0.000,2421,1939,2811,2858,2764,0,0,0,0,0,0,14.65,14.42,13.80
$STATE,940,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,942,0.82,194.6,2421,1939,2857,2764,104.4,0.0,168,1100,1.50,2.53,147.32,0.949,10500,0.093,0.063,2739,3359,2016,2060,1972,0,0,0,0,0,0,14.48,14.28,13.82
$GC,1133,0.90,260.5,2739,3359,2058,1968,94.5,7.7,201,1195,0.08,2.30,51.90,0.933,11270,0.178,0.039,2787,1985,1750,1802,1699,0,0,0,0,0,0,14.47,14.51,13.84
$GC,1260,0.94,293.6,2786,1985,1794,1696,83.8,8.8,224,1294,0.00,2.47,27.42,0.909,10756,0.000,0.073,2790,567,1613,1667,1559,0,0,0,0,0,0,14.88,14.37,13.88
$GC,1392,0.94,294.3,2790,567,1662,1559,71.4,9.9,249,1399,0.00,2.30,0.00,0.000,1030,0.000,0.041,2789,1967,1610,1662,1558,0,0,0,0,0,0,14.72,14.64,14.73
$GC,1463,0.97,319.4,2790,1968,1661,1557,65.1,9.1,262,1491,0.00,0.00,21.67,0.894,10246,0.000,0.000,2790,1968,1508,1564,1452,0,0,0,0,0,0,15.01,14.38,13.92
$GC,1554,0.97,319.4,2789,1968,1560,1453,55.7,10.7,279,1560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1968,1507,1560,1454,0,0,0,0,0,0,15.00,14.98,14.98
$GC,1622,1.00,338.4,2789,1968,1559,1453,49.0,9.3,292,1646,0.00,2.42,16.42,0.848,10500,0.000,0.066,2790,3360,1433,1488,1378,0,0,0,0,0,0,15.01,14.47,13.97
$GC,1669,1.02,357.6,2789,3360,1486,1378,44.5,9.3,300,1693,0.00,2.33,17.27,0.848,11270,0.000,0.041,2790,1964,1353,1411,1296,0,0,0,0,0,0,14.81,14.71,13.98
$GC,1756,1.12,439.8,2790,1964,1409,1294,37.5,7.1,316,1831,0.15,2.53,67.10,0.904,11012,0.110,0.063,2862,3369,1018,1076,961,0,0,0,0,0,0,14.69,14.55,13.93
$GC,1848,1.13,451.2,2862,3369,1076,958,28.9,9.6,332,1867,0.00,2.35,10.65,0.819,13318,0.000,0.040,2862,1966,972,1028,916,0,0,0,0,0,0,14.66,14.54,13.90
$GC,1929,1.18,488.3,2862,1966,1028,910,21.5,8.7,347,1962,0.00,2.47,23.58,0.827,10756,0.000,0.074,2862,561,819,863,776,0,0,0,0,0,0,14.92,14.54,13.96
$GC,2050,1.20,506.5,2862,561,865,767,10.9,9.3,369,2069,0.00,2.30,10.62,0.712,11270,0.000,0.038,2862,1968,744,779,710,0,0,0,0,0,0,14.84,14.75,14.00
$GC,2131,1.24,539.2,2862,1968,780,700,3.1,8.8,384,2139,0.00,0.00,5.35,0.568,10498,0.000,0.000,2862,1968,703,734,672,0,0,0,0,0,0,15.00,28.83,15.00
$STATE,2140,end climb,SURFACE_DEPTH_REACHED
$STATE,2140,begin surface coast
$FINISH,0.3,1.023618
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2176,begin surface
$SM_CCo,2198,14.52,0.670,0,0,599,542.59
$SM_GC,0.66,12.60,0.00,14.52,0.042,0.000,0.670,120,1972,599,-7.31,-1.16,542.59,0,0,0,0,0,0,14.79,15.02,14.09
$IRIDIUM_FIX,-3200.79,2909.95,200419,122635
$TT8_MAMPS,0.018725,0.886067
$HUMID,55.00
$INTERNAL_PRESSURE,9.22851
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,80.4,32.8
$SC_FREEKB,3773888
$24V_AH,13.01,162.068
$10V_AH,13.49,0.000
$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,28.100,38.300,544.100,14.525,0.000,22.814,20.959,212.788,0.750,0.000,60.302,714.388,291.617,584.588,991.478,142.623,0.000,1017.758,0.000,594.463,0.000,7.154,0.000
$DEVICE_MAMPS,349.605,142.290,954.720,670.140,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.626,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13444,392
$CAP_FILE_SIZE,75147,0
$CFSIZE,1023623168,981352448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,135835,-3214.576,2906.282,17,1.0,19,-26.7,1.6,210.0,8,8.2