version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 283
start: 4 20 119 14 6 43
data:
$ID,573
$MISSION,30
$DIVE,283
$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,44
$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
$GPS1,200419,135835,-3214.5764,2906.2820,17,1.0,19,-26.7,1.6,210.0,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-62.0
$GPS2,200419,140618,-3214.8467,2905.9084,19,1.0,21,-26.7,2.3,250.3,8,8.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3225.646,2905.908
$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,-194.6,72,1975,602,571,0.0,0.0,0,111,0.00,0.00,-87.20,0.000,16386,0.000,0.000,72,1975,3014,3022,3007,0,0,0,0,0,0,15.04,28.83,15.04
$GC,116,-0.82,-194.6,72,1975,3018,3012,3.5,-8.7,16,146,12.70,2.47,-9.82,0.000,18692,0.307,0.088,2210,3405,3608,3676,3541,0,0,0,0,0,0,14.41,13.85,14.62
$GC,199,-0.82,-194.6,2210,3405,3677,3541,25.5,-18.6,31,207,0.05,2.33,0.00,0.000,3078,0.327,0.039,2221,2001,3609,3677,3541,0,0,0,0,0,0,14.50,14.71,14.69
$GC,270,-0.82,-194.6,2221,2000,3677,3541,37.5,-15.2,44,277,0.00,2.38,0.00,0.000,2564,0.000,0.068,2221,611,3608,3677,3540,0,0,0,0,0,0,15.07,14.71,15.08
$GC,413,-0.82,-194.6,2221,611,3677,3540,55.8,-12.0,72,420,0.00,2.30,0.00,0.000,3078,0.000,0.046,2222,2017,3609,3677,3541,0,0,0,0,0,0,14.95,14.85,14.97
$GC,484,-0.82,-194.6,2221,2017,3677,3541,63.5,-10.8,85,490,0.00,2.40,0.00,0.000,2308,0.000,0.073,2221,3414,3609,3677,3541,0,0,0,0,0,0,15.11,14.68,15.11
$GC,508,-0.82,-194.6,2221,3414,3677,3541,65.8,-10.4,89,515,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2014,3609,3678,3541,0,0,0,0,0,0,14.97,14.88,14.98
$GC,578,-0.82,-194.6,2220,2014,3678,3541,72.6,-10.1,102,585,0.00,2.38,0.00,0.000,2564,0.000,0.067,2221,609,3609,3678,3541,0,0,0,0,0,0,15.11,14.81,15.11
$GC,601,-0.82,-194.6,2221,608,3678,3541,75.1,-10.1,106,608,0.00,2.30,0.00,0.000,3078,0.000,0.044,2221,2013,3609,3678,3541,0,0,0,0,0,0,14.97,14.85,14.98
$GC,673,-0.82,-194.6,2220,2013,3678,3541,82.1,-11.4,119,680,0.00,2.40,0.00,0.000,2564,0.000,0.066,2221,601,3609,3678,3540,0,0,0,0,0,0,15.12,14.81,15.12
$STATE,726,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,726,begin apogee
$GC,733,-0.19,0.0,2221,1969,3678,3541,88.0,-10.5,129,883,1.00,0.00,143.15,0.939,10246,0.150,0.000,2423,1970,2810,2858,2763,0,0,0,0,0,0,14.67,14.50,13.88
$STATE,884,end apogee,CONTROL_FINISHED_OK
$STATE,884,begin climb
$GC,887,0.82,194.6,2424,1970,2858,2763,95.1,0.0,156,1043,1.48,2.45,145.93,0.936,10756,0.093,0.070,2736,560,2015,2060,1971,0,0,0,0,0,0,14.50,14.28,13.83
$GC,1077,0.99,331.9,2735,560,2057,1971,91.0,5.2,189,1195,0.22,2.33,106.32,0.927,11270,0.080,0.041,2816,1974,1459,1514,1404,0,0,0,0,0,0,14.54,14.55,13.86
$GC,1258,0.99,331.9,2816,1973,1511,1403,72.0,12.2,222,1264,0.00,2.47,0.00,0.000,4612,0.000,0.072,2817,554,1457,1511,1403,0,0,0,0,0,0,14.88,14.54,14.89
$GC,1312,0.99,331.9,2817,554,1510,1403,65.8,12.4,232,1318,0.00,2.30,0.00,0.000,5126,0.000,0.040,2817,1960,1456,1510,1403,0,0,0,0,0,0,14.83,14.74,14.83
$GC,1382,0.99,331.9,2817,1960,1509,1403,58.3,11.6,245,1389,0.00,2.45,0.00,0.000,4356,0.000,0.068,2817,3366,1456,1509,1403,0,0,0,0,0,0,15.00,14.60,15.01
$GC,1416,0.99,331.9,2817,3366,1508,1402,53.7,13.6,251,1423,0.00,2.33,0.00,0.000,5126,0.000,0.044,2818,1961,1458,1515,1402,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1487,1.05,381.6,2817,1961,1509,1402,47.0,8.2,264,1533,0.00,2.47,40.47,0.889,10756,0.000,0.076,2818,563,1255,1315,1196,0,0,0,0,0,0,15.05,14.61,14.00
$GC,1580,1.07,401.6,2817,563,1315,1196,39.1,9.3,281,1605,0.00,2.30,17.20,0.851,11270,0.000,0.037,2818,1978,1173,1233,1114,0,0,0,0,0,0,14.84,14.75,13.97
$GC,1668,1.13,451.9,2817,1978,1234,1113,30.4,8.2,297,1713,0.08,0.00,42.65,0.871,10502,0.181,0.000,2869,1980,968,1022,915,0,0,0,0,0,0,14.74,14.56,13.96
$GC,1778,1.14,456.3,2869,1980,1023,909,19.7,9.8,317,1785,0.00,2.53,2.17,0.343,12804,0.000,0.074,2869,556,950,1006,894,0,0,0,0,0,0,14.95,14.60,13.79
$GC,1808,1.16,469.0,2869,556,1006,893,16.5,9.5,322,1821,0.00,2.30,7.32,0.697,13318,0.000,0.035,2869,1972,900,950,850,0,0,0,0,0,0,14.80,14.71,14.00
$GC,1884,1.20,506.7,2869,1973,952,844,9.9,8.7,336,1913,0.00,2.40,22.48,0.734,10500,0.000,0.067,2869,3353,744,771,717,0,0,0,0,0,0,15.01,14.48,14.05
$GC,1926,1.20,506.7,2869,3353,771,712,5.4,11.9,343,1932,0.00,2.33,0.00,0.000,3078,0.000,0.044,2869,1956,740,770,711,0,0,0,0,0,0,14.83,14.71,14.85
$STATE,1943,end climb,SURFACE_DEPTH_REACHED
$STATE,1943,begin surface coast
$FINISH,0.8,1.023612
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1964,begin surface
$SM_CCo,1988,20.25,0.672,0,0,598,542.59
$SM_GC,0.71,12.62,0.05,20.25,0.047,0.190,0.672,141,2007,598,-7.27,-1.53,542.59,0,0,0,0,0,0,14.81,14.78,14.09
$IRIDIUM_FIX,-3200.79,2905.50,200419,131451
$TT8_MAMPS,0.018725,0.888314
$HUMID,54.48
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,80.2,22.7
$SC_FREEKB,3773376
$24V_AH,13.79,162.259
$10V_AH,13.06,0.000
$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,28.150,52.225,527.700,20.250,0.000,23.850,38.039,192.059,0.750,0.000,21.973,633.248,244.149,574.281,894.630,139.945,0.000,978.688,0.000,534.414,0.000,7.139,0.000
$DEVICE_MAMPS,327.420,190.485,939.420,672.435,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.375,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10160,350
$CAP_FILE_SIZE,71224,0
$CFSIZE,1023623168,981254144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,144110,-3215.861,2905.148,18,0.9,19,-26.7,2.5,219.3,9,8.4