version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 295
start: 4 21 119 6 2 13
data:
$ID,573
$MISSION,30
$DIVE,295
$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,40
$R_STBD_OVSHOOT,59
$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
$GPS1,210419,055401,-3236.2874,2844.6831,19,0.9,22,-27.0,2.2,240.3,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-58.1
$GPS2,210419,060147,-3236.5364,2844.3701,20,0.8,21,-27.0,0.0,235.9,10,9.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3247.335,2844.370
$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,207.0,20000,-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,22,-0.82,-194.6,71,1996,604,568,0.0,0.0,0,111,0.00,0.00,-87.07,0.000,16386,0.000,0.000,71,1997,3039,3044,3035,0,0,0,0,0,0,15.05,28.83,15.06
$GC,114,-0.82,-194.6,71,1997,3041,3036,3.8,-10.4,16,144,12.70,2.40,-9.45,0.000,18692,0.307,0.087,2209,3391,3609,3677,3541,0,0,0,0,0,0,14.30,13.81,14.50
$GC,207,-0.82,-194.6,2209,3391,3678,3541,27.4,-17.4,33,214,0.05,2.28,0.00,0.000,3078,0.334,0.039,2220,2013,3609,3678,3541,0,0,0,0,0,0,14.62,14.84,14.83
$GC,278,-0.82,-194.6,2220,2012,3679,3542,39.4,-16.3,46,284,0.00,2.40,0.00,0.000,2564,0.000,0.069,2220,605,3613,3686,3541,0,0,0,0,0,0,15.08,14.78,15.08
$GC,417,-0.82,-194.6,2220,605,3678,3541,59.6,-11.9,73,424,0.00,2.28,0.00,0.000,3078,0.000,0.045,2220,1993,3608,3676,3541,0,0,0,0,0,0,14.96,14.86,14.97
$GC,487,-0.82,-194.6,2220,1992,3679,3541,67.1,-11.7,86,493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,1992,3610,3679,3541,0,0,0,0,0,0,15.10,15.10,15.11
$GC,556,-0.82,-194.6,2220,1993,3679,3542,75.2,-12.2,99,562,0.00,2.47,0.00,0.000,2308,0.000,0.074,2220,3418,3610,3679,3541,0,0,0,0,0,0,15.12,14.75,15.12
$GC,611,-0.82,-194.6,2220,3417,3679,3541,81.2,-10.1,109,618,0.00,2.33,0.00,0.000,3078,0.000,0.037,2221,2015,3610,3679,3541,0,0,0,0,0,0,14.98,14.88,15.00
$GC,682,-0.82,-194.6,2220,2015,3680,3541,88.0,-9.6,122,688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2014,3610,3680,3541,0,0,0,0,0,0,15.11,15.12,15.12
$GC,750,-0.82,-194.6,2220,2014,3679,3541,95.2,-10.3,135,756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2014,3610,3680,3541,0,0,0,0,0,0,15.14,15.14,15.14
$STATE,761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,761,begin apogee
$GC,767,-0.19,0.0,2220,1941,3680,3541,96.7,-11.1,137,917,1.00,0.00,144.15,0.941,10246,0.155,0.000,2422,1938,2811,2860,2762,0,0,0,0,0,0,14.59,14.51,13.86
$STATE,918,end apogee,CONTROL_FINISHED_OK
$STATE,918,begin climb
$GC,920,0.82,194.6,2422,1939,2859,2762,102.1,0.0,164,1072,1.50,0.00,145.25,0.939,10758,0.100,0.000,2737,1939,2018,2064,1972,0,0,0,0,0,0,14.51,14.43,13.83
$GC,1134,0.89,256.6,2737,1939,2058,1969,90.4,7.8,202,1191,0.08,2.50,48.55,0.916,10500,0.177,0.063,2792,3364,1767,1819,1716,0,0,0,0,0,0,14.62,14.32,13.86
$GC,1250,0.89,256.6,2791,3365,1809,1715,77.7,11.9,223,1258,0.08,2.33,0.00,0.000,5126,0.269,0.041,2778,1980,1762,1809,1715,0,0,0,0,0,0,14.54,14.69,14.72
$GC,1322,0.94,292.2,2778,1980,1808,1713,70.9,8.7,236,1357,0.00,2.50,29.20,0.878,10756,0.000,0.073,2782,562,1618,1672,1565,0,0,0,0,0,0,14.98,14.57,13.97
$GC,1386,1.01,346.7,2778,562,1670,1565,65.9,8.1,247,1438,0.08,2.30,44.03,0.904,11270,0.179,0.039,2824,1969,1395,1456,1335,0,0,0,0,0,0,14.57,14.62,13.90
$GC,1501,1.01,346.7,2824,1970,1452,1337,54.0,10.5,268,1507,0.00,2.40,0.00,0.000,4356,0.000,0.067,2824,3356,1394,1452,1337,0,0,0,0,0,0,14.94,14.55,14.95
$GC,1530,1.02,359.0,2828,3356,1451,1335,51.0,9.5,273,1548,0.00,2.33,10.48,0.828,13318,0.000,0.041,2824,1956,1350,1408,1292,0,0,0,0,0,0,14.84,14.73,13.93
$GC,1610,1.07,401.5,2824,1956,1406,1291,43.8,8.5,288,1651,0.00,2.45,34.60,0.887,10756,0.000,0.073,2825,562,1175,1236,1114,0,0,0,0,0,0,15.00,14.54,14.00
$GC,1694,1.17,481.9,2825,561,1237,1114,37.5,7.2,303,1770,0.10,2.30,66.25,0.884,11270,0.142,0.037,2885,1977,846,892,801,0,0,0,0,0,0,14.73,14.74,13.92
$GC,1832,1.17,481.9,2884,1978,902,791,23.5,11.0,328,1839,0.08,2.38,0.00,0.000,4356,0.252,0.063,2864,3354,842,894,791,0,0,0,0,0,0,14.55,14.62,14.66
$GC,1856,1.17,481.9,2864,3355,893,790,20.8,11.2,332,1863,0.00,2.33,0.00,0.000,1030,0.000,0.042,2864,1960,841,894,789,0,0,0,0,0,0,14.71,14.62,14.73
$GC,1927,1.17,481.9,2863,1959,895,788,14.2,12.0,345,1933,0.00,2.40,0.00,0.000,516,0.000,0.078,2864,570,841,895,788,0,0,0,0,0,0,15.00,14.66,15.00
$GC,1966,1.31,595.1,2863,565,895,786,11.0,6.1,352,2012,0.12,2.28,37.12,0.747,11270,0.122,0.039,2921,1964,595,570,621,0,0,0,0,0,0,14.69,14.69,14.08
$STATE,2038,end climb,SURFACE_DEPTH_REACHED
$STATE,2038,begin surface coast
$FINISH,0.3,1.023747
$STATE,2060,end surface coast,CONTROL_FINISHED_OK
$STATE,2060,begin surface
$SM_CCo,2142,0.00,0.000,0,0,589,545.05
$SM_GC,0.70,12.93,0.00,0.00,0.044,0.000,0.000,119,1968,589,-7.31,-1.27,545.05,0,0,0,0,0,0,14.78,15.00,14.85
$IRIDIUM_FIX,-3221.17,2845.40,210419,050521
$TT8_MAMPS,0.019474,0.749749
$HUMID,55.43
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,80.1,31.4
$SC_FREEKB,3767200
$24V_AH,13.81,165.358
$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,28.700,42.675,559.625,0.000,0.000,25.078,15.723,216.500,0.750,0.000,21.903,659.738,319.433,574.641,916.504,148.763,0.000,995.186,0.000,561.541,0.000,7.157,0.000
$DEVICE_MAMPS,334.305,198.135,940.950,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2107.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.312,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13439,369
$CAP_FILE_SIZE,72866,0
$CFSIZE,1023623168,979746816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,063854,-3237.541,2843.511,21,0.9,23,-27.0,1.0,220.6,9,9.0