version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 302
start: 4 21 119 11 59 32
data:
$ID,573
$MISSION,30
$DIVE,302
$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,36
$R_STBD_OVSHOOT,46
$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
$GPS1,210419,115133,-3245.7546,2835.5701,16,0.8,21,-27.1,1.7,253.4,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-63.2
$GPS2,210419,115907,-3245.9092,2835.2292,20,0.9,29,-27.1,2.6,219.7,8,10.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3256.708,2835.229
$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,207.1,20000,-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,-194.6,72,1974,579,576,0.0,0.0,0,117,0.00,0.00,-92.88,0.000,16386,0.000,0.000,76,1973,3183,3197,3170,0,0,0,0,0,0,15.10,28.83,15.11
$GC,121,-0.82,-194.6,71,1973,3197,3171,3.9,-10.7,17,146,12.50,2.50,-6.85,0.000,18692,0.296,0.087,2208,3404,3609,3674,3545,0,0,0,0,0,0,14.51,13.12,14.68
$GC,194,-0.82,-194.6,2208,3404,3676,3545,25.2,-19.0,30,201,0.08,2.30,0.00,0.000,3078,0.281,0.038,2223,1999,3610,3676,3545,0,0,0,0,0,0,14.58,14.81,14.76
$GC,265,-0.82,-194.6,2223,1999,3676,3545,38.3,-19.3,43,271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,1999,3610,3676,3545,0,0,0,0,0,0,15.12,15.13,15.13
$GC,333,-0.82,-194.6,2223,1998,3676,3545,51.7,-18.8,56,340,0.00,2.35,0.00,0.000,2564,0.000,0.066,2223,604,3610,3676,3545,0,0,0,0,0,0,15.14,14.84,15.14
$GC,422,-0.82,-194.6,2223,604,3677,3545,68.5,-17.1,73,429,0.00,2.30,0.00,0.000,3078,0.000,0.044,2223,2018,3611,3677,3545,0,0,0,0,0,0,15.00,14.90,15.02
$GC,493,-0.82,-194.6,2223,2018,3677,3544,76.4,-10.4,86,499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2018,3611,3677,3545,0,0,0,0,0,0,15.14,15.14,15.14
$GC,565,-0.82,-194.6,2223,2018,3677,3544,85.0,-11.9,99,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2018,3610,3677,3544,0,0,0,0,0,0,15.15,15.16,15.16
$GC,633,-0.82,-194.6,2223,2018,3677,3544,94.5,-13.7,112,639,0.00,2.38,0.00,0.000,2308,0.000,0.073,2223,3409,3610,3677,3544,0,0,0,0,0,0,15.16,14.84,15.17
$GC,672,-0.82,-194.6,2226,3409,3677,3544,99.0,-12.0,119,679,0.00,2.28,0.00,0.000,3078,0.000,0.036,2224,2013,3610,3677,3544,0,0,0,0,0,0,15.03,14.94,15.04
$GC,743,-0.82,-194.6,2223,2012,3677,3544,105.8,-9.2,132,749,0.00,2.35,0.00,0.000,2564,0.000,0.061,2223,607,3610,3677,3543,0,0,0,0,0,0,15.16,14.88,15.16
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,777,-0.19,0.0,2223,1971,3678,3544,108.8,-9.3,137,928,0.98,0.00,143.57,0.945,10246,0.152,0.000,2421,1971,2813,2861,2765,0,0,0,0,0,0,14.71,14.55,13.92
$STATE,930,end apogee,CONTROL_FINISHED_OK
$STATE,930,begin climb
$GC,932,0.82,194.6,2421,1971,2860,2764,116.2,0.0,164,1084,1.48,0.00,146.02,0.941,10758,0.098,0.000,2735,1971,2017,2063,1972,0,0,0,0,0,0,14.54,14.48,13.88
$GC,1147,0.90,257.9,2734,1971,2058,1970,104.6,7.8,202,1205,0.08,2.45,49.83,0.917,10756,0.177,0.068,2791,565,1759,1808,1710,0,0,0,0,0,0,14.71,14.40,13.93
$GC,1243,0.90,257.9,2791,565,1805,1710,94.6,10.7,219,1250,0.00,2.30,0.00,0.000,5126,0.000,0.038,2791,1972,1756,1805,1708,0,0,0,0,0,0,14.76,14.68,14.77
$GC,1314,0.92,276.5,2791,1972,1803,1706,88.1,9.3,232,1338,0.00,2.35,15.85,0.864,12548,0.000,0.067,2791,3356,1683,1735,1632,0,0,0,0,0,0,15.01,14.68,14.02
$GC,1365,0.92,276.5,2791,3356,1732,1631,82.8,11.4,241,1372,0.00,2.30,0.00,0.000,5126,0.000,0.041,2791,1960,1681,1732,1631,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1436,1.01,347.9,2791,1960,1732,1631,76.3,7.5,254,1499,0.00,2.45,57.12,0.905,10756,0.000,0.072,2791,566,1392,1449,1335,0,0,0,0,0,0,15.04,14.59,13.97
$GC,1561,1.12,436.4,2791,565,1450,1335,67.3,6.9,277,1642,0.15,2.28,71.72,0.899,11270,0.103,0.038,2864,1972,1031,1091,972,0,0,0,0,0,0,14.79,14.77,13.97
$GC,1705,1.18,492.5,2863,1973,1092,969,55.5,8.0,303,1761,0.00,2.47,46.90,0.883,10756,0.000,0.071,2864,567,802,836,769,0,0,0,0,0,0,14.95,14.53,13.97
$GC,1805,1.21,512.3,2863,566,838,762,46.8,9.3,321,1829,0.00,2.28,18.02,0.842,11270,0.000,0.036,2864,1968,721,746,697,0,0,0,0,0,0,14.83,14.74,14.00
$GC,1891,1.21,513.5,2863,1968,748,686,38.6,9.9,337,1898,0.00,2.38,0.00,0.000,2308,0.000,0.066,2864,3355,717,748,687,0,0,0,0,0,0,14.97,14.66,15.00
$GC,1941,1.21,513.5,2863,3354,748,683,33.7,10.0,346,1947,0.00,2.30,0.00,0.000,3078,0.000,0.041,2864,1950,715,748,683,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2011,1.23,528.7,2863,1950,748,682,26.6,9.4,359,2030,0.00,2.35,12.23,0.788,10756,0.000,0.070,2864,571,654,673,635,0,0,0,0,0,0,15.07,14.45,14.05
$STATE,2229,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,0.3,1.000801
$STATE,2255,end surface coast,CONTROL_FINISHED_OK
$STATE,2255,begin surface
$SM_CCo,2280,7.05,0.587,0,0,599,542.59
$SM_GC,0.66,12.40,2.40,7.05,0.041,0.051,0.587,132,1983,599,-7.27,-1.47,542.59,0,0,0,0,0,0,14.92,14.88,14.15
$IRIDIUM_FIX,-3231.39,2835.40,210419,110624
$TT8_MAMPS,0.018725,0.897302
$HUMID,56.57
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,80.3,43.2
$SC_FREEKB,3763616
$24V_AH,13.12,166.835
$10V_AH,13.09,0.000
$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,27.650,47.000,561.275,7.050,0.000,25.766,19.503,194.554,0.750,0.000,30.317,742.557,306.181,586.925,968.328,151.189,0.000,1030.476,0.000,615.521,0.000,7.196,0.000
$DEVICE_MAMPS,296.055,87.210,944.775,586.755,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.733,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13477,406
$CAP_FILE_SIZE,75916,0
$CFSIZE,1023623168,979058688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,123914,-3246.937,2834.120,15,1.0,55,-27.1,0.9,214.2,7,3.0