version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 306
start: 4 21 119 15 15 24
data:
$ID,573
$MISSION,30
$DIVE,306
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,210419,150645,-3250.4568,2829.2971,18,0.9,22,-27.2,1.9,243.5,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.1
$GPS2,210419,151458,-3250.6980,2828.8623,18,0.9,24,-27.2,2.2,226.3,10,9.3
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3301.497,2828.862
$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,207.2,20000,-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,22,-0.82,-194.6,72,1963,607,574,0.0,0.0,0,117,0.00,0.00,-92.62,0.000,16386,0.000,0.000,72,1964,3195,3205,3186,0,0,0,0,0,0,15.10,28.83,15.11
$GC,121,-0.82,-194.6,72,1964,3206,3187,3.9,-10.6,17,146,12.52,2.53,-6.50,0.000,18692,0.300,0.086,2209,3402,3610,3675,3545,0,0,0,0,0,0,14.48,13.14,14.68
$GC,180,-0.82,-194.6,2208,3402,3677,3544,23.4,-20.2,27,187,0.05,2.30,0.00,0.000,3078,0.334,0.038,2220,2001,3612,3681,3544,0,0,0,0,0,0,14.57,14.78,14.80
$GC,251,-0.82,-194.6,2220,2001,3677,3545,36.3,-18.3,40,257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2001,3611,3677,3545,0,0,0,0,0,0,15.14,15.14,15.14
$GC,320,-0.82,-194.6,2220,2001,3677,3545,49.2,-18.6,53,326,0.00,2.35,0.00,0.000,2564,0.000,0.065,2221,610,3607,3671,3544,0,0,0,0,0,0,15.15,14.73,15.15
$GC,444,-0.82,-194.6,2221,610,3677,3544,69.3,-15.0,77,451,0.00,2.28,0.00,0.000,3078,0.000,0.044,2217,2014,3610,3677,3544,0,0,0,0,0,0,14.88,14.81,14.89
$GC,515,-0.82,-194.6,2216,2014,3677,3544,77.9,-11.2,90,521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2014,3610,3677,3544,0,0,0,0,0,0,15.17,15.17,15.18
$GC,583,-0.82,-194.6,2216,2014,3678,3544,85.7,-12.0,103,590,0.00,2.38,0.00,0.000,2308,0.000,0.073,2216,3413,3610,3677,3543,0,0,0,0,0,0,15.18,14.85,15.18
$GC,639,-0.82,-194.6,2216,3414,3677,3543,92.0,-10.3,113,646,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2012,3610,3678,3543,0,0,0,0,0,0,14.89,14.81,14.90
$GC,710,-0.82,-194.6,2216,2012,3678,3543,99.9,-11.1,126,717,0.00,2.35,0.00,0.000,2564,0.000,0.063,2216,610,3610,3678,3542,0,0,0,0,0,0,15.18,14.77,15.19
$STATE,747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,748,begin apogee
$GC,755,-0.19,0.0,2216,1964,3678,3543,104.5,-11.7,133,905,1.00,0.00,143.43,0.938,10246,0.152,0.000,2420,1965,2810,2858,2763,0,0,0,0,0,0,14.73,14.56,13.92
$STATE,907,end apogee,CONTROL_FINISHED_OK
$STATE,907,begin climb
$GC,909,0.82,194.6,2420,1964,2858,2763,112.8,0.0,160,1067,1.48,2.47,145.25,0.936,10756,0.097,0.067,2736,563,2015,2061,1969,0,0,0,0,0,0,14.55,14.52,13.88
$GC,1110,0.89,256.1,2735,562,2057,1972,102.0,7.8,195,1168,0.10,2.30,47.95,0.923,11270,0.141,0.039,2795,1973,1767,1815,1720,0,0,0,0,0,0,14.66,14.64,13.95
$GC,1232,0.89,256.1,2794,1973,1810,1718,89.8,10.2,217,1239,0.08,2.42,0.00,0.000,4612,0.260,0.067,2775,560,1764,1810,1719,0,0,0,0,0,0,14.53,14.67,14.63
$GC,1288,0.93,282.5,2775,560,1808,1718,84.8,9.0,227,1318,0.00,2.28,21.83,0.878,11270,0.000,0.039,2775,1964,1658,1709,1608,0,0,0,0,0,0,14.90,14.82,14.01
$GC,1380,0.98,323.7,2775,1964,1705,1605,76.8,8.5,244,1420,0.00,2.38,33.47,0.893,10500,0.000,0.065,2776,3359,1491,1546,1437,0,0,0,0,0,0,15.04,14.49,14.02
$GC,1473,0.98,323.7,2775,3360,1541,1436,68.5,10.1,261,1480,0.00,2.30,0.00,0.000,3078,0.000,0.040,2775,1961,1489,1542,1436,0,0,0,0,0,0,14.88,14.79,14.90
$GC,1544,1.04,375.5,2775,1961,1540,1436,62.8,8.2,274,1596,0.10,2.45,41.40,0.888,10500,0.145,0.067,2837,3355,1280,1342,1219,0,0,0,0,0,0,14.83,14.65,14.06
$GC,1629,1.06,390.2,2836,3355,1343,1219,55.1,9.4,289,1647,0.00,2.30,13.07,0.831,13318,0.000,0.041,2837,1956,1220,1280,1160,0,0,0,0,0,0,14.87,14.76,14.04
$GC,1710,1.14,455.9,2838,1956,1280,1159,48.5,7.7,304,1766,0.00,0.00,53.55,0.879,10758,0.000,0.000,2838,1955,953,1008,898,0,0,0,0,0,0,15.03,14.62,14.02
$GC,1828,1.18,492.1,2838,1956,1008,890,38.4,8.7,326,1869,0.05,2.45,30.62,0.851,10500,0.252,0.065,2870,3354,803,848,759,0,0,0,0,0,0,14.68,14.56,14.04
$GC,1918,1.21,513.4,2870,3354,848,753,29.7,9.2,342,1942,0.00,2.30,18.90,0.825,11270,0.000,0.040,2870,1964,718,749,688,0,0,0,0,0,0,14.87,14.76,14.07
$GC,2005,1.21,513.4,2870,1964,749,676,21.3,10.3,358,2012,0.00,2.40,0.00,0.000,2564,0.000,0.071,2870,560,712,750,675,0,0,0,0,0,0,15.02,14.66,15.02
$STATE,2202,end climb,SURFACE_DEPTH_REACHED
$STATE,2202,begin surface coast
$FINISH,0.1,1.023303
$STATE,2234,end surface coast,CONTROL_FINISHED_OK
$STATE,2234,begin surface
$SM_CCo,2259,16.20,0.649,0,0,599,542.59
$SM_GC,0.86,12.43,2.40,16.20,0.041,0.040,0.649,134,2012,599,-7.26,-1.05,542.59,0,0,0,0,0,0,14.95,14.92,14.19
$IRIDIUM_FIX,-3236.51,2830.90,210419,141947
$TT8_MAMPS,0.018725,0.86135
$HUMID,55.98
$INTERNAL_PRESSURE,9.36524
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,90.3,28.8
$SC_FREEKB,3761568
$24V_AH,13.14,167.650
$10V_AH,13.10,0.000
$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,27.800,47.125,549.475,16.200,0.000,25.568,41.300,212.393,1.000,0.000,25.370,737.236,304.028,587.644,994.330,158.959,0.000,1026.389,0.000,613.983,0.000,8.711,0.000
$DEVICE_MAMPS,334.305,85.680,937.890,648.720,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.625,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13460,403
$CAP_FILE_SIZE,76393,0
$CFSIZE,1023623168,978665472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,155427,-3251.662,2827.625,22,0.8,28,-27.2,2.1,233.1,11,9.7