version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 310
start: 4 21 119 18 3 57
data:
$ID,573
$MISSION,30
$DIVE,310
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,210419,175355,-3255.1304,2822.7319,17,0.8,38,-27.2,1.9,241.4,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.7
$GPS2,210419,180331,-3255.4934,2822.2517,15,0.9,19,-27.2,2.0,229.0,10,8.9
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3306.292,2822.252
$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,-194.6,72,2008,600,572,0.0,0.0,0,112,0.00,0.00,-87.18,0.000,16386,0.000,0.000,72,2007,3025,3025,3025,0,0,0,0,0,0,15.13,28.83,15.13
$GC,116,-0.82,-194.6,72,2007,3025,3026,3.1,-6.6,16,146,12.55,2.38,-9.77,0.000,18692,0.304,0.087,2209,3416,3605,3674,3537,0,0,0,0,0,0,14.52,13.97,14.71
$GC,264,-0.82,-194.6,2206,3416,3675,3537,37.5,-18.2,44,272,0.05,2.28,0.00,0.000,3078,0.336,0.037,2219,2005,3606,3676,3537,0,0,0,0,0,0,14.59,14.79,14.80
$GC,336,-0.82,-194.6,2220,2005,3676,3537,51.0,-19.8,57,341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2005,3606,3676,3537,0,0,0,0,0,0,15.19,15.17,15.16
$GC,404,-0.82,-194.6,2219,2005,3675,3537,64.7,-19.5,70,410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2005,3606,3676,3537,0,0,0,0,0,0,15.19,15.19,15.19
$GC,472,-0.82,-194.6,2219,2005,3676,3538,74.9,-12.4,83,479,0.00,2.42,0.00,0.000,2308,0.000,0.070,2220,3422,3606,3676,3537,0,0,0,0,0,0,15.19,14.88,15.19
$GC,506,-0.82,-194.6,2219,3422,3676,3537,78.3,-9.6,89,513,0.00,2.28,0.00,0.000,3078,0.000,0.036,2220,2024,3606,3676,3537,0,0,0,0,0,0,14.98,14.90,15.00
$GC,579,-0.82,-194.6,2219,2024,3676,3537,85.1,-9.2,102,586,0.00,2.38,0.00,0.000,2564,0.000,0.064,2220,606,3606,3676,3537,0,0,0,0,0,0,15.21,14.80,15.19
$STATE,658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,658,begin apogee
$GC,665,-0.19,0.0,2217,1972,3676,3537,92.5,-8.7,117,815,1.00,0.00,141.73,0.913,10246,0.149,0.000,2422,1972,2810,2858,2763,0,0,0,0,0,0,14.66,14.59,13.95
$STATE,816,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,819,0.82,194.6,2422,1973,2857,2763,97.6,0.0,144,975,1.48,2.42,144.95,0.901,11012,0.098,0.066,2737,561,2016,2060,1973,0,0,0,0,0,0,14.59,14.53,13.93
$GC,1009,0.93,281.7,2737,561,2056,1977,85.7,7.0,177,1089,0.12,2.30,67.72,0.886,11270,0.117,0.038,2802,1981,1661,1713,1610,0,0,0,0,0,0,14.66,14.72,13.98
$GC,1152,0.96,312.9,2802,1981,1708,1608,74.5,8.9,203,1187,0.00,2.45,25.35,0.855,8708,0.000,0.068,2804,563,1534,1588,1480,0,0,0,0,0,0,14.98,14.65,14.02
$GC,1221,0.98,326.9,2803,563,1587,1480,68.1,9.5,215,1239,0.00,2.25,12.27,0.818,9222,0.000,0.037,2804,1961,1478,1533,1424,0,0,0,0,0,0,14.82,14.75,14.06
$GC,1302,1.05,379.0,2803,1961,1529,1423,61.4,8.2,230,1353,0.00,2.40,41.65,0.868,10500,0.000,0.067,2804,3350,1265,1327,1204,0,0,0,0,0,0,15.05,14.57,14.07
$GC,1380,1.11,433.6,2803,3350,1327,1205,55.2,8.1,244,1432,0.10,2.30,44.45,0.859,11270,0.141,0.039,2862,1954,1043,1104,983,0,0,0,0,0,0,14.73,14.73,14.02
$GC,1495,1.16,469.4,2861,1954,1103,980,45.3,8.7,265,1535,0.00,2.45,30.42,0.843,8452,0.000,0.063,2862,3361,896,948,844,0,0,0,0,0,0,15.01,14.67,14.09
$GC,1583,1.16,469.4,2862,3361,948,841,37.4,10.0,281,1590,0.00,2.30,0.00,0.000,1030,0.000,0.040,2862,1954,895,949,841,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1654,1.17,484.5,2862,1953,949,838,31.2,9.4,294,1673,0.00,2.40,13.55,0.794,10756,0.000,0.070,2862,561,835,882,789,0,0,0,0,0,0,15.07,14.75,14.08
$GC,1712,1.22,519.6,2862,561,884,782,25.6,8.7,304,1742,0.00,2.25,23.90,0.803,11270,0.000,0.036,2861,1970,692,712,673,0,0,0,0,0,0,14.94,14.86,14.14
$GC,1806,1.22,519.6,2862,1970,713,660,16.4,10.4,321,1812,0.00,2.35,0.00,0.000,2308,0.000,0.065,2862,3352,686,712,660,0,0,0,0,0,0,15.06,14.79,15.07
$GC,1869,1.22,519.6,2861,3351,712,656,9.5,10.7,333,1876,0.00,2.28,0.00,0.000,3078,0.000,0.041,2862,1958,684,712,656,0,0,0,0,0,0,14.85,14.76,14.87
$STATE,1938,end climb,SURFACE_DEPTH_REACHED
$STATE,1938,begin surface coast
$FINISH,0.1,1.012108
$STATE,1969,end surface coast,CONTROL_FINISHED_OK
$STATE,1970,begin surface
$SM_CCo,1992,12.32,0.624,0,0,599,542.59
$SM_GC,0.70,12.32,0.00,12.32,0.034,0.000,0.624,120,1957,599,-7.31,-1.58,542.59,0,0,0,0,0,0,14.93,15.16,14.21
$IRIDIUM_FIX,-3241.63,2821.87,210419,175640
$TT8_MAMPS,0.018725,0.884569
$HUMID,55.19
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,80.5,26.6
$SC_FREEKB,3759520
$24V_AH,13.93,168.401
$10V_AH,13.14,0.000
$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,27.625,42.125,546.000,12.325,0.000,47.409,39.649,214.203,0.750,0.000,20.191,623.432,304.726,576.907,941.233,148.222,0.000,980.059,0.000,535.889,0.000,7.152,0.000
$DEVICE_MAMPS,335.835,87.210,913.410,624.240,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.704,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10183,352
$CAP_FILE_SIZE,69997,0
$CFSIZE,1023623168,978272256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,183826,-3256.420,2821.000,17,1.0,26,-27.2,0.8,221.0,9,9.3