version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 312
start: 4 21 119 19 29 5
data:
$ID,573
$MISSION,30
$DIVE,312
$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,49
$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
$GPS1,210419,192105,-3257.5957,2819.3975,16,1.0,17,-27.3,1.1,226.4,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.4
$GPS2,210419,192840,-3257.8589,2819.0518,17,1.1,18,-27.3,1.9,247.3,9,8.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3308.658,2819.052
$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,207.3,20000,-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,-194.6,73,1973,588,582,0.0,0.0,0,117,0.00,0.00,-92.90,0.000,16386,0.000,0.000,73,1972,3197,3210,3185,0,0,0,0,0,0,15.12,28.83,15.14
$GC,122,-0.82,-194.6,73,1973,3211,3185,3.7,-9.6,17,146,12.62,0.00,-6.43,0.000,18438,0.311,0.000,2216,1973,3608,3675,3541,0,0,0,0,0,0,14.50,13.33,14.70
$GC,209,-0.82,-194.6,2215,1973,3677,3541,30.3,-20.0,33,215,0.00,2.42,0.00,0.000,2308,0.000,0.070,2208,3403,3609,3677,3541,0,0,0,0,0,0,15.15,14.83,15.15
$GC,243,-0.82,-194.6,2208,3403,3677,3542,37.3,-20.3,39,250,0.08,2.28,0.00,0.000,3078,0.285,0.038,2224,2003,3609,3677,3541,0,0,0,0,0,0,14.72,14.92,14.92
$GC,314,-0.82,-194.6,2223,2003,3677,3542,51.4,-20.9,52,320,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2002,3609,3678,3541,0,0,0,0,0,0,15.16,15.16,15.16
$GC,382,-0.82,-194.6,2223,2003,3677,3542,63.8,-14.1,65,388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2003,3609,3677,3541,0,0,0,0,0,0,15.17,15.18,15.18
$GC,450,-0.82,-194.6,2224,2002,3678,3542,71.5,-11.3,78,456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2003,3610,3678,3542,0,0,0,0,0,0,15.18,15.18,15.18
$GC,524,-0.82,-194.6,2223,2002,3678,3541,80.1,-12.8,91,531,0.00,2.40,0.00,0.000,2308,0.000,0.071,2223,3404,3609,3677,3541,0,0,0,0,0,0,15.19,14.77,15.19
$GC,553,-0.82,-194.6,2223,3404,3678,3541,84.4,-12.7,96,560,0.00,2.28,0.00,0.000,3078,0.000,0.036,2222,2010,3609,3678,3541,0,0,0,0,0,0,15.04,14.96,15.06
$STATE,581,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,581,begin apogee
$GC,587,-0.19,0.0,2223,1940,3678,3541,87.8,-11.9,101,736,1.00,0.00,142.07,0.909,10246,0.159,0.000,2425,1937,2810,2857,2763,0,0,0,0,0,0,14.70,14.53,13.93
$STATE,738,end apogee,CONTROL_FINISHED_OK
$STATE,738,begin climb
$GC,740,0.82,194.6,2425,1937,2856,2763,93.1,0.0,128,896,1.45,2.33,144.50,0.899,11012,0.105,0.064,2733,580,2016,2061,1972,0,0,0,0,0,0,14.57,14.52,13.90
$GC,955,0.89,249.8,2732,580,2053,1971,78.1,8.1,166,1006,0.10,2.25,43.00,0.871,11270,0.140,0.040,2795,1973,1793,1840,1746,0,0,0,0,0,0,14.69,14.77,14.02
$GC,1069,0.95,301.9,2795,1973,1835,1743,68.2,8.2,187,1120,0.00,2.40,40.92,0.864,8708,0.000,0.067,2796,588,1581,1635,1528,0,0,0,0,0,0,15.00,14.56,14.05
$GC,1148,1.01,347.0,2796,588,1633,1527,61.3,8.4,201,1194,0.00,2.22,36.72,0.855,11270,0.000,0.039,2797,1958,1395,1452,1338,0,0,0,0,0,0,14.86,14.78,14.00
$GC,1256,1.08,404.7,2796,1959,1450,1336,52.9,8.0,221,1308,0.08,2.45,45.22,0.853,10500,0.179,0.064,2858,3359,1161,1223,1100,0,0,0,0,0,0,14.78,14.62,14.02
$GC,1356,1.08,407.5,2858,3359,1225,1100,43.4,9.9,239,1370,0.10,2.28,4.35,0.647,13318,0.229,0.040,2836,1976,1149,1211,1088,0,0,0,0,0,0,14.62,14.73,13.96
$GC,1434,1.22,522.3,2836,1976,1212,1088,37.5,6.0,253,1536,0.08,2.47,94.30,0.844,10756,0.178,0.070,2898,558,680,695,665,0,0,0,0,0,0,14.80,14.62,14.03
$GC,1574,1.22,522.3,2898,558,696,655,23.1,10.8,278,1581,0.08,2.28,0.00,0.000,5126,0.239,0.037,2881,1970,675,697,654,0,0,0,0,0,0,14.64,14.76,14.78
$GC,1644,1.22,522.3,2880,1970,697,650,15.7,11.2,291,1651,0.00,2.35,0.00,0.000,260,0.000,0.064,2880,3357,673,697,649,0,0,0,0,0,0,15.04,14.78,15.05
$GC,1668,1.22,522.3,2880,3357,697,649,13.2,10.0,295,1675,0.00,2.30,0.00,0.000,1030,0.000,0.040,2880,1958,672,697,648,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1739,1.22,522.3,2880,1960,697,646,5.8,10.2,308,1746,0.00,2.35,0.00,0.000,516,0.000,0.071,2880,565,672,698,646,0,0,0,0,0,0,15.09,14.82,15.10
$STATE,1770,end climb,SURFACE_DEPTH_REACHED
$STATE,1771,begin surface coast
$FINISH,1.7,1.023469
$STATE,1782,end surface coast,CONTROL_FINISHED_OK
$STATE,1782,begin surface
$SM_CCo,1808,10.62,0.607,0,0,599,542.59
$SM_GC,0.46,12.40,2.35,10.62,0.039,0.037,0.607,142,2009,599,-7.26,-1.64,542.59,0,0,0,0,0,0,14.94,14.92,14.22
$IRIDIUM_FIX,-3244.20,2821.87,210419,184111
$TT8_MAMPS,0.019474,0.897302
$HUMID,55.71
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.7
$ALTIM_BOTTOM_PING,80.1,22.6
$SC_FREEKB,3758496
$24V_AH,13.33,168.780
$10V_AH,13.58,0.000
$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,27.975,37.425,551.100,10.625,0.000,25.500,44.269,185.475,0.750,0.000,19.456,540.304,199.577,577.741,831.851,139.268,0.000,959.925,0.000,485.749,0.000,7.140,0.000
$DEVICE_MAMPS,311.355,292.230,908.820,606.645,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.679,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10174,316
$CAP_FILE_SIZE,64151,0
$CFSIZE,1023623168,978092032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,200023,-3258.743,2817.885,18,0.9,20,-27.3,1.4,245.3,10,9.6