version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 318
start: 4 21 119 23 31 19
data:
$ID,573
$MISSION,30
$DIVE,318
$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,250
$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,150
$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,41
$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
$GPS1,210419,232401,-3303.7839,2810.4331,21,0.8,38,-27.3,1.2,246.1,11,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.8
$GPS2,210419,233053,-3303.9663,2810.1396,16,0.8,17,-27.3,1.3,208.7,11,8.8
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3313.319,2816.594
$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,177.3,20000,-13.8,-9.950,-17.02,3733
$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,-0.81,-243.3,77,1984,585,576,0.0,0.0,0,117,0.00,0.00,-92.68,0.000,16386,0.000,0.000,75,1984,3200,3215,3185,0,0,0,0,0,0,15.14,28.83,15.14
$GC,121,-0.81,-243.3,75,1985,3216,3185,3.9,-10.4,17,152,12.50,2.30,-9.45,0.000,18948,0.299,0.080,2221,611,3805,3925,3686,0,0,0,0,0,0,14.52,13.95,14.71
$GC,205,-0.81,-243.3,2220,611,3926,3686,28.1,-17.0,32,212,0.00,2.28,0.00,0.000,3078,0.000,0.044,2216,2004,3809,3926,3692,0,0,0,0,0,0,14.88,14.81,14.91
$GC,276,-0.81,-243.3,2216,2004,3926,3686,41.2,-19.7,45,282,0.00,2.40,0.00,0.000,2308,0.000,0.072,2208,3415,3806,3926,3686,0,0,0,0,0,0,15.16,14.81,15.16
$GC,315,-0.81,-243.3,2207,3415,3926,3686,47.9,-15.2,52,322,0.08,2.28,0.00,0.000,3078,0.256,0.038,2225,2009,3806,3926,3686,0,0,0,0,0,0,14.66,14.83,14.83
$GC,386,-0.81,-243.3,2224,2008,3926,3686,55.6,-10.8,65,393,0.00,2.35,0.00,0.000,2564,0.000,0.061,2225,611,3808,3930,3686,0,0,0,0,0,0,15.18,14.88,15.18
$GC,471,-0.81,-243.3,2225,611,3926,3686,66.9,-12.7,81,478,0.00,2.28,0.00,0.000,3078,0.000,0.043,2225,2016,3806,3926,3686,0,0,0,0,0,0,15.04,14.95,15.05
$GC,542,-0.81,-243.3,2225,2016,3927,3686,77.3,-16.0,94,549,0.00,2.38,0.00,0.000,2308,0.000,0.076,2225,3412,3806,3927,3686,0,0,0,0,0,0,15.17,14.88,15.17
$GC,565,-0.81,-243.3,2225,3412,3926,3686,80.5,-15.6,97,572,0.00,2.25,0.00,0.000,3078,0.000,0.033,2225,2010,3805,3926,3685,0,0,0,0,0,0,14.98,14.89,15.00
$STATE,577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,577,begin apogee
$GC,582,-0.19,0.0,2225,2010,3926,3686,82.5,-10.5,99,764,0.98,0.00,175.27,0.905,10246,0.150,0.000,2424,2008,2813,2865,2761,0,0,0,0,0,0,14.69,14.59,13.97
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,0.81,243.3,2425,2008,2864,2761,95.1,0.0,132,959,1.48,2.50,180.90,0.899,11012,0.099,0.068,2736,571,1818,1869,1768,0,0,0,0,0,0,14.58,14.51,13.95
$GC,1170,1.00,399.2,2737,570,1861,1768,77.8,5.7,206,1300,0.25,2.25,120.55,0.881,11270,0.073,0.040,2836,1967,1184,1245,1123,0,0,0,0,0,0,14.87,14.83,14.03
$GC,1364,1.06,442.5,2835,1968,1248,1122,54.8,8.8,241,1409,0.00,2.42,36.03,0.846,12804,0.000,0.068,2835,573,1008,1067,949,0,0,0,0,0,0,15.00,14.60,14.07
$GC,1478,1.06,445.0,2835,574,1067,947,45.3,9.9,262,1485,0.00,2.25,0.00,0.000,5126,0.000,0.037,2835,1977,1006,1067,946,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1548,1.06,445.0,2835,1977,1067,945,37.0,11.4,275,1555,0.00,2.33,0.00,0.000,4356,0.000,0.066,2835,3352,1005,1067,943,0,0,0,0,0,0,15.07,14.82,15.07
$GC,1624,1.06,445.0,2835,3352,1067,942,28.8,11.7,289,1631,0.00,2.25,0.00,0.000,5126,0.000,0.040,2836,1968,1004,1067,942,0,0,0,0,0,0,14.94,14.88,14.94
$GC,1695,1.07,454.4,2835,1968,1067,942,21.7,9.7,302,1708,0.00,2.38,7.00,0.682,8708,0.000,0.069,2834,558,957,1015,900,0,0,0,0,0,0,15.14,14.53,14.07
$GC,1807,1.14,508.9,2835,558,1016,898,11.8,8.5,323,1847,0.00,2.25,31.55,0.715,11270,0.000,0.035,2835,1967,735,759,711,0,0,0,0,0,0,15.01,14.93,14.21
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,-0.0,1.022832
$STATE,1939,end surface coast,CONTROL_FINISHED_OK
$STATE,1939,begin surface
$SM_CCo,1961,18.00,0.636,0,0,600,542.59
$SM_GC,0.84,12.27,0.00,18.00,0.039,0.000,0.636,125,1969,600,-7.30,-1.27,542.59,0,0,0,0,0,0,14.92,15.14,14.23
$IRIDIUM_FIX,-3249.33,2817.35,210419,224325
$TT8_MAMPS,0.019474,0.902545
$HUMID,55.86
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,80.5,15.5
$SC_FREEKB,3755424
$24V_AH,13.95,169.901
$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,27.550,37.125,551.300,18.000,0.000,23.815,16.540,174.434,0.750,0.000,18.030,604.648,246.354,573.157,837.318,143.732,0.000,970.249,0.000,530.639,0.000,7.120,0.000
$DEVICE_MAMPS,299.115,79.560,904.995,635.715,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.578,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13492,348
$CAP_FILE_SIZE,63775,0
$CFSIZE,1023623168,977502208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1944.98,0x2131c2,7,24
$GPS,220419,000518,-3304.581,2809.124,17,0.8,20,-27.3,1.2,259.8,11,9.8