version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 320
start: 4 22 119 0 52 45
data:
$ID,573
$MISSION,30
$DIVE,320
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,220419,004512,-3305.4304,2807.8550,17,0.9,19,-27.3,1.5,237.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.3
$GPS2,220419,005219,-3305.6245,2807.5337,18,1.0,21,-27.3,2.5,240.8,9,9.2
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3314.977,2813.990
$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,-243.3,73,2027,595,570,0.0,0.0,0,117,0.00,0.00,-92.75,0.000,16386,0.000,0.000,72,2027,3213,3232,3194,0,0,0,0,0,0,15.14,28.83,15.14
$GC,121,-0.81,-243.3,72,2026,3232,3193,4.0,-10.5,17,151,12.48,2.33,-9.20,0.000,18948,0.297,0.079,2218,616,3806,3928,3685,0,0,0,0,0,0,14.52,13.16,14.71
$GC,198,-0.81,-243.3,2217,615,3928,3685,26.9,-17.6,31,206,0.08,2.28,0.00,0.000,3078,0.283,0.045,2226,2009,3809,3933,3685,0,0,0,0,0,0,14.72,14.91,14.92
$GC,270,-0.81,-243.3,2226,2010,3929,3685,38.9,-17.3,44,276,0.00,2.40,0.00,0.000,2308,0.000,0.072,2218,3419,3807,3929,3685,0,0,0,0,0,0,15.16,14.76,15.16
$GC,314,-0.81,-243.3,2217,3419,3928,3685,45.8,-13.9,52,320,0.00,2.28,0.00,0.000,3078,0.000,0.038,2218,2012,3806,3929,3684,0,0,0,0,0,0,15.03,14.94,15.04
$GC,383,-0.81,-243.3,2217,2011,3928,3685,54.1,-12.0,65,390,0.00,2.35,0.00,0.000,2564,0.000,0.065,2218,616,3807,3930,3684,0,0,0,0,0,0,15.18,14.88,15.19
$GC,452,-0.81,-243.3,2217,614,3929,3684,63.8,-16.2,78,459,0.00,2.28,0.00,0.000,3078,0.000,0.042,2217,2023,3807,3929,3685,0,0,0,0,0,0,15.04,14.93,15.05
$GC,523,-0.81,-243.3,2217,2025,3929,3684,72.9,-5.7,91,529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2025,3806,3929,3684,0,0,0,0,0,0,15.18,15.18,15.18
$GC,591,-0.81,-243.3,2217,2025,3929,3684,83.4,-12.9,104,597,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2025,3806,3929,3684,0,0,0,0,0,0,15.21,15.21,15.21
$GC,662,-0.81,-243.3,2217,2025,3929,3685,91.4,-9.6,117,668,0.00,2.40,0.00,0.000,2564,0.000,0.065,2217,614,3809,3929,3690,0,0,0,0,0,0,15.18,14.88,15.19
$GC,857,-0.81,-243.3,2217,613,3928,3684,91.4,0.8,155,864,0.00,2.25,0.00,0.000,3078,0.000,0.031,2217,2036,3806,3928,3685,0,0,0,0,0,0,15.06,14.97,15.07
$GC,927,-0.81,-243.3,2217,2039,3929,3684,91.4,0.3,168,934,0.00,2.38,0.00,0.000,2564,0.000,0.061,2217,613,3807,3929,3685,0,0,0,0,0,0,15.19,14.90,15.19
$GC,1440,-0.81,-243.3,2217,601,3918,3688,91.7,-0.2,269,1447,0.00,2.42,0.00,0.000,3078,0.000,0.096,2217,1984,3803,3918,3688,0,0,0,0,0,0,14.91,14.80,14.93
$STATE,1477,end dive,NO_VERTICAL_VELOCITY
$STATE,1477,begin apogee
$GC,1482,-0.19,0.0,2214,1984,3918,3686,91.7,0.0,276,1670,1.02,0.00,177.88,0.927,10246,0.156,0.000,2420,1991,2810,2860,2760,0,0,0,0,0,0,14.68,14.38,13.93
$STATE,1673,end apogee,CONTROL_FINISHED_OK
$STATE,1673,begin climb
$GC,1675,0.81,243.3,2424,1991,2859,2760,90.9,0.0,310,1867,1.58,2.45,180.62,0.912,11012,0.129,0.076,2744,3376,1818,1869,1767,0,0,0,0,0,0,14.54,14.56,13.97
$GC,1961,0.92,327.8,2744,3377,1862,1766,75.3,7.6,361,2036,0.10,2.33,65.65,0.884,11270,0.142,0.040,2799,1960,1474,1531,1418,0,0,0,0,0,0,14.70,14.70,14.04
$GC,2099,0.98,382.9,2798,1960,1529,1418,59.1,8.4,386,2150,0.00,2.38,43.28,0.862,10756,0.000,0.067,2799,570,1250,1315,1185,0,0,0,0,0,0,15.00,14.44,14.00
$GC,2213,1.01,404.0,2798,570,1317,1185,48.6,9.4,407,2238,0.00,2.30,17.77,0.825,11270,0.000,0.038,2798,1989,1162,1227,1098,0,0,0,0,0,0,14.89,14.80,14.06
$GC,2301,1.09,466.0,2798,1989,1233,1098,40.3,8.2,423,2357,0.08,0.00,50.60,0.851,10758,0.181,0.000,2849,1989,913,972,855,0,0,0,0,0,0,14.81,14.66,14.07
$GC,2420,1.10,481.3,2848,1989,975,852,30.3,9.5,445,2444,0.00,2.38,14.27,0.796,12548,0.000,0.067,2849,3365,850,902,799,0,0,0,0,0,0,15.02,14.70,14.10
$GC,2478,1.10,481.3,2849,3365,904,797,24.4,10.2,455,2485,0.00,2.30,0.00,0.000,5126,0.000,0.038,2849,1965,850,905,796,0,0,0,0,0,0,14.90,14.81,14.91
$GC,2549,1.15,520.3,2849,1965,905,793,18.0,8.9,468,2579,0.00,2.42,24.20,0.755,10756,0.000,0.070,2849,564,689,712,666,0,0,0,0,0,0,15.08,14.70,14.11
$STATE,2698,end climb,SURFACE_DEPTH_REACHED
$STATE,2699,begin surface coast
$FINISH,0.1,1.023465
$STATE,2726,end surface coast,CONTROL_FINISHED_OK
$STATE,2726,begin surface
$SM_CCo,2750,11.65,0.623,0,0,599,542.59
$SM_GC,0.56,12.40,2.40,11.65,0.045,0.044,0.623,140,2003,599,-7.27,-1.30,542.59,0,0,0,0,0,0,14.92,14.90,14.21
$IRIDIUM_FIX,-3251.89,2807.07,220419,000805
$TT8_MAMPS,0.018725,0.91378
$HUMID,56.61
$INTERNAL_PRESSURE,9.375
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$SC_FREEKB,3754400
$24V_AH,13.16,170.305
$10V_AH,13.13,0.000
$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,27.725,42.300,574.275,11.650,0.000,26.297,35.090,165.068,0.750,0.000,21.795,938.257,419.083,599.890,1087.021,159.787,0.000,1101.613,0.000,761.538,0.000,5.754,0.000
$DEVICE_MAMPS,296.820,96.390,927.180,622.710,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.965,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16798,502
$CAP_FILE_SIZE,82716,0
$CFSIZE,1023623168,977256448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,014001,-3306.259,2806.552,24,0.9,34,-27.3,1.5,226.7,10,5.9