version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 323
start: 4 22 119 3 20 57
data:
$ID,573
$MISSION,30
$DIVE,323
$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,57
$R_STBD_OVSHOOT,40
$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,2
$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
$GPS1,220419,031314,-3308.1953,2803.8066,23,0.9,34,-27.4,1.8,212.6,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.1
$GPS2,220419,032031,-3308.4119,2803.4575,25,1.1,39,-27.4,2.0,218.7,10,5.4
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3317.764,2809.917
$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,177.4,20000,-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,-243.3,72,2023,596,576,0.0,0.0,0,117,0.00,0.00,-92.47,0.000,16386,0.000,0.000,72,2023,3219,3237,3202,0,0,0,0,0,0,15.13,28.83,15.13
$GC,121,-0.81,-243.3,71,2023,3238,3202,4.1,-10.8,17,151,12.52,2.30,-9.02,0.000,18948,0.296,0.080,2218,626,3806,3929,3684,0,0,0,0,0,0,14.48,13.11,14.69
$GC,168,-0.81,-243.3,2218,626,3929,3685,22.2,-26.9,25,175,0.00,2.28,0.00,0.000,3078,0.000,0.048,2216,2018,3807,3929,3685,0,0,0,0,0,0,14.99,14.88,15.00
$GC,237,-0.81,-243.3,2215,2018,3929,3684,35.1,-19.0,38,244,0.00,2.38,0.00,0.000,2308,0.000,0.074,2213,3416,3805,3929,3682,0,0,0,0,0,0,15.16,14.83,15.16
$GC,271,-0.81,-243.3,2212,3417,3929,3685,41.1,-18.8,44,279,0.05,2.28,0.00,0.000,3078,0.324,0.037,2225,2017,3806,3929,3684,0,0,0,0,0,0,14.71,14.90,14.91
$GC,342,-0.81,-243.3,2225,2017,3929,3684,49.8,-11.6,57,349,0.00,2.35,0.00,0.000,2564,0.000,0.063,2225,616,3807,3929,3685,0,0,0,0,0,0,15.16,14.86,15.16
$GC,423,-0.81,-243.3,2224,616,3928,3684,60.6,-14.3,72,429,0.00,2.28,0.00,0.000,3078,0.000,0.047,2224,2015,3807,3929,3685,0,0,0,0,0,0,15.02,14.92,15.04
$GC,492,-0.81,-243.3,2224,2015,3929,3685,69.7,-13.7,85,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2015,3807,3929,3685,0,0,0,0,0,0,15.17,15.18,15.18
$GC,560,-0.81,-243.3,2224,2016,3929,3685,77.4,-11.5,98,566,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2016,3807,3929,3685,0,0,0,0,0,0,15.18,15.18,15.18
$STATE,585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,586,begin apogee
$GC,591,-0.19,0.0,2225,1951,3929,3684,80.5,-14.0,102,774,0.98,0.00,176.57,0.905,10246,0.155,0.000,2421,1949,2811,2861,2761,0,0,0,0,0,0,14.65,14.58,13.97
$STATE,777,end apogee,CONTROL_FINISHED_OK
$STATE,777,begin climb
$GC,779,0.81,243.3,2421,1948,2860,2761,86.5,0.0,135,975,1.50,2.38,180.62,0.898,10756,0.116,0.066,2733,570,1817,1867,1768,0,0,0,0,0,0,14.55,14.55,13.94
$GC,1088,0.85,277.6,2733,570,1860,1768,75.7,9.0,191,1124,0.03,2.25,27.58,0.865,11270,0.447,0.034,2769,1991,1678,1730,1627,0,0,0,0,0,0,14.67,14.83,14.07
$GC,1186,0.88,294.9,2769,1991,1727,1623,67.7,9.5,209,1204,0.00,0.00,14.82,0.827,8198,0.000,0.000,2769,1991,1608,1661,1555,0,0,0,0,0,0,15.03,14.64,14.03
$GC,1267,0.96,361.3,2769,1990,1660,1552,61.2,8.1,224,1329,0.00,2.47,52.58,0.868,10756,0.000,0.067,2769,568,1338,1397,1280,0,0,0,0,0,0,15.06,14.61,14.05
$GC,1357,0.99,391.6,2769,567,1396,1279,53.0,9.1,240,1387,0.10,2.25,24.08,0.838,11270,0.141,0.038,2831,1961,1215,1275,1155,0,0,0,0,0,0,14.76,14.76,14.05
$GC,1450,1.15,516.4,2831,1961,1277,1155,44.0,6.5,257,1562,0.00,2.38,102.18,0.853,10756,0.000,0.069,2832,570,705,717,693,0,0,0,0,0,0,15.02,14.60,14.04
$GC,1609,1.15,516.4,2831,571,718,683,29.0,10.9,286,1617,0.10,2.28,0.00,0.000,3078,0.193,0.041,2861,1968,700,718,682,0,0,0,0,0,0,14.59,14.65,14.71
$GC,1681,1.19,549.4,2860,1967,718,678,22.1,9.0,299,1705,0.00,2.38,16.65,0.763,10756,0.000,0.067,2861,570,598,595,601,0,0,0,0,0,0,15.04,14.53,14.09
$STATE,1857,end climb,SURFACE_DEPTH_REACHED
$STATE,1857,begin surface coast
$FINISH,0.2,1.011089
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1883,begin surface
$SM_CCo,1967,0.00,0.000,0,0,588,545.54
$SM_GC,0.73,12.38,2.38,0.00,0.037,0.044,0.000,128,2008,588,-7.30,-1.47,545.54,0,0,0,0,0,0,14.90,14.89,14.97
$IRIDIUM_FIX,-3254.46,2804.80,220419,023420
$TT8_MAMPS,0.019474,0.898051
$HUMID,56.30
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.9
$ALTIM_BOTTOM_PING,80.5,7.0
$SC_FREEKB,3752864
$24V_AH,13.11,170.913
$10V_AH,13.09,0.000
$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,27.650,32.675,595.075,0.000,0.000,29.635,15.467,172.551,0.750,0.000,39.822,565.621,280.057,587.758,843.732,138.288,0.000,984.556,0.000,517.848,0.000,7.092,0.000
$DEVICE_MAMPS,446.760,146.115,904.995,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1922.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.226,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10116,338
$CAP_FILE_SIZE,62736,0
$CFSIZE,1023623168,977010688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,035441,-3309.145,2802.448,19,1.0,21,-27.4,2.2,238.5,10,9.2