version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 326
start: 4 22 119 5 28 0
data:
$ID,573
$MISSION,30
$DIVE,326
$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,40
$R_STBD_OVSHOOT,44
$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
$GPS1,220419,052023,-3311.0872,2759.7910,17,1.0,18,-27.4,1.3,234.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.2
$GPS2,220419,052734,-3311.2908,2759.3877,19,0.9,20,-27.4,1.4,242.0,10,10.0
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3320.643,2805.851
$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,-243.3,72,1971,594,574,0.0,0.0,0,106,0.00,0.00,-81.70,0.000,16386,0.000,0.000,72,1971,2874,2869,2879,0,0,0,0,0,0,15.12,28.83,15.13
$GC,111,-0.81,-243.3,73,1971,2870,2879,3.0,-5.3,15,147,12.50,2.45,-15.95,0.000,18692,0.298,0.088,2213,3411,3805,3930,3680,0,0,0,0,0,0,14.47,13.94,14.69
$GC,159,-0.81,-243.3,2212,3411,3930,3680,16.6,-19.2,23,167,0.05,2.28,0.00,0.000,3078,0.329,0.037,2223,2012,3803,3927,3679,0,0,0,0,0,0,14.56,14.78,14.76
$GC,230,-0.81,-243.3,2223,2012,3931,3679,30.7,-19.8,36,236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2012,3804,3930,3679,0,0,0,0,0,0,15.14,15.15,15.14
$GC,299,-0.81,-243.3,2223,2012,3930,3679,43.9,-18.1,49,305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2012,3804,3930,3679,0,0,0,0,0,0,15.16,15.16,15.16
$GC,367,-0.81,-243.3,2223,2012,3930,3679,53.3,-13.3,62,374,0.00,2.35,0.00,0.000,2564,0.000,0.063,2223,610,3804,3930,3679,0,0,0,0,0,0,15.17,14.87,15.17
$GC,456,-0.81,-243.3,2223,610,3930,3679,64.7,-10.6,79,462,0.00,2.28,0.00,0.000,3078,0.000,0.042,2224,2017,3805,3931,3679,0,0,0,0,0,0,14.96,14.86,14.98
$GC,525,-0.81,-243.3,2223,2017,3930,3679,73.5,-13.0,92,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2019,3804,3930,3679,0,0,0,0,0,0,15.18,15.18,15.18
$GC,593,-0.81,-243.3,2223,2018,3930,3679,81.8,-14.7,105,599,0.00,2.33,0.00,0.000,2564,0.000,0.057,2224,607,3804,3930,3679,0,0,0,0,0,0,15.21,14.90,15.19
$GC,1106,-0.81,-243.3,2224,605,3925,3686,81.8,0.2,206,1113,0.00,2.30,0.00,0.000,3078,0.000,0.051,2224,2004,3808,3925,3691,0,0,0,0,0,0,15.04,14.91,15.06
$STATE,1158,end dive,NO_VERTICAL_VELOCITY
$STATE,1158,begin apogee
$GC,1164,-0.19,0.0,2223,2005,3926,3686,81.9,0.0,216,1346,0.90,0.00,176.15,0.904,10246,0.070,0.000,2436,2009,2811,2859,2763,0,0,0,0,0,0,14.89,14.55,13.95
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1351,0.81,243.3,2437,2009,2859,2762,80.8,0.0,249,1541,1.38,0.00,180.88,0.888,11014,0.089,0.000,2734,2009,1819,1869,1769,0,0,0,0,0,0,14.59,14.54,13.94
$GC,1605,1.07,451.8,2734,2009,1864,1766,73.4,4.2,294,1778,0.32,2.53,161.18,0.875,11012,0.068,0.067,2845,558,970,1035,905,0,0,0,0,0,0,14.71,14.54,13.94
$GC,1812,1.07,451.8,2845,558,1040,906,51.7,11.2,331,1819,0.00,2.30,0.00,0.000,5126,0.000,0.038,2845,1972,972,1040,905,0,0,0,0,0,0,14.71,14.62,14.72
$GC,1884,1.07,451.8,2844,1972,1040,906,44.3,10.5,344,1890,0.00,2.42,0.00,0.000,4612,0.000,0.068,2845,561,973,1041,906,0,0,0,0,0,0,15.03,14.75,15.03
$GC,1943,1.10,479.3,2845,561,1041,906,38.7,9.2,355,1973,0.00,2.28,24.08,0.826,9222,0.000,0.038,2845,1965,857,915,800,0,0,0,0,0,0,14.88,14.81,14.09
$GC,2035,1.12,491.7,2845,1965,920,800,30.6,9.6,372,2054,0.00,2.42,12.18,0.781,8452,0.000,0.066,2845,3359,807,860,754,0,0,0,0,0,0,15.05,14.72,14.11
$GC,2082,1.12,491.7,2845,3360,861,753,26.0,10.1,380,2088,0.00,2.30,0.00,0.000,1030,0.000,0.039,2845,1947,807,862,753,0,0,0,0,0,0,14.81,14.72,14.82
$GC,2152,1.20,557.0,2845,1947,863,751,20.2,8.2,393,2194,0.00,2.33,32.88,0.773,10756,0.000,0.071,2845,568,597,598,597,0,0,0,0,0,0,15.09,14.73,14.14
$GC,2222,1.20,557.0,2845,568,598,591,13.5,10.4,405,2229,0.00,2.25,0.00,0.000,3078,0.000,0.036,2845,1971,592,598,587,0,0,0,0,0,0,14.80,14.71,14.82
$GC,2294,1.22,576.4,2845,1972,599,584,6.8,9.4,418,2302,0.08,2.33,0.00,0.000,2308,0.179,0.070,2894,3349,591,599,583,0,0,0,0,0,0,14.76,14.78,14.80
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,0.1,1.011531
$STATE,2353,end surface coast,CONTROL_FINISHED_OK
$STATE,2353,begin surface
$SM_CCo,2438,0.00,0.000,0,0,589,545.29
$SM_GC,0.78,12.60,2.22,0.00,0.041,0.044,0.000,124,2019,589,-7.31,1.33,545.29,0,0,0,0,0,0,14.90,14.90,14.97
$IRIDIUM_FIX,-3257.03,2800.26,220419,044515
$TT8_MAMPS,0.019474,0.856856
$HUMID,56.89
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.1
$SC_FREEKB,3751328
$24V_AH,13.94,171.514
$10V_AH,13.11,0.000
$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,27.825,37.350,587.325,0.000,0.000,24.781,43.451,166.523,0.500,0.000,20.722,771.681,392.472,587.138,979.203,150.564,0.000,1044.770,0.000,651.674,0.000,4.193,0.000
$DEVICE_MAMPS,328.950,87.975,904.230,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.731,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13493,429
$CAP_FILE_SIZE,72859,0
$CFSIZE,1023623168,976699392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,060955,-3312.066,2758.471,20,0.8,41,-27.4,2.7,258.1,10,8.8