version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 330
start: 4 22 119 8 25 18
data:
$ID,573
$MISSION,30
$DIVE,330
$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,48
$R_STBD_OVSHOOT,46
$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
$GPS1,220419,081746,-3314.9773,2754.6743,20,0.8,21,-27.4,1.3,261.7,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.4
$GPS2,220419,082452,-3315.1956,2754.2661,18,0.8,19,-27.4,0.9,220.9,10,8.6
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3324.548,2800.735
$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,-243.3,72,1971,585,572,0.0,0.0,0,117,0.00,0.00,-92.55,0.000,16386,0.000,0.000,72,1974,3199,3212,3186,0,0,0,0,0,0,15.12,28.83,15.12
$GC,122,-0.81,-243.3,72,1972,3214,3186,3.8,-9.9,17,152,12.45,2.25,-9.48,0.000,18948,0.294,0.078,2217,616,3807,3930,3684,0,0,0,0,0,0,14.50,13.19,14.69
$GC,176,-0.81,-243.3,2217,616,3930,3683,22.0,-22.5,26,183,0.00,2.28,0.00,0.000,3078,0.000,0.045,2214,2005,3806,3930,3683,0,0,0,0,0,0,14.93,14.83,14.94
$GC,246,-0.81,-243.3,2213,2005,3930,3683,35.6,-19.5,39,254,0.03,2.40,0.00,0.000,2308,0.523,0.069,2212,3415,3806,3930,3683,0,0,0,0,0,0,14.71,14.83,14.81
$GC,271,-0.81,-243.3,2212,3415,3929,3683,40.6,-18.6,43,279,0.05,2.28,0.00,0.000,3078,0.331,0.038,2224,2014,3806,3930,3683,0,0,0,0,0,0,14.70,14.91,14.91
$GC,343,-0.81,-243.3,2224,2014,3930,3683,50.9,-14.6,56,349,0.00,2.33,0.00,0.000,2564,0.000,0.063,2224,620,3808,3930,3687,0,0,0,0,0,0,15.15,14.86,15.15
$GC,372,-0.81,-243.3,2224,620,3931,3683,55.5,-14.4,61,379,0.00,2.28,0.00,0.000,3078,0.000,0.043,2224,2017,3806,3930,3682,0,0,0,0,0,0,15.02,14.92,15.03
$GC,443,-0.81,-243.3,2224,2017,3930,3683,65.9,-15.5,74,448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2017,3806,3930,3683,0,0,0,0,0,0,15.16,15.16,15.16
$GC,511,-0.81,-243.3,2224,2017,3930,3683,75.6,-13.1,87,517,0.00,2.38,0.00,0.000,2308,0.000,0.073,2221,3407,3806,3930,3683,0,0,0,0,0,0,15.17,14.81,15.18
$GC,534,-0.81,-243.3,2220,3407,3931,3683,78.6,-13.2,91,541,0.00,2.25,0.00,0.000,3078,0.000,0.035,2221,2016,3806,3930,3683,0,0,0,0,0,0,14.88,14.81,14.90
$GC,608,-0.81,-243.3,2221,2016,3930,3683,87.8,-12.4,104,614,0.00,2.35,0.00,0.000,2564,0.000,0.063,2221,603,3806,3930,3683,0,0,0,0,0,0,15.18,14.88,15.19
$STATE,640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,640,begin apogee
$GC,647,-0.19,0.0,2221,1965,3930,3682,92.2,-12.7,110,834,1.00,0.00,177.27,0.910,10246,0.147,0.000,2425,1966,2812,2863,2762,0,0,0,0,0,0,14.67,14.38,13.94
$STATE,837,end apogee,CONTROL_FINISHED_OK
$STATE,837,begin climb
$GC,840,0.81,243.3,2425,1966,2862,2761,102.9,0.0,144,1036,1.45,2.45,182.20,0.907,10756,0.097,0.065,2734,558,1817,1867,1768,0,0,0,0,0,0,14.58,14.48,13.95
$GC,1089,0.92,331.2,2734,558,1868,1768,89.6,7.5,188,1169,0.15,2.30,69.32,0.889,11270,0.103,0.038,2810,1975,1460,1515,1405,0,0,0,0,0,0,14.78,14.76,14.01
$GC,1232,0.93,343.2,2809,1975,1511,1405,74.7,9.6,214,1250,0.08,0.00,10.70,0.801,12294,0.250,0.000,2789,1977,1412,1467,1357,0,0,0,0,0,0,14.56,14.47,14.02
$GC,1313,1.00,392.5,2788,1977,1465,1356,68.2,8.6,229,1359,0.00,2.47,39.38,0.869,10756,0.000,0.069,2790,560,1210,1271,1150,0,0,0,0,0,0,15.04,14.64,14.04
$GC,1377,1.05,436.1,2789,560,1273,1150,62.8,8.7,240,1423,0.10,2.28,35.88,0.858,11270,0.139,0.037,2849,1963,1033,1094,973,0,0,0,0,0,0,14.76,14.76,14.03
$GC,1487,1.06,444.5,2849,1964,1095,973,51.6,9.7,260,1506,0.08,2.42,8.68,0.770,12804,0.250,0.069,2827,567,1000,1060,941,0,0,0,0,0,0,14.58,14.67,14.06
$GC,1545,1.15,520.3,2827,567,1060,940,47.4,7.9,270,1619,0.05,2.25,63.75,0.858,11270,0.251,0.037,2881,1965,688,705,672,0,0,0,0,0,0,14.61,14.73,14.00
$GC,1683,1.19,549.2,2881,1965,706,662,34.0,9.2,295,1706,0.00,0.00,19.35,0.812,12294,0.000,0.000,2881,1967,600,603,598,0,0,0,0,0,0,15.00,14.62,14.04
$GC,1769,1.23,585.3,2881,1966,603,585,26.3,9.0,311,1775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2880,1965,593,603,584,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1839,1.29,630.0,2880,1966,603,581,19.6,8.7,324,1846,0.00,2.38,0.00,0.000,2564,0.000,0.071,2881,567,592,604,581,0,0,0,0,0,0,15.08,14.71,15.09
$GC,1864,1.39,715.2,2881,567,604,581,17.6,7.6,328,1871,0.15,2.25,0.00,0.000,3078,0.105,0.036,2954,1976,592,604,580,0,0,0,0,0,0,14.90,14.88,14.96
$GC,1935,1.39,715.2,2954,1976,604,578,9.2,14.2,341,1943,0.08,2.33,0.00,0.000,4356,0.267,0.070,2934,3350,591,604,578,0,0,0,0,0,0,14.72,14.72,14.83
$GC,1965,1.39,715.2,2934,3350,604,577,4.0,15.3,346,1972,0.00,2.28,0.00,0.000,1030,0.000,0.041,2934,1960,590,604,577,0,0,0,0,0,0,14.85,14.76,14.87
$STATE,1977,end climb,SURFACE_DEPTH_REACHED
$STATE,1977,begin surface coast
$FINISH,0.6,1.023472
$STATE,1999,end surface coast,CONTROL_FINISHED_OK
$STATE,1999,begin surface
$SM_CCo,2081,0.00,0.000,0,0,589,545.29
$SM_GC,0.76,12.70,0.00,0.00,0.037,0.000,0.000,123,1958,589,-7.32,-1.55,545.29,0,0,0,0,0,0,14.92,15.16,15.00
$IRIDIUM_FIX,-3302.17,2755.71,220419,073929
$TT8_MAMPS,0.019474,0.901047
$HUMID,56.41
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,80.6,26.5
$SC_FREEKB,3749280
$24V_AH,13.19,172.312
$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,28.350,46.425,606.525,0.000,0.000,22.937,24.037,177.776,0.750,0.000,20.429,599.448,282.848,627.690,854.671,154.512,0.000,1051.779,0.000,535.799,0.000,7.149,0.000
$DEVICE_MAMPS,523.260,78.030,910.350,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2038.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.313,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10123,352
$CAP_FILE_SIZE,71574,0
$CFSIZE,1023623168,976306176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,090103,-3315.894,2753.402,17,0.8,28,-27.4,1.1,211.9,11,10.0