version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 335
start: 4 22 119 12 20 27
data:
$ID,573
$MISSION,30
$DIVE,335
$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,180
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,220419,121201,-3319.5078,2747.2390,18,1.1,58,-27.5,1.9,238.1,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-63.4
$GPS2,220419,122002,-3319.7466,2746.7659,18,1.0,58,-27.5,1.9,245.4,7,3.0
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3330.546,2746.766
$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,207.5,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.81,-243.3,72,2003,571,585,0.0,0.0,0,118,0.00,0.00,-93.30,0.000,16386,0.000,0.000,72,2003,3206,3220,3192,0,0,0,0,0,0,15.11,28.83,15.11
$GC,123,-0.81,-243.3,72,2003,3221,3192,3.9,-10.2,17,153,12.48,2.38,-9.45,0.000,19204,0.294,0.080,2218,598,3805,3928,3682,0,0,0,0,0,0,14.46,13.12,14.66
$GC,160,-0.81,-243.3,2217,599,3929,3683,18.6,-31.9,23,167,0.00,2.35,0.00,0.000,3078,0.000,0.049,2214,2020,3806,3929,3683,0,0,0,0,0,0,14.90,14.76,14.91
$GC,231,-0.81,-243.3,2214,2021,3934,3683,32.9,-21.4,36,236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2021,3806,3929,3683,0,0,0,0,0,0,15.14,15.14,15.14
$GC,299,-0.81,-243.3,2214,2019,3929,3682,45.6,-14.9,49,306,0.00,2.38,0.00,0.000,2564,0.000,0.063,2214,610,3805,3928,3683,0,0,0,0,0,0,15.15,14.73,15.16
$GC,375,-0.81,-243.3,2214,610,3929,3683,55.6,-13.8,63,382,0.03,2.30,0.00,0.000,3078,0.506,0.044,2222,2022,3806,3929,3683,0,0,0,0,0,0,14.57,14.76,14.78
$GC,446,-0.81,-243.3,2222,2023,3929,3682,64.0,-12.9,76,453,0.00,2.38,0.00,0.000,2308,0.000,0.071,2222,3412,3806,3929,3683,0,0,0,0,0,0,15.17,14.83,15.17
$GC,486,-0.81,-243.3,2221,3412,3929,3683,68.9,-10.9,83,492,0.00,2.30,0.00,0.000,3078,0.000,0.037,2222,2007,3806,3929,3683,0,0,0,0,0,0,14.95,14.85,14.96
$GC,555,-0.81,-243.3,2221,2007,3929,3682,77.0,-11.3,96,561,0.00,2.35,0.00,0.000,2564,0.000,0.063,2222,607,3806,3929,3683,0,0,0,0,0,0,15.16,14.74,15.16
$GC,585,-0.81,-243.3,2222,607,3927,3683,80.8,-12.6,101,592,0.00,2.30,0.00,0.000,3078,0.000,0.044,2221,2019,3806,3929,3683,0,0,0,0,0,0,14.94,14.83,14.96
$GC,655,-0.81,-243.3,2220,2020,3929,3683,89.2,-12.3,114,661,0.00,2.40,0.00,0.000,2308,0.000,0.073,2221,3417,3806,3929,3683,0,0,0,0,0,0,15.17,14.71,15.17
$STATE,676,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,677,begin apogee
$GC,685,-0.19,0.0,2221,1946,3929,3683,92.1,-12.1,118,872,1.00,0.00,177.68,0.918,10246,0.139,0.000,2427,1944,2809,2861,2758,0,0,0,0,0,0,14.71,14.38,13.97
$STATE,875,end apogee,CONTROL_FINISHED_OK
$STATE,875,begin climb
$GC,877,0.81,243.3,2427,1944,2860,2759,103.0,0.0,152,1074,1.42,2.38,181.10,0.915,10756,0.090,0.069,2735,570,1817,1868,1767,0,0,0,0,0,0,14.58,14.54,13.93
$GC,1097,0.97,368.6,2735,570,1865,1767,91.0,6.5,190,1204,0.20,2.28,97.55,0.902,11270,0.085,0.038,2815,1974,1307,1369,1246,0,0,0,0,0,0,14.72,14.69,13.95
$GC,1269,0.97,368.6,2815,1974,1367,1246,73.3,11.5,221,1275,0.05,0.00,0.00,0.000,4102,0.317,0.000,2804,1976,1306,1367,1246,0,0,0,0,0,0,14.61,14.78,14.75
$GC,1339,0.99,388.8,2804,1976,1366,1246,66.9,9.4,234,1362,0.00,0.00,16.92,0.845,8710,0.000,0.000,2805,1975,1225,1287,1164,0,0,0,0,0,0,15.03,14.49,14.03
$GC,1426,1.05,435.9,2804,1975,1288,1164,58.7,8.7,250,1472,0.00,2.47,39.25,0.871,10756,0.000,0.070,2805,566,1035,1095,975,0,0,0,0,0,0,15.04,14.66,14.02
$GC,1496,1.15,521.1,2804,565,1094,974,53.3,7.6,262,1577,0.17,2.28,71.25,0.874,11270,0.097,0.038,2879,1968,685,696,674,0,0,0,0,0,0,14.79,14.78,13.97
$GC,1640,1.18,544.2,2879,1969,696,663,37.0,9.3,288,1669,0.00,2.45,19.30,0.825,12804,0.000,0.070,2879,567,597,593,601,0,0,0,0,0,0,14.97,14.62,14.02
$GC,1692,1.30,638.4,2881,567,593,594,32.8,7.4,297,1699,0.00,2.25,0.00,0.000,3078,0.000,0.036,2879,1969,593,593,594,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1763,1.31,650.2,2879,1968,593,586,26.5,9.6,310,1769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2879,1968,589,593,585,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1834,1.31,650.2,2879,1969,594,583,19.6,10.3,323,1840,0.05,0.00,0.00,0.000,2054,0.252,0.000,2922,1970,588,593,583,0,0,0,0,0,0,14.79,14.91,14.89
$GC,1904,1.31,650.2,2922,1970,594,581,11.3,12.5,336,1910,0.00,0.00,0.00,0.000,4102,0.000,0.000,2923,1970,587,594,581,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1973,1.31,650.2,2922,1970,594,584,3.5,10.4,349,1979,0.00,2.38,0.00,0.000,4612,0.000,0.066,2923,567,584,589,580,0,0,0,0,0,0,15.13,14.70,15.13
$STATE,1984,end climb,SURFACE_DEPTH_REACHED
$STATE,1984,begin surface coast
$FINISH,0.2,1.013055
$STATE,2011,end surface coast,CONTROL_FINISHED_OK
$STATE,2011,begin surface
$SM_CCo,2096,0.00,0.000,0,0,586,546.03
$SM_GC,0.69,12.73,2.38,0.00,0.046,0.041,0.000,147,2002,586,-7.27,-1.55,546.03,0,0,0,0,0,0,14.85,14.90,14.95
$IRIDIUM_FIX,-3304.75,2748.88,220419,112749
$TT8_MAMPS,0.019474,0.86884
$HUMID,57.48
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,80.2,26.9
$SC_FREEKB,3746720
$24V_AH,13.12,173.350
$10V_AH,13.07,0.000
$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,28.125,42.400,603.050,0.000,0.000,23.163,21.140,191.082,0.750,0.000,58.861,601.437,295.877,622.860,911.118,157.124,0.000,1048.361,0.000,537.904,0.000,7.150,0.000
$DEVICE_MAMPS,506.430,79.560,918.000,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.618,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10139,356
$CAP_FILE_SIZE,69681,0
$CFSIZE,1023623168,975814656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,125616,-3320.500,2745.577,16,0.9,17,-27.5,2.1,237.9,8,9.9