version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 336
start: 4 22 119 13 5 8
data:
$ID,573
$MISSION,30
$DIVE,336
$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,45
$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
$GPS1,220419,125616,-3320.5000,2745.5774,16,0.9,17,-27.5,2.1,237.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-56.7
$GPS2,220419,130443,-3320.7727,2745.0696,17,1.3,57,-27.5,1.7,256.7,7,3.1
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3331.572,2745.070
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.81,-243.3,72,2014,590,573,0.0,0.0,0,112,0.00,0.00,-86.85,0.000,16386,0.000,0.000,72,2014,2999,3017,2982,0,0,0,0,0,0,15.11,28.83,15.12
$GC,116,-0.81,-243.3,72,2015,3017,2984,3.2,-6.6,16,152,12.55,2.40,-13.38,0.000,18948,0.299,0.085,2217,615,3807,3933,3681,0,0,0,0,0,0,14.46,13.05,14.65
$GC,171,-0.81,-243.3,2216,615,3933,3681,19.1,-20.5,25,178,0.05,2.30,0.00,0.000,3078,0.349,0.043,2222,2021,3807,3933,3681,0,0,0,0,0,0,14.62,14.81,14.82
$GC,242,-0.81,-243.3,2222,2023,3933,3683,33.2,-20.7,38,249,0.00,2.40,0.00,0.000,2564,0.000,0.065,2222,621,3807,3934,3681,0,0,0,0,0,0,15.13,14.83,15.13
$GC,337,-0.81,-243.3,2222,618,3933,3681,49.3,-13.8,56,344,0.00,2.30,0.00,0.000,3078,0.000,0.044,2223,2018,3807,3933,3681,0,0,0,0,0,0,15.00,14.90,15.02
$GC,406,-0.81,-243.3,2222,2018,3934,3681,58.4,-13.2,69,413,0.00,2.40,0.00,0.000,2308,0.000,0.073,2222,3409,3807,3933,3681,0,0,0,0,0,0,15.16,14.83,15.16
$GC,460,-0.81,-243.3,2222,3408,3934,3681,64.8,-11.0,79,467,0.00,2.28,0.00,0.000,3078,0.000,0.037,2222,2014,3806,3933,3680,0,0,0,0,0,0,14.95,14.86,14.96
$GC,531,-0.81,-243.3,2222,2014,3934,3681,72.7,-11.2,92,538,0.00,2.38,0.00,0.000,2564,0.000,0.064,2223,609,3807,3934,3681,0,0,0,0,0,0,15.16,14.85,15.19
$GC,575,-0.81,-243.3,2222,608,3934,3680,78.0,-11.2,100,582,0.00,2.30,0.00,0.000,3078,0.000,0.044,2222,2017,3807,3933,3681,0,0,0,0,0,0,14.94,14.83,14.96
$GC,650,-0.81,-243.3,2222,2017,3933,3681,86.2,-10.9,113,657,0.00,2.40,0.00,0.000,2308,0.000,0.073,2222,3414,3807,3934,3681,0,0,0,0,0,0,15.17,14.78,15.17
$GC,680,-0.81,-243.3,2222,3414,3934,3681,89.2,-10.5,118,686,0.00,2.28,0.00,0.000,3078,0.000,0.036,2220,2013,3807,3934,3681,0,0,0,0,0,0,14.87,14.78,14.89
$STATE,732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,732,begin apogee
$GC,737,-0.19,0.0,2223,2013,3934,3681,95.1,-10.7,128,924,0.98,0.00,177.95,0.926,10246,0.142,0.000,2423,2011,2811,2862,2760,0,0,0,0,0,0,14.66,14.35,13.90
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,930,0.81,243.3,2423,2011,2861,2760,104.9,0.0,162,1122,1.45,2.40,181.52,0.923,10500,0.091,0.065,2735,3361,1817,1868,1767,0,0,0,0,0,0,14.57,14.47,13.92
$GC,1165,0.87,292.6,2735,3360,1863,1766,93.4,8.6,203,1212,0.05,2.33,39.40,0.897,11270,0.248,0.041,2784,1956,1617,1672,1562,0,0,0,0,0,0,14.52,14.60,13.94
$GC,1275,0.87,292.6,2782,1956,1670,1558,82.8,10.2,223,1282,0.00,2.40,0.00,0.000,4612,0.000,0.071,2784,556,1614,1670,1558,0,0,0,0,0,0,14.99,14.59,14.99
$GC,1324,0.87,293.5,2784,557,1668,1558,78.0,9.9,232,1331,0.00,2.30,0.00,0.000,5126,0.000,0.039,2784,1973,1612,1667,1558,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1395,0.91,320.9,2783,1975,1666,1558,71.5,9.2,245,1424,0.00,0.00,23.25,0.871,12550,0.000,0.000,2784,1974,1502,1556,1448,0,0,0,0,0,0,15.07,14.68,14.05
$GC,1487,0.95,359.5,2784,1974,1553,1447,62.7,8.9,262,1527,0.00,2.42,31.65,0.875,10756,0.000,0.071,2784,557,1345,1404,1286,0,0,0,0,0,0,15.05,14.69,14.04
$GC,1546,1.00,395.3,2784,557,1403,1286,57.6,9.0,272,1581,0.00,2.30,29.40,0.870,11270,0.000,0.038,2784,1964,1199,1259,1139,0,0,0,0,0,0,14.81,14.73,14.02
$GC,1645,1.06,443.9,2783,1964,1259,1138,48.7,8.6,290,1690,0.08,0.00,40.22,0.873,10502,0.179,0.000,2843,1965,1001,1057,945,0,0,0,0,0,0,14.78,14.64,14.04
$GC,1753,1.09,471.8,2843,1966,1057,941,38.2,9.2,310,1783,0.00,2.47,23.98,0.845,12804,0.000,0.073,2843,562,887,930,844,0,0,0,0,0,0,15.00,14.64,14.02
$GC,1817,1.19,547.8,2842,562,933,836,32.8,7.9,321,1885,0.00,2.30,61.25,0.858,11270,0.000,0.036,2843,1983,600,572,628,0,0,0,0,0,0,14.87,14.78,14.02
$GC,1950,1.19,547.8,2842,1984,568,614,20.8,10.6,345,1958,0.08,2.45,0.00,0.000,2564,0.182,0.068,2873,555,590,568,613,0,0,0,0,0,0,14.75,14.62,14.79
$STATE,2118,end climb,SURFACE_DEPTH_REACHED
$STATE,2118,begin surface coast
$FINISH,0.1,1.022112
$STATE,2150,end surface coast,CONTROL_FINISHED_OK
$STATE,2150,begin surface
$SM_CCo,2235,0.00,0.000,0,0,582,547.01
$SM_GC,0.69,12.57,2.40,0.00,0.044,0.044,0.000,124,1994,582,-7.31,-1.61,547.01,0,0,0,0,0,0,14.88,14.89,14.95
$IRIDIUM_FIX,-3307.32,2748.88,220419,121456
$TT8_MAMPS,0.019474,0.879326
$HUMID,58.34
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,80.1,29.9
$SC_FREEKB,3746208
$24V_AH,13.05,173.561
$10V_AH,13.03,0.000
$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,27.800,47.200,608.625,0.000,0.000,23.768,43.095,199.116,0.750,0.000,57.814,670.648,332.041,611.679,978.891,159.875,0.000,1048.522,0.000,580.890,0.000,7.149,0.000
$DEVICE_MAMPS,348.840,84.915,925.650,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.533,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13480,384
$CAP_FILE_SIZE,72448,0
$CFSIZE,1023623168,975716352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,134317,-3321.546,2743.840,16,0.9,18,-27.5,1.5,228.7,8,9.8