version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 337
start: 4 22 119 13 51 14
data:
$ID,573
$MISSION,30
$DIVE,337
$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,40
$R_STBD_OVSHOOT,34
$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
$GPS1,220419,134317,-3321.5464,2743.8401,16,0.9,18,-27.5,1.5,228.7,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-61.2
$GPS2,220419,135049,-3321.8145,2743.3728,17,1.0,20,-27.5,1.7,254.6,8,9.4
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3332.614,2743.373
$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,-243.3,72,2010,568,582,0.0,0.0,0,117,0.00,0.00,-92.32,0.000,16386,0.000,0.000,72,2009,3184,3195,3174,0,0,0,0,0,0,15.09,28.83,15.10
$GC,121,-0.81,-243.3,72,2010,3196,3174,4.0,-10.6,17,151,12.50,2.38,-9.50,0.000,18948,0.293,0.084,2219,604,3805,3928,3683,0,0,0,0,0,0,14.45,13.90,14.64
$GC,164,-0.81,-243.3,2218,604,3929,3683,20.7,-27.5,24,171,0.05,2.33,0.00,0.000,3078,0.356,0.045,2221,2028,3806,3929,3683,0,0,0,0,0,0,14.53,14.75,14.74
$GC,235,-0.81,-243.3,2221,2028,3929,3683,35.1,-20.8,37,241,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2028,3806,3929,3683,0,0,0,0,0,0,15.12,15.13,15.13
$GC,304,-0.81,-243.3,2221,2028,3929,3683,45.9,-12.1,50,310,0.00,2.40,0.00,0.000,2564,0.000,0.063,2222,610,3805,3929,3682,0,0,0,0,0,0,15.15,14.73,15.15
$GC,389,-0.81,-243.3,2221,610,3929,3683,56.7,-12.6,66,396,0.00,2.30,0.00,0.000,3078,0.000,0.043,2221,2024,3805,3927,3683,0,0,0,0,0,0,15.00,14.90,15.02
$GC,458,-0.81,-243.3,2221,2024,3929,3683,65.4,-11.7,79,464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2024,3806,3929,3683,0,0,0,0,0,0,15.16,15.19,15.16
$GC,526,-0.81,-243.3,2221,2024,3929,3680,72.4,-10.9,92,531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2024,3805,3929,3682,0,0,0,0,0,0,15.16,15.16,15.16
$GC,594,-0.81,-243.3,2221,2024,3929,3683,79.7,-10.7,105,603,0.00,2.35,0.00,0.000,2308,0.000,0.070,2221,3405,3806,3930,3683,0,0,0,0,0,0,15.17,14.69,15.18
$GC,631,-0.81,-243.3,2220,3405,3929,3683,83.3,-10.1,111,637,0.00,2.28,0.00,0.000,3078,0.000,0.035,2221,2009,3806,3930,3683,0,0,0,0,0,0,14.95,14.87,14.97
$STATE,683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,683,begin apogee
$GC,688,-0.19,0.0,2221,2008,3927,3683,89.2,-10.9,121,875,0.98,0.00,178.25,0.916,10246,0.141,0.000,2421,2006,2808,2858,2759,0,0,0,0,0,0,14.71,14.37,13.92
$STATE,879,end apogee,CONTROL_FINISHED_OK
$STATE,879,begin climb
$GC,881,0.81,243.3,2421,2007,2862,2760,98.1,0.0,155,1078,1.48,2.53,182.32,0.914,10756,0.097,0.067,2734,563,1817,1868,1767,0,0,0,0,0,0,14.57,14.49,13.93
$GC,1106,0.89,307.2,2733,563,1866,1767,86.3,8.2,194,1163,0.10,2.30,51.10,0.893,11270,0.138,0.039,2795,1976,1559,1615,1503,0,0,0,0,0,0,14.62,14.70,13.95
$GC,1227,0.89,307.2,2794,1976,1609,1500,74.3,10.4,216,1234,0.08,2.38,0.00,0.000,4356,0.252,0.063,2773,3359,1554,1609,1500,0,0,0,0,0,0,14.62,14.66,14.71
$GC,1318,0.90,315.4,2774,3359,1606,1499,65.0,9.7,233,1332,0.00,2.30,7.50,0.770,11270,0.000,0.041,2774,1966,1525,1580,1471,0,0,0,0,0,0,14.91,14.81,13.97
$GC,1395,1.03,420.3,2774,1966,1579,1470,58.4,7.1,247,1491,0.10,2.47,83.68,0.884,10756,0.141,0.073,2838,565,1098,1158,1038,0,0,0,0,0,0,14.81,14.59,14.00
$GC,1534,1.05,438.4,2838,564,1158,1037,44.3,9.5,272,1558,0.00,2.28,16.20,0.835,13318,0.000,0.038,2838,1958,1024,1083,966,0,0,0,0,0,0,14.84,14.75,14.04
$GC,1622,1.08,461.5,2838,1958,1082,961,36.7,9.3,288,1651,0.00,2.42,20.00,0.835,8708,0.000,0.070,2838,567,929,984,875,0,0,0,0,0,0,15.01,14.64,14.07
$GC,1769,1.27,617.2,2838,567,985,868,23.8,5.7,316,1834,0.17,2.28,54.28,0.823,11270,0.096,0.037,2915,1981,598,564,632,0,0,0,0,0,0,14.87,14.85,14.09
$GC,1897,1.27,617.2,2915,1981,561,620,11.3,11.6,339,1904,0.08,2.35,0.00,0.000,4356,0.254,0.064,2891,3350,589,560,619,0,0,0,0,0,0,14.66,14.69,14.76
$GC,1988,1.36,686.3,2893,3350,560,610,4.7,8.0,356,1996,0.05,2.30,0.00,0.000,3078,0.252,0.041,2932,1961,585,561,609,0,0,0,0,0,0,14.73,14.82,14.89
$STATE,2000,end climb,SURFACE_DEPTH_REACHED
$STATE,2000,begin surface coast
$FINISH,-0.1,1.023460
$STATE,2027,end surface coast,CONTROL_FINISHED_OK
$STATE,2027,begin surface
$SM_CCo,2111,0.00,0.000,0,0,583,547.01
$SM_GC,0.69,12.85,0.00,0.00,0.045,0.000,0.000,134,1960,583,-7.30,-1.47,547.01,0,0,0,0,0,0,14.85,15.11,14.93
$IRIDIUM_FIX,-3307.32,2744.31,220419,125911
$TT8_MAMPS,0.018725,0.908537
$HUMID,58.54
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.0
$ALTIM_BOTTOM_PING,80.2,23.9
$SC_FREEKB,3745696
$24V_AH,13.90,173.763
$10V_AH,13.04,0.000
$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,28.425,37.625,593.325,0.000,0.000,23.608,21.312,199.469,0.750,0.000,20.810,620.045,310.430,601.415,890.747,151.159,0.000,1023.089,0.000,552.618,0.000,7.122,0.000
$DEVICE_MAMPS,355.725,84.150,916.470,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.591,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13476,363
$CAP_FILE_SIZE,68324,0
$CFSIZE,1023623168,975618048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,142722,-3322.568,2742.148,20,0.9,21,-27.5,2.6,251.1,9,9.9