version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 340
start: 4 22 119 16 0 0
data:
$ID,573
$MISSION,30
$DIVE,340
$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,280
$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,39
$R_STBD_OVSHOOT,48
$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
$GPS1,220419,155200,-3324.7971,2738.7744,19,0.8,21,-27.5,2.5,224.7,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-61.4
$GPS2,220419,155935,-3325.0708,2738.2981,21,0.9,22,-27.5,2.4,223.0,10,8.1
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3335.870,2738.298
$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,-13.0,-9.950,-16.26,4178
$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,-0.82,-272.5,72,1975,572,582,0.0,0.0,0,112,0.00,0.00,-86.97,0.000,16386,0.000,0.000,72,1975,2980,2986,2975,0,0,0,0,0,0,15.10,28.83,15.11
$GC,116,-0.82,-272.5,72,1975,2989,2975,3.1,-6.4,16,152,12.50,2.28,-15.45,0.000,18948,0.294,0.080,2216,608,3924,4040,3809,0,0,0,0,0,0,14.47,13.91,14.65
$GC,230,-0.82,-272.5,2216,610,4041,3809,30.3,-18.5,37,237,0.00,2.30,0.00,0.000,3078,0.000,0.047,2216,2005,3925,4041,3809,0,0,0,0,0,0,14.93,14.81,14.92
$GC,301,-0.82,-272.5,2216,2005,4040,3809,42.0,-13.3,50,308,0.00,2.38,0.00,0.000,2564,0.000,0.063,2216,611,3924,4040,3809,0,0,0,0,0,0,15.15,14.84,15.15
$GC,355,-0.82,-272.5,2216,611,4041,3809,49.6,-12.6,60,362,0.00,2.30,0.00,0.000,3078,0.000,0.044,2216,2018,3925,4041,3809,0,0,0,0,0,0,14.92,14.83,14.95
$GC,426,-0.82,-272.5,2216,2018,4041,3809,58.1,-13.0,73,432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2018,3924,4040,3809,0,0,0,0,0,0,15.15,15.15,15.16
$GC,494,-0.82,-272.5,2216,2018,4040,3809,65.6,-10.3,86,501,0.00,2.38,0.00,0.000,2308,0.000,0.073,2216,3409,3925,4041,3809,0,0,0,0,0,0,15.16,14.68,15.16
$GC,554,-0.82,-272.5,2213,3409,4041,3809,71.7,-10.4,97,560,0.00,2.28,0.00,0.000,3078,0.000,0.038,2216,2005,3924,4041,3808,0,0,0,0,0,0,15.01,14.90,15.02
$GC,624,-0.82,-272.5,2216,2004,4041,3809,79.7,-11.0,110,636,0.00,2.33,0.00,0.000,2564,0.000,0.057,2216,608,3924,4041,3808,0,0,0,0,0,0,15.16,14.72,15.16
$STATE,641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,641,begin apogee
$GC,649,-0.19,0.0,2216,1974,4041,3809,81.9,-11.4,112,854,1.00,0.00,196.40,0.915,10246,0.136,0.000,2424,1975,2812,2863,2761,0,0,0,0,0,0,14.73,14.54,13.93
$STATE,856,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,858,0.82,272.5,2423,1975,2863,2761,92.0,0.0,149,1076,1.45,2.47,203.88,0.909,10756,0.093,0.072,2736,571,1698,1753,1644,0,0,0,0,0,0,14.56,14.49,13.88
$GC,1114,0.89,331.4,2736,571,1749,1644,77.8,8.5,194,1171,0.08,2.28,46.90,0.888,11270,0.174,0.038,2788,1967,1458,1512,1405,0,0,0,0,0,0,14.59,14.63,13.95
$GC,1236,0.93,362.4,2788,1967,1510,1403,66.8,9.2,216,1271,0.00,2.45,25.48,0.864,8708,0.000,0.070,2790,567,1332,1390,1275,0,0,0,0,0,0,14.97,14.62,14.00
$GC,1290,0.99,411.1,2790,567,1390,1274,62.0,8.8,225,1336,0.00,2.28,38.80,0.877,11270,0.000,0.037,2790,1961,1135,1195,1076,0,0,0,0,0,0,14.78,14.71,13.98
$GC,1399,1.03,444.9,2790,1957,1196,1076,51.5,9.1,245,1433,0.00,0.00,28.73,0.864,10246,0.000,0.000,2790,1961,997,1054,941,0,0,0,0,0,0,14.98,14.64,14.03
$GC,1496,1.10,502.3,2790,1961,1054,937,43.0,8.5,263,1553,0.10,2.42,48.50,0.870,10756,0.144,0.070,2856,564,761,777,746,0,0,0,0,0,0,14.69,14.42,13.98
$GC,1588,1.14,536.3,2856,564,778,738,34.7,9.1,279,1628,0.00,2.28,30.20,0.851,9222,0.000,0.037,2856,1970,622,602,642,0,0,0,0,0,0,14.83,14.75,13.98
$GC,1691,1.19,574.4,2855,1970,602,628,25.3,9.0,298,1703,0.00,2.40,3.78,0.604,10500,0.000,0.065,2856,3349,599,581,617,0,0,0,0,0,0,15.00,14.65,13.98
$GC,1773,1.19,574.4,2855,3349,581,607,17.5,10.9,313,1779,0.00,2.28,0.00,0.000,3078,0.000,0.039,2856,1964,593,581,606,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1843,1.20,584.9,2856,1964,581,601,11.8,9.7,326,1850,0.00,2.38,0.00,0.000,2564,0.000,0.071,2856,562,589,578,601,0,0,0,0,0,0,15.08,14.67,15.09
$STATE,1926,end climb,SURFACE_DEPTH_REACHED
$STATE,1926,begin surface coast
$FINISH,0.0,1.010155
$STATE,1952,end surface coast,CONTROL_FINISHED_OK
$STATE,1953,begin surface
$SM_CCo,2037,0.00,0.000,0,0,588,545.54
$SM_GC,0.65,12.43,2.38,0.00,0.044,0.041,0.000,140,1997,588,-7.27,-1.61,545.54,0,0,0,0,0,0,14.88,14.91,14.96
$IRIDIUM_FIX,-3312.47,2739.74,220419,151248
$TT8_MAMPS,0.018725,0.852362
$HUMID,58.15
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,80.2,13.6
$SC_FREEKB,3744160
$24V_AH,13.88,174.375
$10V_AH,13.05,0.000
$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,27.550,42.075,622.650,0.000,0.000,23.140,19.405,207.158,0.750,0.000,23.125,572.012,283.743,625.591,867.809,153.566,0.000,1041.399,0.000,526.469,0.000,8.511,0.000
$DEVICE_MAMPS,293.760,79.560,914.940,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.532,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10121,347
$CAP_FILE_SIZE,66134,0
$CFSIZE,1023623168,975323136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,163455,-3326.022,2737.066,18,0.9,21,-27.5,1.9,235.7,9,9.2