version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 341
start: 4 22 119 16 42 32
data:
$ID,573
$MISSION,30
$DIVE,341
$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,36
$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
$GPS1,220419,163455,-3326.0217,2737.0664,18,0.9,21,-27.5,1.9,235.7,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-60.7
$GPS2,220419,164206,-3326.2964,2736.6196,18,1.0,21,-27.5,2.4,223.6,8,8.8
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3337.095,2736.620
$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,20,begin dive
$GC,22,-0.82,-272.5,71,2011,581,587,0.0,0.0,0,112,0.00,0.00,-86.85,0.000,16386,0.000,0.000,72,2011,2994,3005,2983,0,0,0,0,0,0,15.10,28.83,15.10
$GC,116,-0.82,-272.5,71,2011,3005,2983,3.0,-5.3,16,152,12.50,2.38,-15.77,0.000,18948,0.295,0.083,2215,607,3924,4040,3809,0,0,0,0,0,0,14.45,13.90,14.65
$GC,195,-0.82,-272.5,2215,607,4041,3809,23.3,-19.0,30,203,0.05,2.33,0.00,0.000,3078,0.347,0.044,2221,2024,3923,4041,3805,0,0,0,0,0,0,14.59,14.79,14.81
$GC,267,-0.82,-272.5,2221,2024,4041,3809,37.0,-21.0,43,274,0.00,2.40,0.00,0.000,2564,0.000,0.064,2222,612,3925,4041,3809,0,0,0,0,0,0,15.14,14.83,15.13
$GC,336,-0.82,-272.5,2221,614,4040,3809,46.7,-11.8,56,343,0.00,2.30,0.00,0.000,3078,0.000,0.044,2222,2014,3925,4041,3809,0,0,0,0,0,0,14.99,14.88,15.00
$GC,406,-0.82,-272.5,2221,2014,4041,3809,55.5,-13.4,69,412,0.00,2.40,0.00,0.000,2308,0.000,0.074,2220,3413,3925,4041,3809,0,0,0,0,0,0,15.15,14.76,15.15
$GC,470,-0.82,-272.5,2219,3413,4041,3809,62.9,-10.4,81,476,0.00,2.28,0.00,0.000,3078,0.000,0.037,2220,2010,3924,4040,3809,0,0,0,0,0,0,14.88,14.78,14.89
$GC,540,-0.82,-272.5,2220,2010,4041,3809,70.7,-10.4,94,547,0.00,2.38,0.00,0.000,2564,0.000,0.064,2220,610,3925,4041,3809,0,0,0,0,0,0,15.16,14.79,15.16
$GC,590,-0.82,-272.5,2220,610,4041,3809,76.3,-11.4,103,597,0.00,2.30,0.00,0.000,3078,0.000,0.043,2220,2024,3924,4040,3809,0,0,0,0,0,0,14.89,14.80,14.90
$STATE,626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,626,begin apogee
$GC,632,-0.19,0.0,2220,1939,4041,3809,80.3,-11.6,109,837,1.00,0.00,197.40,0.909,10246,0.132,0.000,2427,1936,2811,2862,2760,0,0,0,0,0,0,14.68,14.52,13.90
$STATE,839,end apogee,CONTROL_FINISHED_OK
$STATE,839,begin climb
$GC,841,0.82,272.5,2427,1936,2861,2760,89.9,0.0,146,1054,1.45,2.35,202.65,0.907,10756,0.079,0.065,2743,585,1700,1755,1645,0,0,0,0,0,0,14.57,14.51,13.93
$GC,1122,0.90,343.7,2742,585,1746,1644,72.8,8.2,196,1185,0.08,2.25,56.17,0.885,11270,0.177,0.039,2795,1967,1409,1466,1353,0,0,0,0,0,0,14.62,14.64,13.99
$GC,1249,0.92,356.8,2794,1968,1462,1351,59.9,9.6,219,1267,0.00,0.00,11.68,0.812,12294,0.000,0.000,2795,1967,1356,1413,1300,0,0,0,0,0,0,14.97,14.46,14.01
$GC,1329,1.00,426.0,2795,1968,1409,1298,52.6,8.2,234,1390,0.00,0.00,55.42,0.876,10758,0.000,0.000,2796,1967,1074,1132,1017,0,0,0,0,0,0,15.02,14.62,14.03
$GC,1454,1.08,486.0,2795,1967,1131,1014,42.2,8.5,257,1511,0.08,2.42,50.05,0.865,10756,0.181,0.071,2856,595,828,858,799,0,0,0,0,0,0,14.68,14.61,14.00
$GC,1550,1.09,492.2,2855,594,862,788,32.4,9.8,274,1564,0.05,2.22,5.80,0.714,13318,0.285,0.037,2838,1973,804,842,767,0,0,0,0,0,0,14.61,14.76,13.95
$GC,1628,1.13,529.1,2838,1974,844,759,25.0,9.0,288,1662,0.00,2.38,25.62,0.819,10500,0.000,0.066,2837,3346,651,650,652,0,0,0,0,0,0,15.02,14.63,14.03
$GC,1696,1.13,529.1,2838,3346,650,641,18.7,10.2,300,1703,0.00,2.22,0.00,0.000,3078,0.000,0.041,2838,2000,646,650,643,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1768,1.13,529.1,2837,2000,650,638,11.5,11.2,313,1774,0.00,2.47,0.00,0.000,2564,0.000,0.071,2838,548,644,650,638,0,0,0,0,0,0,15.06,14.72,15.06
$GC,1781,1.13,529.1,2837,548,651,638,9.9,11.8,315,1788,0.00,2.28,0.00,0.000,3078,0.000,0.038,2837,1960,643,650,637,0,0,0,0,0,0,14.85,14.83,14.85
$GC,1852,1.18,570.0,2838,1961,650,634,3.3,8.9,328,1860,0.05,0.00,5.20,0.542,10498,0.263,0.000,2863,1961,607,607,608,0,0,0,0,0,0,14.78,28.83,14.89
$STATE,1861,end climb,SURFACE_DEPTH_REACHED
$STATE,1861,begin surface coast
$FINISH,0.0,1.022877
$STATE,1887,end surface coast,CONTROL_FINISHED_OK
$STATE,1887,begin surface
$SM_CCo,1909,0.00,0.000,0,0,601,542.59
$SM_GC,1.13,12.40,0.00,0.00,0.036,0.000,0.000,141,1963,601,-7.26,-1.41,542.59,0,0,0,0,0,0,14.88,15.11,15.11
$IRIDIUM_FIX,-3312.47,2738.54,220419,155454
$TT8_MAMPS,0.019474,0.885318
$HUMID,58.15
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.3
$ALTIM_BOTTOM_PING,80.3,13.0
$SC_FREEKB,3743648
$24V_AH,13.90,174.577
$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,27.650,37.425,610.000,0.000,0.000,23.502,16.189,186.133,0.750,0.000,22.429,559.540,213.227,604.151,823.260,153.690,0.000,1004.103,0.000,506.298,0.000,8.470,0.000
$DEVICE_MAMPS,347.310,139.995,908.820,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.765,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10143,334
$CAP_FILE_SIZE,65945,0
$CFSIZE,1023623168,975224832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,171528,-3327.270,2735.399,21,0.8,27,-27.5,2.9,238.1,11,9.7