version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 345
start: 4 22 119 19 31 32
data:
$ID,573
$MISSION,30
$DIVE,345
$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,42
$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
$GPS1,220419,192120,-3331.3120,2730.4993,17,1.1,21,-27.6,2.2,222.7,9,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-61.8
$GPS2,220419,193104,-3331.7324,2729.9307,16,0.8,17,-27.6,2.4,235.0,10,10.0
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3342.531,2729.931
$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,207.6,20000,-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,21,-0.82,-272.5,72,2019,564,582,0.0,0.0,0,112,0.00,0.00,-87.50,0.000,16386,0.000,0.000,72,2018,3050,3038,3062,0,0,0,0,0,0,15.09,28.83,15.09
$GC,116,-0.82,-272.5,72,2018,3038,3062,3.8,-9.2,16,152,12.48,2.38,-13.70,0.000,18948,0.294,0.083,2215,616,3925,4040,3810,0,0,0,0,0,0,14.45,13.08,14.64
$GC,210,-0.82,-272.5,2212,617,4041,3810,28.9,-17.7,33,218,0.05,2.30,0.00,0.000,3078,0.354,0.044,2221,2019,3925,4040,3810,0,0,0,0,0,0,14.62,14.81,14.85
$GC,282,-0.82,-272.5,2220,2020,4041,3810,41.6,-13.9,46,288,0.00,2.38,0.00,0.000,2564,0.000,0.063,2221,610,3925,4040,3810,0,0,0,0,0,0,15.13,14.83,15.13
$GC,335,-0.82,-272.5,2221,609,4040,3810,48.0,-11.2,56,342,0.00,2.30,0.00,0.000,3078,0.000,0.043,2222,2015,3925,4041,3810,0,0,0,0,0,0,14.96,14.83,14.98
$GC,405,-0.82,-272.5,2221,2015,4041,3810,56.4,-12.4,69,411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2015,3926,4041,3811,0,0,0,0,0,0,15.14,15.14,15.14
$GC,473,-0.82,-272.5,2218,2016,4040,3810,65.0,-11.9,82,480,0.00,2.40,0.00,0.000,2308,0.000,0.073,2221,3415,3925,4041,3810,0,0,0,0,0,0,15.16,14.82,15.16
$GC,559,-0.82,-272.5,2220,3415,4040,3810,73.8,-9.7,98,566,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2016,3925,4040,3810,0,0,0,0,0,0,14.86,14.77,14.87
$GC,632,-0.82,-272.5,2221,2016,4041,3810,80.7,-9.3,111,638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2016,3925,4041,3810,0,0,0,0,0,0,15.16,15.16,15.18
$GC,700,-0.82,-272.5,2221,2016,4041,3810,87.5,-9.6,124,707,0.00,2.38,0.00,0.000,2564,0.000,0.063,2221,611,3925,4041,3810,0,0,0,0,0,0,15.16,14.85,15.16
$GC,733,-0.82,-272.5,2220,611,4041,3810,90.4,-9.8,129,739,0.00,2.28,0.00,0.000,3078,0.000,0.045,2221,2012,3925,4041,3810,0,0,0,0,0,0,15.02,14.91,15.03
$GC,802,-0.82,-272.5,2221,2013,4041,3810,97.7,-10.6,142,809,0.00,2.38,0.00,0.000,2308,0.000,0.070,2221,3411,3924,4041,3808,0,0,0,0,0,0,15.16,14.83,15.16
$STATE,824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,825,begin apogee
$GC,833,-0.19,0.0,2221,1947,4041,3810,99.9,-9.0,146,1040,0.98,0.00,199.05,0.947,10246,0.130,0.000,2425,1946,2812,2863,2761,0,0,0,0,0,0,14.73,14.54,13.91
$STATE,1042,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1044,0.82,272.5,2425,1946,2862,2760,110.8,0.0,183,1262,1.45,2.38,204.73,0.939,10756,0.090,0.069,2736,568,1699,1754,1645,0,0,0,0,0,0,14.54,14.52,13.87
$GC,1305,0.82,278.1,2736,568,1750,1641,93.1,9.8,229,1319,0.00,2.30,5.47,0.738,11270,0.000,0.039,2736,1968,1674,1725,1624,0,0,0,0,0,0,14.75,14.69,13.92
$GC,1382,0.88,323.5,2736,1968,1729,1623,86.5,8.8,243,1423,0.08,0.00,36.97,0.908,10502,0.177,0.000,2794,1968,1493,1548,1439,0,0,0,0,0,0,14.71,14.63,14.01
$GC,1486,0.91,345.1,2793,1969,1542,1437,76.0,9.4,262,1510,0.00,2.47,18.80,0.881,12804,0.000,0.071,2794,568,1403,1459,1347,0,0,0,0,0,0,14.99,14.64,14.01
$GC,1533,0.99,413.6,2794,567,1458,1347,72.2,8.3,270,1595,0.00,2.28,54.92,0.910,11270,0.000,0.038,2794,1965,1124,1183,1065,0,0,0,0,0,0,14.85,14.76,13.97
$GC,1658,1.05,459.8,2794,1965,1183,1062,60.6,8.8,293,1704,0.05,2.42,38.75,0.893,10500,0.253,0.064,2843,3367,936,985,887,0,0,0,0,0,0,14.65,14.40,13.95
$GC,1718,1.05,459.8,2843,3367,985,883,54.0,11.0,303,1726,0.08,2.33,0.00,0.000,5126,0.259,0.043,2826,1970,933,985,882,0,0,0,0,0,0,14.57,14.69,14.73
$GC,1790,1.06,474.6,2826,1970,986,878,47.4,9.6,316,1809,0.00,2.47,13.38,0.838,10756,0.000,0.074,2826,560,876,923,829,0,0,0,0,0,0,15.00,14.70,14.02
$GC,1861,1.06,474.6,2825,561,924,821,40.0,10.1,329,1868,0.00,2.30,0.00,0.000,3078,0.000,0.039,2826,1966,872,924,821,0,0,0,0,0,0,14.90,14.80,14.91
$GC,1933,1.10,506.2,2826,1966,924,820,33.4,9.2,342,1967,0.00,0.00,27.45,0.871,10246,0.000,0.000,2826,1967,745,776,714,0,0,0,0,0,0,15.04,14.51,14.04
$GC,2030,1.10,506.2,2826,1966,777,704,23.5,10.4,360,2037,0.05,2.40,0.00,0.000,2564,0.251,0.064,2857,566,740,777,704,0,0,0,0,0,0,14.73,14.70,14.83
$STATE,2213,end climb,SURFACE_DEPTH_REACHED
$STATE,2213,begin surface coast
$FINISH,-0.1,1.023559
$STATE,2239,end surface coast,CONTROL_FINISHED_OK
$STATE,2239,begin surface
$SM_CCo,2264,19.98,0.685,0,0,598,542.59
$SM_GC,0.60,12.48,2.38,19.98,0.041,0.035,0.685,115,2012,598,-7.31,-1.44,542.59,0,0,0,0,0,0,14.92,14.92,14.17
$IRIDIUM_FIX,-3317.63,2729.38,220419,192421
$TT8_MAMPS,0.019474,0.888314
$HUMID,58.66
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,90.4,24.2
$SC_FREEKB,3741600
$24V_AH,13.08,175.417
$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,27.675,47.200,599.525,19.975,0.000,46.492,81.682,187.591,1.250,0.000,18.494,715.692,348.347,630.755,1021.532,167.456,0.000,1079.555,0.000,609.207,0.000,12.824,0.000
$DEVICE_MAMPS,354.195,82.620,947.070,684.675,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.395,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13481,401
$CAP_FILE_SIZE,76962,0
$CFSIZE,1023623168,974831616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,201049,-3332.875,2728.689,18,0.8,33,-27.6,0.8,164.3,10,9.7