version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 349
start: 4 22 119 22 44 55
data:
$ID,573
$MISSION,30
$DIVE,349
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,220419,223621,-3337.8489,2723.4839,20,0.8,25,-27.6,2.2,219.9,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-60.8
$GPS2,220419,224429,-3338.2478,2723.0320,20,0.8,21,-27.6,2.4,221.9,11,9.9
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.047,2723.032
$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,20,begin dive
$GC,22,-0.82,-272.5,72,1962,562,586,0.0,0.0,0,117,0.00,0.00,-92.20,0.000,16386,0.000,0.000,72,1961,3120,3117,3124,0,0,0,0,0,0,15.06,28.83,15.07
$GC,122,-0.82,-272.5,71,1961,3118,3124,3.6,-9.7,17,153,12.62,2.35,-12.30,0.000,18948,0.301,0.083,2210,608,3929,3987,3871,0,0,0,0,0,0,14.39,13.05,14.60
$GC,177,-0.82,-272.5,2210,607,3983,3877,22.6,-22.4,26,184,0.05,2.30,0.00,0.000,3078,0.343,0.045,2222,2005,3930,3983,3877,0,0,0,0,0,0,14.62,14.84,14.84
$GC,248,-0.82,-272.5,2221,2005,3983,3877,35.4,-19.9,39,254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2005,3929,3982,3877,0,0,0,0,0,0,15.11,15.11,15.11
$GC,317,-0.82,-272.5,2221,2005,3982,3877,46.0,-12.7,52,323,0.00,2.38,0.00,0.000,2564,0.000,0.065,2222,607,3929,3982,3877,0,0,0,0,0,0,15.12,14.81,15.11
$GC,350,-0.82,-272.5,2222,606,3982,3877,50.1,-12.3,58,357,0.00,2.33,0.00,0.000,3078,0.000,0.044,2222,2021,3929,3982,3877,0,0,0,0,0,0,14.88,14.76,14.90
$GC,419,-0.82,-272.5,2221,2021,3982,3877,57.9,-11.2,71,426,0.00,2.38,0.00,0.000,2308,0.000,0.073,2221,3408,3929,3982,3877,0,0,0,0,0,0,15.13,14.64,15.14
$GC,453,-0.82,-272.5,2221,3409,3982,3877,61.9,-11.0,77,460,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2014,3930,3983,3877,0,0,0,0,0,0,14.99,14.90,15.00
$GC,524,-0.82,-272.5,2220,2014,3982,3877,69.7,-11.2,90,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2014,3929,3982,3877,0,0,0,0,0,0,15.14,15.14,15.14
$GC,593,-0.82,-272.5,2220,2014,3982,3877,77.3,-10.1,103,599,0.00,2.42,0.00,0.000,2308,0.000,0.070,2221,3413,3930,3983,3877,0,0,0,0,0,0,15.14,14.81,15.15
$GC,630,-0.82,-272.5,2220,3412,3982,3877,80.4,-9.8,109,636,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2007,3929,3982,3877,0,0,0,0,0,0,14.83,14.75,14.85
$GC,701,-0.82,-272.5,2220,2007,3982,3877,87.3,-9.1,122,707,0.00,2.40,0.00,0.000,2564,0.000,0.066,2221,604,3930,3983,3877,0,0,0,0,0,0,15.14,14.76,15.14
$GC,744,-0.82,-272.5,2220,604,3982,3877,91.8,-10.4,130,751,0.00,2.33,0.00,0.000,3078,0.000,0.045,2221,2018,3930,3983,3877,0,0,0,0,0,0,14.83,14.72,14.83
$STATE,777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,777,begin apogee
$GC,783,-0.19,0.0,2221,1943,3982,3877,95.3,-9.1,136,989,0.98,0.00,198.20,0.948,10246,0.135,0.000,2422,1942,2811,2859,2763,0,0,0,0,0,0,14.68,14.52,13.88
$STATE,991,end apogee,CONTROL_FINISHED_OK
$STATE,991,begin climb
$GC,993,0.82,272.5,2422,1942,2858,2763,104.0,0.0,173,1211,1.48,2.53,203.25,0.939,11012,0.094,0.065,2736,3356,1699,1753,1645,0,0,0,0,0,0,14.52,14.49,13.88
$GC,1239,0.93,361.4,2735,3356,1750,1644,88.8,7.8,216,1319,0.15,2.30,70.10,0.920,11270,0.106,0.040,2804,1979,1337,1396,1278,0,0,0,0,0,0,14.62,14.56,13.90
$GC,1382,0.93,361.4,2803,1976,1395,1277,74.2,11.3,242,1389,0.08,2.42,0.00,0.000,4612,0.249,0.071,2783,566,1335,1395,1276,0,0,0,0,0,0,14.58,14.65,14.67
$GC,1427,0.93,361.4,2783,566,1395,1276,69.5,10.1,250,1433,0.00,2.30,0.00,0.000,1030,0.000,0.037,2783,1977,1335,1394,1276,0,0,0,0,0,0,14.85,14.77,14.85
$GC,1498,0.97,394.1,2783,1977,1392,1276,62.7,9.1,263,1527,0.00,0.00,26.90,0.886,10502,0.000,0.000,2783,1977,1205,1264,1146,0,0,0,0,0,0,15.03,14.66,14.02
$GC,1590,1.01,430.2,2783,1977,1264,1144,53.8,9.1,280,1624,0.00,0.00,30.67,0.883,10246,0.000,0.000,2783,1977,1058,1114,1002,0,0,0,0,0,0,15.00,14.58,13.97
$GC,1687,1.12,519.4,2783,1977,1114,997,46.4,7.8,298,1773,0.17,2.47,74.60,0.895,10756,0.098,0.075,2863,561,693,689,698,0,0,0,0,0,0,14.73,14.49,13.97
$GC,1791,1.13,530.5,2863,561,689,692,36.1,9.7,316,1809,0.00,2.30,10.95,0.812,13318,0.000,0.036,2863,1969,647,633,662,0,0,0,0,0,0,14.76,14.68,13.96
$GC,1872,1.21,589.6,2863,1969,633,650,29.4,8.5,331,1890,0.00,2.40,11.43,0.811,10500,0.000,0.065,2863,3356,598,574,622,0,0,0,0,0,0,14.97,14.46,14.00
$GC,1989,1.21,589.6,2863,3356,574,608,16.3,14.0,353,1996,0.00,2.33,0.00,0.000,3078,0.000,0.040,2863,1966,590,573,608,0,0,0,0,0,0,14.77,14.67,14.79
$GC,2060,1.21,589.6,2862,1969,574,603,8.3,11.3,366,2066,0.00,2.42,0.00,0.000,2564,0.000,0.073,2863,552,587,573,602,0,0,0,0,0,0,15.06,14.71,15.07
$STATE,2107,end climb,SURFACE_DEPTH_REACHED
$STATE,2107,begin surface coast
$FINISH,0.2,1.023650
$STATE,2128,end surface coast,CONTROL_FINISHED_OK
$STATE,2128,begin surface
$SM_CCo,2213,0.00,0.000,0,0,586,546.03
$SM_GC,0.66,12.55,2.42,0.00,0.047,0.045,0.000,142,1999,586,-7.27,-1.50,546.03,0,0,0,0,0,0,14.85,14.89,14.93
$IRIDIUM_FIX,-3322.80,2724.79,220419,215008
$TT8_MAMPS,0.019474,0.890561
$HUMID,59.21
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,80.4,29.8
$SC_FREEKB,3739552
$24V_AH,13.05,176.301
$10V_AH,13.48,0.000
$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,28.075,47.425,626.100,0.000,0.000,22.643,42.180,207.709,0.750,0.000,22.006,650.870,312.443,633.501,944.181,168.743,0.000,1076.370,0.000,573.630,0.000,7.159,0.000
$DEVICE_MAMPS,342.720,143.820,947.835,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2176.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.800,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13428,379
$CAP_FILE_SIZE,73882,0
$CFSIZE,1023623168,974438400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,232250,-3339.624,2721.820,20,0.8,25,-27.7,3.4,212.6,11,9.2