version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 353
start: 4 23 119 1 56 2
data:
$ID,573
$MISSION,30
$DIVE,353
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,230419,014657,-3345.2161,2716.5205,31,1.0,37,-27.7,2.2,227.7,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-59.4
$GPS2,230419,015534,-3345.6328,2716.0083,24,1.0,43,-27.7,0.0,211.6,10,9.9
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3356.432,2716.008
$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,207.7,20000,-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,-272.5,71,2007,558,598,0.0,0.0,0,117,0.00,0.00,-92.88,0.000,16386,0.000,0.000,72,2008,3168,3179,3158,0,0,0,0,0,0,15.08,28.83,15.09
$GC,122,-0.82,-272.5,71,2007,3180,3158,3.7,-9.8,17,153,12.57,2.45,-11.85,0.000,18948,0.294,0.086,2216,603,3928,3986,3871,0,0,0,0,0,0,14.42,13.02,14.64
$GC,190,-0.82,-272.5,2216,603,3982,3878,23.6,-17.8,29,197,0.00,2.35,0.00,0.000,3078,0.000,0.045,2214,2024,3930,3982,3878,0,0,0,0,0,0,14.88,14.76,14.89
$GC,261,-0.82,-272.5,2213,2024,3982,3878,36.2,-20.2,42,268,0.00,2.40,0.00,0.000,2308,0.000,0.071,2214,3411,3930,3982,3878,0,0,0,0,0,0,15.10,14.78,15.10
$GC,306,-0.82,-272.5,2214,3411,3982,3878,45.1,-18.5,50,312,0.00,2.33,0.00,0.000,3078,0.000,0.040,2214,2004,3929,3981,3878,0,0,0,0,0,0,14.95,14.82,14.97
$GC,376,-0.82,-272.5,2213,2004,3981,3878,56.6,-14.4,63,383,0.00,2.38,0.00,0.000,2564,0.000,0.066,2214,609,3929,3981,3878,0,0,0,0,0,0,15.11,14.81,15.11
$GC,430,-0.82,-272.5,2213,608,3981,3878,63.0,-10.2,73,437,0.00,2.33,0.00,0.000,3078,0.000,0.044,2214,2022,3929,3981,3878,0,0,0,0,0,0,14.93,14.80,14.95
$GC,501,-0.82,-272.5,2213,2023,3981,3878,70.5,-11.7,86,508,0.00,2.40,0.00,0.000,2308,0.000,0.073,2214,3413,3929,3981,3878,0,0,0,0,0,0,15.11,14.81,15.12
$GC,586,-0.82,-272.5,2213,3414,3981,3878,80.1,-11.8,101,593,0.00,2.30,0.00,0.000,3078,0.000,0.037,2214,2011,3930,3982,3878,0,0,0,0,0,0,15.00,14.90,15.01
$GC,656,-0.82,-272.5,2213,2011,3981,3878,89.5,-12.7,114,668,0.00,2.38,0.00,0.000,2564,0.000,0.065,2214,612,3929,3980,3878,0,0,0,0,0,0,15.13,14.82,15.13
$GC,685,-0.82,-272.5,2213,612,3987,3878,93.3,-12.1,118,692,0.00,2.30,0.00,0.000,3078,0.000,0.043,2214,2016,3929,3981,3878,0,0,0,0,0,0,14.92,14.81,14.93
$GC,756,-0.82,-272.5,2213,2018,3981,3878,101.0,-10.5,131,763,0.00,2.42,0.00,0.000,2308,0.000,0.071,2213,3411,3930,3982,3878,0,0,0,0,0,0,15.14,14.81,15.14
$GC,806,-0.82,-272.5,2213,3411,3981,3878,106.3,-9.6,140,813,0.00,2.30,0.00,0.000,3078,0.000,0.036,2214,2010,3929,3981,3878,0,0,0,0,0,0,15.00,14.91,15.02
$GC,876,-0.82,-272.5,2213,2008,3981,3878,113.5,-11.7,153,883,0.00,2.38,0.00,0.000,2564,0.000,0.065,2214,605,3929,3981,3878,0,0,0,0,0,0,15.14,14.83,15.14
$GC,910,-0.82,-272.5,2213,607,3981,3878,117.4,-11.0,159,917,0.00,2.33,0.00,0.000,3078,0.000,0.044,2214,2024,3929,3981,3878,0,0,0,0,0,0,14.95,14.81,14.97
$STATE,974,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,974,begin apogee
$GC,980,-0.19,0.0,2213,1925,3981,3879,124.7,-11.5,171,1192,1.02,0.00,200.38,0.979,10246,0.132,0.000,2424,1924,2812,2859,2765,0,0,0,0,0,0,14.57,14.31,13.83
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,0.82,272.5,2424,1924,2859,2765,136.9,0.0,209,1415,1.45,2.47,206.30,0.978,11012,0.087,0.063,2736,3359,1700,1753,1647,0,0,0,0,0,0,14.54,14.31,13.85
$GC,1428,0.93,363.8,2735,3359,1750,1646,126.2,7.7,249,1509,0.15,2.30,72.35,0.962,11270,0.103,0.038,2810,1982,1328,1388,1268,0,0,0,0,0,0,14.64,14.57,13.84
$GC,1572,0.93,363.8,2809,1982,1386,1268,113.0,10.0,275,1579,0.08,2.45,0.00,0.000,4612,0.257,0.072,2790,564,1327,1387,1268,0,0,0,0,0,0,14.58,14.60,14.67
$GC,1638,0.96,393.2,2790,564,1386,1268,107.1,9.2,287,1668,0.00,2.30,24.20,0.938,11270,0.000,0.037,2790,1974,1208,1269,1148,0,0,0,0,0,0,14.87,14.78,13.97
$GC,1731,0.98,407.2,2790,1974,1270,1148,98.7,9.6,304,1750,0.00,2.42,13.18,0.884,10500,0.000,0.065,2790,3359,1151,1212,1091,0,0,0,0,0,0,15.00,14.67,13.97
$GC,1773,0.98,407.2,2789,3360,1212,1091,94.2,10.7,311,1780,0.00,2.33,0.00,0.000,3078,0.000,0.041,2790,1961,1152,1213,1091,0,0,0,0,0,0,14.80,14.70,14.81
$GC,1844,1.03,443.6,2790,1961,1212,1091,87.7,9.1,324,1884,0.00,2.45,31.38,0.929,10756,0.000,0.075,2790,565,1004,1061,948,0,0,0,0,0,0,15.03,14.64,14.01
$GC,1928,1.09,491.4,2790,565,1061,944,80.1,8.8,339,1979,0.12,2.28,40.67,0.930,11270,0.118,0.036,2854,1970,807,847,767,0,0,0,0,0,0,14.73,14.73,13.97
$GC,2043,1.09,491.4,2853,1972,849,759,68.2,11.9,360,2050,0.05,2.40,0.00,0.000,4356,0.311,0.063,2842,3358,803,849,758,0,0,0,0,0,0,14.62,14.65,14.76
$GC,2073,1.09,491.4,2842,3359,849,757,64.1,13.6,365,2080,0.00,2.35,0.00,0.000,5126,0.000,0.042,2842,1959,802,849,756,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2143,1.09,491.4,2841,1958,850,755,55.4,12.1,378,2150,0.00,2.42,0.00,0.000,4612,0.000,0.075,2842,561,802,850,755,0,0,0,0,0,0,15.04,14.73,15.05
$GC,2193,1.09,498.9,2841,560,850,754,50.3,9.8,387,2206,0.00,2.28,7.28,0.793,9222,0.000,0.036,2842,1969,777,820,734,0,0,0,0,0,0,14.86,14.79,14.00
$GC,2270,1.22,602.1,2841,1968,820,728,43.7,7.4,401,2316,0.08,2.45,39.45,0.901,10500,0.180,0.067,2875,3355,597,585,610,0,0,0,0,0,0,14.78,14.66,14.00
$GC,2355,1.31,674.6,2874,3355,584,603,36.6,8.2,416,2362,0.08,2.30,0.00,0.000,3078,0.177,0.037,2913,1962,593,584,602,0,0,0,0,0,0,14.71,14.76,14.83
$GC,2427,1.31,674.6,2913,1961,584,596,29.0,12.1,429,2433,0.00,2.40,0.00,0.000,4612,0.000,0.073,2914,564,589,584,595,0,0,0,0,0,0,15.03,14.63,15.04
$GC,2450,1.31,674.6,2913,564,583,594,25.8,12.3,433,2457,0.00,2.28,0.00,0.000,5126,0.000,0.038,2914,1968,589,585,594,0,0,0,0,0,0,14.91,14.83,14.93
$GC,2522,1.36,713.6,2913,1968,584,591,18.1,9.0,446,2528,0.00,2.40,0.00,0.000,2308,0.000,0.067,2913,3360,587,584,591,0,0,0,0,0,0,15.07,14.66,15.08
$GC,2545,1.36,713.6,2913,3360,584,590,15.1,11.8,450,2552,0.00,2.33,0.00,0.000,3078,0.000,0.044,2914,1960,586,584,589,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2617,1.46,794.3,2913,1959,584,586,7.2,8.0,463,2624,0.08,2.42,0.00,0.000,2564,0.180,0.078,2967,558,583,581,586,0,0,0,0,0,0,14.85,14.66,14.88
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2644,begin surface coast
$FINISH,1.6,1.023606
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2742,0.00,0.000,0,0,584,546.76
$SM_GC,0.66,12.90,2.40,0.00,0.044,0.033,0.000,149,2005,584,-7.26,-1.27,546.76,0,0,0,0,0,0,14.85,14.90,14.94
$IRIDIUM_FIX,-3327.96,2709.81,230419,005846
$TT8_MAMPS,0.019474,0.854609
$HUMID,59.84
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,90.7,48.5
$SC_FREEKB,3737504
$24V_AH,13.02,177.205
$10V_AH,13.58,0.000
$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,28.575,80.550,635.175,0.000,0.000,23.648,17.805,223.374,1.250,0.000,44.148,863.953,406.745,682.965,1110.349,205.158,0.000,1210.843,0.000,712.387,0.000,11.612,0.000
$DEVICE_MAMPS,310.590,116.280,979.200,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.636,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16798,470
$CAP_FILE_SIZE,94330,0
$CFSIZE,1023623168,974012416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,024300,-3347.490,2714.295,30,0.8,39,-27.8,2.2,210.5,11,9.8