version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 366
start: 4 23 119 18 35 39
data:
$ID,573
$MISSION,30
$DIVE,366
$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,350
$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,355
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,230419,182559,-3416.6104,2627.9622,24,1.0,26,-28.0,1.7,218.8,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-57.8
$GPS2,230419,183512,-3417.0818,2627.1873,16,1.0,17,-28.0,3.1,238.0,9,9.3
$SPEED_LIMITS,0.172,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.323,2626.051
$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,23.0,20000,-11.4,-9.950,-14.87,5214
$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,-0.84,-340.6,72,2006,587,576,0.0,0.0,0,117,0.00,0.00,-92.50,0.000,16386,0.000,0.000,72,2006,3104,3101,3108,0,0,0,0,0,0,15.02,28.83,15.04
$GC,122,-0.84,-340.6,72,2006,3102,3109,3.2,-8.3,17,158,12.60,2.50,-13.82,0.000,18692,0.295,0.096,2199,3399,3964,4004,3924,0,0,0,0,0,0,14.34,12.98,14.54
$GC,326,-0.84,-340.6,2198,3399,4002,3926,46.8,-16.7,56,333,0.08,2.33,0.00,0.000,3078,0.260,0.038,2215,2011,3962,4002,3923,0,0,0,0,0,0,14.62,14.79,14.82
$GC,397,-0.84,-340.6,2215,2011,4002,3926,57.3,-13.8,69,404,0.00,2.45,0.00,0.000,2308,0.000,0.071,2216,3402,3964,4002,3926,0,0,0,0,0,0,15.09,14.74,15.10
$GC,426,-0.84,-340.6,2215,3402,4002,3926,61.1,-11.6,74,433,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2005,3963,4002,3925,0,0,0,0,0,0,14.96,14.85,14.96
$GC,497,-0.84,-340.6,2215,2005,4002,3922,68.6,-10.4,87,503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2004,3964,4002,3926,0,0,0,0,0,0,15.08,15.09,15.08
$GC,566,-0.84,-340.6,2215,2005,4002,3926,76.3,-11.6,100,572,0.00,2.47,0.00,0.000,2308,0.000,0.070,2216,3405,3964,4002,3926,0,0,0,0,0,0,15.12,14.76,15.12
$GC,630,-0.84,-340.6,2215,3405,4002,3926,83.7,-12.0,112,637,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2010,3964,4002,3926,0,0,0,0,0,0,14.88,14.78,14.90
$GC,703,-0.84,-340.6,2215,2010,4002,3926,91.6,-11.0,125,710,0.00,2.42,0.00,0.000,2308,0.000,0.070,2216,3401,3964,4002,3926,0,0,0,0,0,0,15.14,14.78,15.14
$GC,757,-0.84,-340.6,2215,3401,4002,3926,98.0,-10.9,135,763,0.00,2.30,0.00,0.000,3078,0.000,0.035,2216,2006,3964,4003,3926,0,0,0,0,0,0,14.95,14.86,14.97
$GC,828,-0.84,-340.6,2215,2005,4003,3926,104.7,-8.2,148,835,0.00,2.38,0.00,0.000,2564,0.000,0.067,2216,611,3964,4002,3926,0,0,0,0,0,0,15.11,14.78,15.11
$GC,848,-0.84,-340.6,2215,611,4003,3926,106.8,-9.0,151,854,0.00,2.28,0.00,0.000,3078,0.000,0.043,2216,2004,3964,4002,3926,0,0,0,0,0,0,14.97,14.86,14.98
$GC,919,-0.84,-340.6,2215,2005,4002,3926,112.3,-9.3,164,926,0.00,2.42,0.00,0.000,2308,0.000,0.063,2215,3412,3964,4002,3926,0,0,0,0,0,0,15.11,14.64,15.12
$GC,984,-0.84,-340.6,2215,3413,4003,3926,118.6,-10.1,176,990,0.00,2.30,0.00,0.000,3078,0.000,0.037,2216,2011,3964,4003,3926,0,0,0,0,0,0,14.81,14.73,14.83
$STATE,1054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1054,begin apogee
$GC,1059,-0.19,0.0,2216,2010,4003,3926,127.6,-5.6,189,1276,1.00,0.00,208.15,1.001,10246,0.138,0.000,2422,2009,2811,2859,2763,0,0,0,0,0,0,14.64,14.40,13.76
$STATE,1278,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1280,0.84,340.6,2422,2009,2857,2762,142.2,0.0,228,1553,1.58,2.42,258.95,0.993,10500,0.083,0.066,2758,3362,1423,1480,1366,0,0,0,0,0,0,14.49,14.45,13.79
$GC,1682,0.99,462.3,2758,3362,1476,1366,112.7,7.6,301,1790,0.12,2.35,99.50,0.969,11270,0.121,0.042,2818,1964,926,982,871,0,0,0,0,0,0,14.69,14.66,13.85
$GC,1854,0.99,462.3,2818,1964,982,867,92.4,13.0,332,1861,0.00,2.45,0.00,0.000,4612,0.000,0.076,2818,567,924,982,867,0,0,0,0,0,0,14.89,14.61,14.89
$GC,1930,0.99,462.3,2817,566,982,865,82.4,13.2,346,1937,0.00,2.30,0.00,0.000,5126,0.000,0.036,2818,1973,923,982,864,0,0,0,0,0,0,14.76,14.73,14.76
$GC,2001,0.99,462.3,2818,1973,980,863,71.9,15.7,359,2008,0.00,2.40,0.00,0.000,4356,0.000,0.066,2818,3353,922,982,863,0,0,0,0,0,0,15.02,14.67,15.03
$GC,2025,0.99,462.3,2818,3353,982,863,68.0,15.1,363,2032,0.00,2.33,0.00,0.000,5126,0.000,0.041,2819,1955,922,982,863,0,0,0,0,0,0,14.76,14.67,14.76
$GC,2096,1.22,649.6,2818,1955,982,862,61.4,6.3,376,2176,0.15,2.45,69.57,0.933,10756,0.110,0.078,2893,559,598,586,610,0,0,0,0,0,0,14.81,14.56,13.95
$GC,2204,1.35,750.7,2892,560,584,605,53.8,8.0,395,2211,0.00,2.30,0.00,0.000,3078,0.000,0.036,2893,1963,593,584,603,0,0,0,0,0,0,14.78,14.69,14.79
$GC,2275,1.35,750.7,2892,1963,584,596,45.1,13.3,408,2282,0.00,2.42,0.00,0.000,2308,0.000,0.064,2893,3355,590,584,596,0,0,0,0,0,0,14.96,14.61,14.97
$GC,2289,1.35,750.7,2892,3355,584,595,43.4,12.2,410,2295,0.00,2.33,0.00,0.000,3078,0.000,0.044,2893,1967,589,584,595,0,0,0,0,0,0,14.84,14.73,14.86
$GC,2360,1.35,750.7,2893,1967,584,593,34.2,11.2,423,2366,0.00,2.42,0.00,0.000,2308,0.000,0.060,2893,3359,588,584,592,0,0,0,0,0,0,15.01,14.73,15.02
$GC,2404,1.44,830.2,2892,3359,585,590,30.3,8.4,431,2411,0.17,2.35,0.00,0.000,3078,0.101,0.042,2955,1960,587,585,590,0,0,0,0,0,0,14.81,14.79,14.88
$GC,2476,1.44,830.2,2955,1960,585,586,22.6,12.6,444,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1960,585,585,586,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2547,1.44,830.2,2955,1960,586,584,12.8,12.2,457,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1960,585,586,585,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2616,1.44,830.2,2955,1960,585,583,4.1,17.2,470,2623,0.00,2.42,0.00,0.000,516,0.000,0.076,2957,561,584,586,583,0,0,0,0,0,0,15.08,14.67,15.09
$STATE,2627,end climb,SURFACE_DEPTH_REACHED
$STATE,2627,begin surface coast
$FINISH,1.5,1.023800
$STATE,2633,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2719,0.00,0.000,0,0,583,546.76
$SM_GC,0.64,12.98,2.40,0.00,0.046,0.038,0.000,147,2008,583,-7.27,-1.36,546.76,0,0,0,0,0,0,14.85,14.88,14.94
$IRIDIUM_FIX,-3401.68,2629.24,230419,173115
$TT8_MAMPS,0.019474,0.910784
$HUMID,58.86
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.7
$ALTIM_BOTTOM_PING,90.3,52.3
$SC_FREEKB,3730848
$24V_AH,12.98,180.874
$10V_AH,13.00,0.000
$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,28.675,61.850,636.175,0.000,0.000,26.019,36.625,252.167,1.000,0.000,18.039,850.674,419.160,666.507,1140.028,205.140,0.000,1186.341,0.000,717.993,0.000,8.763,0.000
$DEVICE_MAMPS,295.290,95.625,1000.620,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.763,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16814,473
$CAP_FILE_SIZE,87356,0
$CFSIZE,1023623168,972406784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,192154,-3418.254,2624.802,17,1.1,19,-28.0,2.7,231.9,9,8.3