version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 384
start: 4 24 119 19 20 21
data:
$ID,573
$MISSION,30
$DIVE,384
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,6
$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,167
$T_MISSION,177
$T_ABORT,245
$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,320
$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,350
$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,52
$R_STBD_OVSHOOT,74
$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
$GPS1,240419,191127,-3424.3142,2548.0222,19,1.0,20,-27.8,0.7,260.9,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-63.5
$GPS2,240419,191953,-3424.3237,2547.9287,19,1.0,20,-27.8,0.0,0.0,9,8.2
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.051,2539.529
$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,347.8,20000,-20.9,-19.960,-22.72,2620
$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,-1.19,-340.6,72,1991,575,591,0.0,0.0,0,146,0.00,0.00,-118.88,0.000,16386,0.000,0.000,72,1990,3662,3721,3603,0,0,0,0,0,0,14.92,28.83,14.94
$GC,149,-1.19,-340.6,72,1989,3722,3603,6.1,-20.8,22,173,12.27,2.35,-4.35,0.000,18948,0.311,0.090,2096,621,3965,4004,3926,0,0,0,0,0,0,14.07,12.87,14.30
$GC,311,-1.19,-340.6,2095,620,4004,3929,51.1,-22.4,53,318,0.00,2.28,0.00,0.000,3078,0.000,0.047,2095,1981,3966,4004,3929,0,0,0,0,0,0,14.83,14.71,14.85
$GC,382,-1.19,-340.6,2095,1981,4004,3929,65.0,-20.2,66,389,0.00,2.50,0.00,0.000,2308,0.000,0.076,2094,3415,3966,4004,3929,0,0,0,0,0,0,14.97,14.63,14.97
$GC,561,-1.19,-340.6,2094,3415,4003,3934,99.7,-17.1,100,568,0.00,2.33,0.00,0.000,3078,0.000,0.038,2094,2022,3966,4003,3929,0,0,0,0,0,0,14.78,14.67,14.82
$GC,632,-1.19,-340.6,2094,2021,4004,3929,111.2,-15.5,113,639,0.00,2.42,0.00,0.000,2564,0.000,0.070,2094,605,3966,4003,3929,0,0,0,0,0,0,15.04,14.67,15.04
$GC,662,-1.19,-340.6,2093,605,4004,3929,115.8,-14.1,118,669,0.00,2.33,0.00,0.000,3078,0.000,0.044,2092,2012,3966,4004,3929,0,0,0,0,0,0,14.85,14.73,14.87
$GC,734,-1.19,-340.6,2092,2012,4004,3929,125.9,-15.4,131,741,0.00,2.42,0.00,0.000,2308,0.000,0.074,2089,3414,3966,4004,3929,0,0,0,0,0,0,15.02,14.47,15.02
$GC,836,-1.19,-340.6,2088,3414,4003,3930,141.9,-14.1,150,843,0.08,2.33,0.00,0.000,3078,0.286,0.038,2102,2009,3967,4004,3930,0,0,0,0,0,0,14.50,14.76,14.73
$GC,911,-1.19,-340.6,2102,2008,4004,3930,153.0,-15.2,163,917,0.00,2.45,0.00,0.000,2308,0.000,0.072,2102,3410,3967,4004,3930,0,0,0,0,0,0,15.03,14.66,15.04
$GC,961,-1.19,-340.6,2102,3411,4004,3930,160.3,-14.4,172,967,0.00,2.33,0.00,0.000,3078,0.000,0.037,2102,2004,3966,4003,3930,0,0,0,0,0,0,14.78,14.66,14.82
$STATE,1008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1008,begin apogee
$GC,1014,-0.19,0.0,2102,2004,4003,3930,167.9,-15.5,181,1236,1.62,0.00,213.75,1.140,10246,0.174,0.000,2426,2002,2812,2862,2762,0,0,0,0,0,0,14.51,14.24,13.53
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1241,1.19,340.6,2423,2002,2862,2761,178.2,0.0,221,1519,2.08,2.40,266.50,1.128,10500,0.088,0.063,2859,3362,1423,1479,1367,0,0,0,0,0,0,14.37,14.12,13.58
$GC,1588,1.38,497.4,2857,3362,1475,1367,143.7,13.8,283,1728,0.25,2.38,131.32,1.089,11270,0.084,0.044,2933,1961,783,822,745,0,0,0,0,0,0,14.57,14.53,13.59
$GC,1792,1.43,537.7,2932,1961,817,740,107.0,18.4,320,1837,0.00,2.47,37.05,1.041,10756,0.000,0.083,2938,560,617,615,620,0,0,0,0,0,0,14.76,14.40,13.68
$GC,1876,1.50,587.4,2938,559,615,614,91.8,18.0,335,1890,0.05,2.33,5.32,0.726,11270,0.249,0.036,2971,1968,598,594,603,0,0,0,0,0,0,14.35,14.47,13.62
$GC,1953,1.50,587.4,2971,1968,594,598,76.5,22.4,349,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1968,597,595,599,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2022,1.50,587.4,2971,1968,595,596,60.4,24.0,362,2028,0.00,2.38,0.00,0.000,260,0.000,0.062,2971,3360,595,595,596,0,0,0,0,0,0,14.90,14.52,14.90
$GC,2051,1.50,587.4,2971,3360,595,595,53.9,22.0,367,2058,0.00,2.35,0.00,0.000,5126,0.000,0.047,2975,1963,595,595,595,0,0,0,0,0,0,14.64,14.52,14.66
$GC,2122,1.50,587.4,2974,1962,595,594,40.7,20.2,380,2129,0.00,2.47,0.00,0.000,4612,0.000,0.084,2979,562,594,595,594,0,0,0,0,0,0,14.95,14.55,14.95
$GC,2173,1.51,601.6,2978,561,595,593,30.1,19.4,389,2179,0.00,2.30,0.00,0.000,5126,0.000,0.036,2979,1963,594,595,593,0,0,0,0,0,0,14.76,14.68,14.78
$GC,2244,1.52,609.2,2979,1964,592,592,16.5,19.7,402,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1964,593,595,592,0,0,0,0,0,0,14.97,14.98,14.98
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2310,begin surface coast
$FINISH,-0.3,1.025433
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2411,0.00,0.000,0,0,592,544.56
$SM_GC,0.45,13.27,0.00,0.00,0.047,0.000,0.000,141,1965,592,-7.28,-1.36,544.56,0,0,0,0,0,0,14.76,15.02,14.83
$IRIDIUM_FIX,-3412.10,2707.79,240419,182049
$TT8_MAMPS,0.019474,0.776713
$HUMID,60.67
$INTERNAL_PRESSURE,8.9453
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.9
$ALTIM_BOTTOM_PING,150.1,32.4
$SC_FREEKB,3721568
$24V_AH,12.87,186.648
$10V_AH,12.50,0.000
$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,29.625,42.850,653.950,0.000,0.000,25.184,16.099,231.945,2.750,0.000,21.079,712.950,350.596,660.895,1013.247,188.418,0.000,1135.291,0.000,639.050,0.000,25.328,0.000
$DEVICE_MAMPS,310.590,187.425,1139.850,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2380.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.404,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13460,418
$CAP_FILE_SIZE,76148,0
$CFSIZE,1023623168,970211328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,200129,-3424.170,2547.446,19,0.8,20,-27.8,0.8,299.4,10,8.0