version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 389
start: 4 24 119 23 12 57
data:
$ID,573
$MISSION,30
$DIVE,389
$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,2
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,240419,230555,-3423.2917,2545.8945,29,1.0,41,-27.8,0.3,150.3,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.9
$GPS2,240419,231230,-3423.2974,2545.8396,18,0.8,20,-27.8,0.0,0.0,10,9.6
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.025,2537.442
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.19,-340.6,95,2028,573,593,0.0,0.0,0,147,0.00,0.00,-119.10,0.000,16386,0.000,0.000,84,2029,3680,3745,3616,0,0,0,0,0,0,14.99,28.83,15.00
$GC,150,-1.19,-340.6,84,2028,3746,3616,6.4,-22.5,22,174,12.07,2.40,-4.03,0.000,18692,0.308,0.096,2088,3399,3964,4002,3926,0,0,0,0,0,0,14.17,12.92,14.39
$GC,233,-1.19,-340.6,2088,3399,4000,3929,33.9,-19.2,37,241,0.08,2.30,0.00,0.000,3078,0.288,0.039,2102,2006,3964,4000,3929,0,0,0,0,0,0,14.51,14.74,14.73
$GC,305,-1.19,-340.6,2101,2005,4000,3930,47.2,-18.4,50,312,0.00,2.42,0.00,0.000,2308,0.000,0.073,2101,3391,3964,4000,3929,0,0,0,0,0,0,15.02,14.55,15.02
$GC,360,-1.19,-340.6,2101,3391,4000,3930,56.3,-15.8,60,367,0.00,2.28,0.00,0.000,3078,0.000,0.038,2101,2014,3965,4000,3930,0,0,0,0,0,0,14.70,14.59,14.71
$GC,432,-1.19,-340.6,2101,2013,4000,3930,68.0,-16.9,73,438,0.00,2.42,0.00,0.000,2308,0.000,0.073,2096,3397,3965,4000,3930,0,0,0,0,0,0,15.03,14.68,15.04
$GC,471,-1.19,-340.6,2095,3397,4000,3930,74.9,-16.8,80,477,0.00,2.30,0.00,0.000,3078,0.000,0.038,2096,2006,3964,4000,3928,0,0,0,0,0,0,14.73,14.61,14.76
$GC,543,-1.19,-340.6,2096,2006,4001,3929,88.5,-20.2,93,551,0.00,2.42,0.00,0.000,2308,0.000,0.073,2094,3391,3965,4000,3930,0,0,0,0,0,0,15.02,14.69,15.02
$GC,574,-1.19,-340.6,2094,3391,4000,3930,94.9,-18.9,98,581,0.00,2.28,0.00,0.000,3078,0.000,0.037,2094,2020,3965,4000,3930,0,0,0,0,0,0,14.88,14.78,14.90
$GC,646,-1.19,-340.6,2094,2020,4001,3930,107.8,-18.8,111,651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2094,2020,3965,4000,3930,0,0,0,0,0,0,15.04,15.04,15.04
$GC,715,-1.19,-340.6,2094,2020,4000,3930,119.5,-16.4,124,721,0.00,2.40,0.00,0.000,2308,0.000,0.074,2090,3393,3965,4000,3930,0,0,0,0,0,0,15.05,14.52,15.06
$GC,806,-1.19,-340.6,2089,3394,4001,3930,133.7,-15.0,141,813,0.05,2.30,0.00,0.000,3078,0.327,0.038,2099,2002,3965,4001,3930,0,0,0,0,0,0,14.41,14.63,14.63
$STATE,818,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,818,begin apogee
$GC,824,-0.19,0.0,2099,2003,4000,3930,136.0,-14.7,143,1047,1.62,0.00,212.23,1.092,10246,0.171,0.000,2422,2001,2811,2861,2762,0,0,0,0,0,0,14.55,14.33,13.62
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1052,1.19,340.6,2422,2001,2860,2762,148.5,0.0,183,1330,2.08,2.58,264.25,1.082,11012,0.085,0.078,2866,570,1423,1479,1368,0,0,0,0,0,0,14.40,14.31,13.62
$GC,1340,1.33,451.1,2866,570,1478,1368,120.9,15.6,233,1442,0.12,2.30,91.03,1.046,11270,0.128,0.037,2913,1951,972,1030,914,0,0,0,0,0,0,14.47,14.48,13.62
$GC,1507,1.45,550.0,2912,1951,1030,911,93.5,16.1,263,1599,0.08,2.45,80.88,1.017,10500,0.183,0.061,2958,3356,599,558,640,0,0,0,0,0,0,14.54,14.14,13.64
$GC,1612,1.48,573.1,2958,3357,557,638,72.6,19.1,281,1619,0.00,2.38,0.00,0.000,1030,0.000,0.049,2960,1968,597,557,638,0,0,0,0,0,0,14.47,14.38,14.49
$GC,1683,1.48,573.1,2960,1970,558,632,58.7,21.2,294,1689,0.00,2.47,0.00,0.000,516,0.000,0.084,2960,564,594,557,631,0,0,0,0,0,0,14.83,14.49,14.84
$GC,1727,1.48,573.1,2960,564,557,629,49.0,20.6,302,1733,0.00,2.30,0.00,0.000,1030,0.000,0.037,2960,1965,593,557,629,0,0,0,0,0,0,14.75,14.68,14.75
$GC,1798,1.52,608.3,2960,1965,557,625,36.1,18.6,315,1804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2960,1966,590,556,625,0,0,0,0,0,0,14.93,14.94,14.93
$GC,1867,1.60,675.5,2960,1965,557,623,23.0,17.3,328,1874,0.08,2.38,0.00,0.000,2308,0.188,0.060,3003,3365,590,557,623,0,0,0,0,0,0,14.70,14.54,14.75
$GC,1891,1.67,726.4,3003,3365,557,622,18.5,18.0,332,1898,0.00,2.35,0.00,0.000,3078,0.000,0.049,3009,1964,589,557,622,0,0,0,0,0,0,14.83,14.71,14.85
$GC,1962,1.67,726.4,3008,1964,557,620,3.8,23.0,345,1969,0.00,2.45,0.00,0.000,2564,0.000,0.083,3015,561,588,557,620,0,0,0,0,0,0,15.00,14.55,15.00
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1974,begin surface coast
$FINISH,-0.1,1.000073
$STATE,1986,end surface coast,CONTROL_FINISHED_OK
$STATE,1986,begin surface
$SM_CCo,2072,0.00,0.000,0,0,587,545.78
$SM_GC,0.52,13.38,2.40,0.00,0.047,0.035,0.000,143,2003,587,-7.26,-1.41,545.78,0,0,0,0,0,0,14.79,14.79,14.85
$IRIDIUM_FIX,-3409.50,2547.21,240419,222438
$TT8_MAMPS,0.019474,0.899549
$HUMID,59.01
$INTERNAL_PRESSURE,8.9746
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.0
$ALTIM_BOTTOM_PING,100.2,50.4
$SC_FREEKB,3719008
$24V_AH,12.92,187.887
$10V_AH,12.47,0.000
$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,29.550,47.575,648.375,0.000,0.000,22.145,39.051,77.860,1.250,0.000,21.230,563.725,268.711,665.884,778.070,201.896,0.000,1101.796,0.000,526.834,0.000,10.288,0.000
$DEVICE_MAMPS,327.420,95.625,1092.420,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2033.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.096,0.000,0.000,0.000
$MEM,339504
$DATA_FILE_SIZE,10134,349
$CAP_FILE_SIZE,68150,0
$CFSIZE,1023623168,969228288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,234831,-3423.033,2545.646,15,0.9,25,-27.8,0.2,176.9,10,9.2