version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 390
start: 4 24 119 23 57 29
data:
$ID,573
$MISSION,30
$DIVE,390
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,240419,234831,-3423.0330,2545.6458,15,0.9,25,-27.8,0.2,176.9,10,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-63.9
$GPS2,240419,235704,-3423.0352,2545.6045,14,0.9,15,-27.8,0.0,0.0,9,9.6
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.762,2537.207
$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,-340.6,83,2018,556,607,0.0,0.0,0,147,0.00,0.00,-119.70,0.000,16386,0.000,0.000,75,2018,3734,3809,3660,0,0,0,0,0,0,15.00,28.83,15.01
$GC,150,-1.19,-340.6,75,2018,3810,3660,6.6,-23.4,22,175,12.10,2.45,-3.17,0.000,18948,0.307,0.085,2096,607,3964,4003,3926,0,0,0,0,0,0,14.14,12.90,14.37
$GC,243,-1.19,-340.6,2096,605,4003,3928,39.4,-21.7,39,250,0.00,2.35,0.00,0.000,3078,0.000,0.047,2094,2014,3966,4003,3929,0,0,0,0,0,0,14.85,14.73,14.88
$GC,313,-1.19,-340.6,2094,2014,4003,3928,54.4,-20.9,52,319,0.00,2.42,0.00,0.000,2308,0.000,0.076,2088,3413,3965,4003,3928,0,0,0,0,0,0,15.03,14.67,15.03
$GC,377,-1.19,-340.6,2088,3412,4003,3929,67.5,-20.3,64,385,0.08,2.35,0.00,0.000,3078,0.291,0.038,2102,2010,3966,4003,3929,0,0,0,0,0,0,14.52,14.76,14.74
$GC,450,-1.19,-340.6,2101,2007,4003,3929,82.6,-22.1,77,456,0.00,2.47,0.00,0.000,2308,0.000,0.075,2101,3421,3966,4003,3929,0,0,0,0,0,0,15.05,14.52,15.05
$GC,494,-1.19,-340.6,2098,3421,4003,3929,91.5,-18.6,85,501,0.00,2.33,0.00,0.000,3078,0.000,0.037,2101,2005,3966,4003,3929,0,0,0,0,0,0,14.74,14.63,14.75
$GC,566,-1.19,-340.6,2100,2005,4005,3929,104.1,-16.7,98,573,0.00,2.47,0.00,0.000,2308,0.000,0.073,2098,3414,3966,4003,3929,0,0,0,0,0,0,15.04,14.62,15.05
$GC,651,-1.19,-340.6,2098,3414,4002,3929,118.1,-15.4,114,658,0.00,2.33,0.00,0.000,3078,0.000,0.037,2098,2015,3966,4003,3929,0,0,0,0,0,0,14.82,14.71,14.83
$STATE,694,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,694,begin apogee
$GC,700,-0.19,0.0,2098,1924,4003,3929,125.2,-15.8,122,923,1.62,0.00,211.62,1.071,10246,0.164,0.000,2422,1922,2811,2860,2762,0,0,0,0,0,0,14.40,14.34,13.62
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,928,1.19,340.6,2422,1922,2860,2762,137.9,0.0,162,1202,2.08,0.00,263.70,1.056,11014,0.085,0.000,2862,1922,1423,1478,1368,0,0,0,0,0,0,14.42,14.31,13.64
$GC,1265,1.26,395.1,2862,1921,1476,1365,97.8,17.8,222,1316,0.00,2.55,44.30,1.004,10500,0.000,0.063,2862,3371,1202,1265,1140,0,0,0,0,0,0,14.79,14.19,13.70
$GC,1365,1.38,496.4,2862,3371,1265,1140,80.7,16.0,240,1462,0.22,2.35,86.05,0.997,11270,0.087,0.044,2936,1993,787,824,750,0,0,0,0,0,0,14.61,14.57,13.66
$GC,1525,1.38,496.4,2935,1993,825,744,49.0,22.0,269,1531,0.00,2.55,0.00,0.000,4612,0.000,0.082,2940,555,784,825,744,0,0,0,0,0,0,14.81,14.51,14.81
$GC,1565,1.38,496.4,2939,555,826,742,40.1,22.0,276,1571,0.00,2.35,0.00,0.000,5126,0.000,0.035,2940,1978,783,826,741,0,0,0,0,0,0,14.69,14.60,14.69
$GC,1636,1.39,503.9,2939,1978,827,740,26.3,19.7,289,1649,0.00,2.35,6.22,0.798,12548,0.000,0.061,2940,3358,757,797,717,0,0,0,0,0,0,14.90,14.29,13.74
$GC,1667,1.42,527.4,2939,3358,797,717,20.5,19.0,294,1692,0.00,2.35,16.27,0.855,11270,0.000,0.046,2940,1958,659,671,647,0,0,0,0,0,0,14.78,14.66,13.80
$GC,1755,1.53,613.3,2939,1958,666,642,5.3,16.6,310,1774,0.08,2.47,8.70,0.701,10756,0.181,0.082,2996,564,597,598,597,0,0,0,0,0,0,14.57,14.50,13.88
$STATE,1779,end climb,SURFACE_DEPTH_REACHED
$STATE,1779,begin surface coast
$FINISH,0.1,1.000206
$STATE,1792,end surface coast,CONTROL_FINISHED_OK
$STATE,1792,begin surface
$SM_CCo,1879,0.00,0.000,0,0,594,544.07
$SM_GC,0.46,13.38,2.42,0.00,0.049,0.037,0.000,141,2005,594,-7.27,-1.24,544.07,0,0,0,0,0,0,14.71,14.71,14.78
$IRIDIUM_FIX,-3409.50,2547.21,240419,235228
$TT8_MAMPS,0.019474,0.89131
$HUMID,58.46
$INTERNAL_PRESSURE,8.98436
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.4
$ALTIM_BOTTOM_PING,80.7,59.4
$SC_FREEKB,3718496
$24V_AH,12.90,188.116
$10V_AH,12.53,0.000
$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,29.550,38.650,636.875,0.000,0.000,48.444,65.438,79.411,0.750,0.000,15.622,491.349,301.223,637.115,771.867,198.738,0.000,1038.391,0.000,479.035,0.000,8.775,0.000
$DEVICE_MAMPS,306.765,154.530,1071.000,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1837.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.187,0.000,0.000,0.000
$MEM,339528
$DATA_FILE_SIZE,10183,316
$CAP_FILE_SIZE,61030,0
$CFSIZE,1023623168,969048064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,002947,-3422.808,2545.490,19,1.0,22,-27.7,0.5,322.4,9,9.7