version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 392
start: 4 25 119 1 18 30
data:
$ID,573
$MISSION,30
$DIVE,392
$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,61
$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
$GPS1,250419,011048,-3422.5713,2545.4175,16,0.9,30,-27.7,0.0,257.3,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-62.8
$GPS2,250419,011802,-3422.5730,2545.3904,21,1.0,25,-27.7,0.0,0.0,9,9.0
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.300,2536.994
$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,347.7,20000,-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,-340.6,119,2029,581,593,0.0,0.0,0,147,0.00,0.00,-119.62,0.000,16386,0.000,0.000,110,2030,3733,3808,3659,0,0,0,0,0,0,15.00,28.83,15.01
$GC,150,-1.19,-340.6,110,2030,3808,3659,6.4,-21.1,22,175,11.90,2.45,-3.22,0.000,18948,0.313,0.083,2094,611,3964,4003,3926,0,0,0,0,0,0,14.18,12.95,14.41
$GC,214,-1.19,-340.6,2094,611,4003,3927,31.6,-21.3,33,221,0.00,2.30,0.00,0.000,3078,0.000,0.046,2092,1992,3965,4003,3927,0,0,0,0,0,0,14.73,14.63,14.74
$GC,286,-1.19,-340.6,2091,1993,4002,3928,45.7,-19.0,46,292,0.00,2.47,0.00,0.000,2308,0.000,0.076,2088,3414,3965,4002,3928,0,0,0,0,0,0,15.03,14.61,15.03
$GC,340,-1.19,-340.6,2088,3414,4002,3929,55.7,-17.4,56,347,0.08,2.33,0.00,0.000,3078,0.287,0.038,2102,2008,3966,4003,3929,0,0,0,0,0,0,14.42,14.64,14.64
$GC,412,-1.19,-340.6,2101,2008,4002,3929,67.3,-16.7,69,418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2102,2007,3965,4002,3929,0,0,0,0,0,0,15.04,15.04,15.04
$GC,481,-1.19,-340.6,2101,2007,3999,3929,77.6,-13.4,82,488,0.00,2.47,0.00,0.000,2308,0.000,0.074,2101,3419,3965,4001,3929,0,0,0,0,0,0,15.06,14.70,15.06
$GC,575,-1.19,-340.6,2100,3419,4002,3929,89.8,-11.8,99,582,0.00,2.33,0.00,0.000,3078,0.000,0.037,2100,2016,3965,4002,3929,0,0,0,0,0,0,14.76,14.66,14.77
$GC,646,-1.19,-340.6,2100,2016,4003,3929,98.9,-13.2,112,653,0.00,2.47,0.00,0.000,2308,0.000,0.073,2099,3424,3966,4003,3929,0,0,0,0,0,0,15.07,14.71,15.07
$GC,713,-1.19,-340.6,2098,3424,4002,3928,107.5,-12.9,124,720,0.00,2.33,0.00,0.000,3078,0.000,0.037,2099,2006,3965,4002,3929,0,0,0,0,0,0,14.90,14.78,14.91
$STATE,750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,750,begin apogee
$GC,756,-0.19,0.0,2099,2006,4002,3929,113.1,-14.0,131,979,1.65,0.00,210.50,1.060,10246,0.168,0.000,2424,2005,2810,2859,2762,0,0,0,0,0,0,14.51,14.14,13.63
$STATE,981,end apogee,CONTROL_FINISHED_OK
$STATE,981,begin climb
$GC,983,1.19,340.6,2424,2005,2858,2762,125.2,0.0,171,1259,2.08,2.55,262.67,1.047,11012,0.093,0.076,2867,568,1421,1477,1366,0,0,0,0,0,0,14.43,14.12,13.61
$GC,1268,1.42,523.5,2866,568,1477,1366,101.3,12.8,220,1430,0.28,2.35,151.35,1.010,11270,0.080,0.039,2947,1971,678,699,657,0,0,0,0,0,0,14.50,14.49,13.69
$GC,1494,1.45,550.3,2947,1971,696,651,62.8,18.9,261,1518,0.00,2.45,17.73,0.933,10500,0.000,0.063,2947,3363,599,605,593,0,0,0,0,0,0,14.81,14.44,13.73
$GC,1546,1.47,569.4,2947,3363,605,590,52.6,19.2,270,1553,0.00,2.38,0.00,0.000,3078,0.000,0.047,2950,1968,601,605,598,0,0,0,0,0,0,14.69,14.57,14.71
$GC,1619,1.55,633.9,2949,1968,606,585,40.6,17.4,283,1626,0.08,2.47,0.00,0.000,2564,0.182,0.080,3001,554,595,605,585,0,0,0,0,0,0,14.66,14.50,14.69
$GC,1659,1.55,633.9,3001,553,605,584,32.4,20.4,290,1666,0.00,2.33,0.00,0.000,5126,0.000,0.038,3001,1967,594,605,584,0,0,0,0,0,0,14.69,14.59,14.70
$GC,1730,1.55,633.9,3001,1968,605,581,17.6,21.1,303,1737,0.00,2.38,0.00,0.000,4356,0.000,0.061,3001,3362,593,606,581,0,0,0,0,0,0,14.96,14.62,14.96
$GC,1755,1.55,633.9,3001,3362,605,582,11.7,22.4,307,1762,0.05,2.38,0.00,0.000,5126,0.371,0.049,2993,1956,593,605,581,0,0,0,0,0,0,14.43,14.60,14.69
$STATE,1797,end climb,SURFACE_DEPTH_REACHED
$STATE,1797,begin surface coast
$FINISH,0.6,1.025496
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1895,0.00,0.000,0,0,592,544.56
$SM_GC,0.50,13.30,0.08,0.00,0.047,0.144,0.000,145,2035,592,-7.27,-1.13,544.56,0,0,0,0,0,0,14.76,14.78,14.84
$IRIDIUM_FIX,-3406.89,2544.86,250419,003608
$TT8_MAMPS,0.019474,0.840378
$HUMID,58.89
$INTERNAL_PRESSURE,8.9746
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,80.3,47.7
$SC_FREEKB,3717472
$24V_AH,12.95,188.577
$10V_AH,12.54,0.000
$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,29.400,38.550,642.250,0.000,0.000,23.418,41.480,83.043,0.750,0.000,26.332,495.726,242.158,642.794,738.866,223.097,0.000,1049.457,0.000,478.720,0.000,7.195,0.000
$DEVICE_MAMPS,371.025,188.190,1059.525,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.938,0.000,0.000,0.000
$MEM,339500
$DATA_FILE_SIZE,10171,317
$CAP_FILE_SIZE,61154,0
$CFSIZE,1023623168,968654848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,015107,-3422.302,2545.285,21,1.0,25,-27.7,0.3,256.5,8,9.2