version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 405
start: 4 25 119 9 6 49
data:
$ID,573
$MISSION,30
$DIVE,405
$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,60
$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,45
$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
$GPS1,250419,085801,-3419.5579,2546.4558,19,0.8,33,-27.7,0.4,357.5,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-62.2
$GPS2,250419,090622,-3419.5203,2546.5317,18,0.8,19,-27.7,0.5,110.2,11,9.2
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.121,2557.844
$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,87.7,20000,-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,-340.6,93,1960,596,581,0.0,0.0,0,151,0.00,0.00,-124.35,0.000,16390,0.000,0.000,89,1960,3963,3994,3933,0,0,0,0,0,0,15.04,13.01,15.00
$GC,154,-1.19,-340.6,89,1960,3989,3938,7.8,-26.8,23,173,11.95,2.30,0.00,0.000,2820,0.307,0.051,2097,595,3965,3990,3940,0,0,0,0,0,0,14.34,14.68,14.56
$GC,292,-1.19,-340.6,2098,596,3992,3939,45.3,-17.0,49,299,0.00,2.35,0.00,0.000,3078,0.000,0.044,2096,2008,3966,3992,3940,0,0,0,0,0,0,14.90,14.80,14.92
$GC,363,-1.19,-340.6,2095,2012,3992,3940,57.8,-18.6,62,370,0.00,2.42,0.00,0.000,2308,0.000,0.076,2095,3411,3965,3991,3940,0,0,0,0,0,0,15.05,14.73,15.05
$GC,479,-1.19,-340.6,2092,3411,3991,3940,77.4,-14.6,84,486,0.00,2.33,0.00,0.000,3078,0.000,0.037,2095,2010,3966,3992,3940,0,0,0,0,0,0,14.92,14.82,14.94
$GC,553,-1.19,-340.6,2094,2008,3992,3940,87.6,-14.5,97,560,0.00,2.42,0.00,0.000,2308,0.000,0.072,2094,3412,3966,3992,3940,0,0,0,0,0,0,15.07,14.75,15.07
$STATE,565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,565,begin apogee
$GC,574,-0.19,0.0,2094,1950,3992,3940,90.0,-14.9,99,796,1.65,0.00,210.60,1.011,10246,0.168,0.000,2423,1948,2810,2856,2764,0,0,0,0,0,0,14.61,14.16,13.65
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,801,1.19,340.6,2423,1949,2856,2764,103.8,0.0,139,1074,2.05,2.55,262.20,0.996,11012,0.088,0.064,2860,3370,1421,1474,1369,0,0,0,0,0,0,14.47,14.35,13.68
$GC,1118,1.39,502.7,2859,3372,1472,1368,73.3,13.6,195,1259,0.25,2.38,132.95,0.957,11270,0.080,0.044,2940,1969,761,798,725,0,0,0,0,0,0,14.61,14.57,13.77
$GC,1324,1.49,581.9,2940,1968,799,719,39.6,16.9,232,1369,0.00,2.50,36.35,0.913,10756,0.000,0.080,2947,566,597,590,605,0,0,0,0,0,0,14.83,14.38,13.82
$GC,1394,1.52,604.5,2946,567,590,601,27.0,19.1,244,1401,0.00,2.33,0.00,0.000,3078,0.000,0.036,2947,1976,595,590,601,0,0,0,0,0,0,14.70,14.62,14.72
$GC,1466,1.57,650.6,2946,1976,590,595,13.9,18.1,257,1473,0.10,2.35,0.00,0.000,2308,0.145,0.060,2998,3356,592,590,595,0,0,0,0,0,0,14.68,14.52,14.71
$GC,1496,1.57,650.6,2998,3356,589,594,7.5,20.8,262,1503,0.00,2.35,0.00,0.000,5126,0.000,0.048,3002,1965,592,590,594,0,0,0,0,0,0,14.69,14.59,14.71
$STATE,1517,end climb,SURFACE_DEPTH_REACHED
$STATE,1517,begin surface coast
$FINISH,0.2,1.025643
$STATE,1534,end surface coast,CONTROL_FINISHED_OK
$STATE,1534,begin surface
$SM_CCo,1618,0.00,0.000,0,0,591,544.80
$SM_GC,0.53,13.52,0.00,0.00,0.055,0.000,0.000,131,1965,591,-7.31,-1.36,544.80,0,0,0,0,0,0,14.73,14.99,14.81
$IRIDIUM_FIX,-3404.29,2543.73,250419,082800
$TT8_MAMPS,0.019474,0.841127
$HUMID,57.79
$INTERNAL_PRESSURE,9.03319
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,80.4,23.4
$SC_FREEKB,3710816
$24V_AH,13.01,191.403
$10V_AH,12.55,0.000
$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,29.525,28.725,642.100,0.000,0.000,22.863,46.403,64.141,0.750,0.000,20.096,382.824,192.003,620.557,635.757,300.350,0.000,981.053,0.000,414.711,0.000,7.134,0.000
$DEVICE_MAMPS,306.765,80.325,1011.330,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1571.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.246,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,10163,269
$CAP_FILE_SIZE,49485,0
$CFSIZE,1023623168,966623232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,093448,-3419.333,2546.800,20,1.0,23,-27.7,0.6,30.5,8,9.1