version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 34
start: 4 1 119 0 22 32
data:
$ID,573
$MISSION,30
$DIVE,34
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,182
$T_ABORT,197
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$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,542.59473
$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,1
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,37
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,010419,001336,-2852.4495,3216.5276,22,0.8,25,-23.7,1.2,208.3,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.5
$GPS2,010419,002208,-2852.6765,3216.4458,20,0.8,25,-23.7,0.9,195.8,11,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2846.693,3206.189
$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,327.3,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,72,1975,580,582,0.0,0.0,0,109,0.00,0.00,-86.47,0.000,16386,0.000,0.000,72,1976,3042,3038,3046,0,0,0,0,0,0,14.97,28.83,14.98
$GC,111,-0.85,-146.0,72,1975,3038,3047,4.2,-11.7,15,137,12.57,2.40,-5.95,0.000,18692,0.307,0.080,2202,3391,3410,3442,3378,0,0,0,0,0,0,14.45,13.90,14.63
$GC,236,-0.85,-146.0,2197,3393,3444,3378,35.0,-15.9,38,243,0.05,2.33,0.00,0.000,3078,0.337,0.038,2208,1981,3412,3445,3379,0,0,0,0,0,0,14.54,14.75,14.76
$GC,305,-0.85,-146.0,2208,1981,3446,3378,45.7,-16.4,51,312,0.00,2.42,0.00,0.000,2308,0.000,0.065,2204,3392,3411,3445,3378,0,0,0,0,0,0,15.04,14.71,15.04
$GC,368,-0.85,-146.0,2203,3393,3445,3378,56.3,-15.5,63,375,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1988,3411,3445,3378,0,0,0,0,0,0,14.91,14.81,14.92
$GC,437,-0.85,-146.0,2204,1987,3445,3378,66.4,-13.5,76,444,0.00,2.42,0.00,0.000,2308,0.000,0.068,2203,3390,3411,3445,3378,0,0,0,0,0,0,15.08,14.77,15.09
$GC,516,-0.85,-146.0,2203,3390,3445,3378,78.0,-16.3,91,522,0.00,2.33,0.00,0.000,3078,0.000,0.039,2204,1971,3411,3445,3378,0,0,0,0,0,0,14.88,14.76,14.88
$GC,585,-0.85,-146.0,2203,1970,3445,3378,88.0,-14.6,104,591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1970,3411,3445,3378,0,0,0,0,0,0,15.07,15.08,15.07
$GC,653,-0.85,-146.0,2203,1969,3445,3378,98.5,-14.4,117,661,0.00,2.42,0.00,0.000,2308,0.000,0.068,2203,3389,3411,3445,3378,0,0,0,0,0,0,15.09,14.78,15.09
$STATE,887,end dive,NO_VERTICAL_VELOCITY
$STATE,887,begin apogee
$GC,894,-0.19,0.0,2203,1977,3446,3377,110.8,0.0,163,1008,1.02,0.00,106.25,1.035,10246,0.090,0.000,2430,1976,2811,2848,2774,0,0,0,0,0,0,14.75,14.51,14.02
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1012,0.85,146.0,2430,1976,2848,2774,110.7,0.0,183,1130,1.48,2.53,108.65,1.014,11012,0.088,0.063,2749,3394,2215,2256,2174,0,0,0,0,0,0,14.52,14.38,13.95
$GC,1253,0.92,194.9,2748,3394,2249,2173,96.9,7.7,226,1301,0.05,2.33,37.88,0.988,11270,0.250,0.041,2792,1995,2016,2059,1974,0,0,0,0,0,0,14.53,14.60,14.02
$GC,1363,0.92,194.9,2791,1995,2056,1971,87.3,10.1,246,1370,0.00,2.40,0.00,0.000,4356,0.000,0.062,2792,3389,2013,2055,1972,0,0,0,0,0,0,14.87,14.59,14.87
$GC,1397,0.92,199.0,2792,3389,2055,1971,83.9,9.8,252,1411,0.00,2.35,4.18,0.719,13318,0.000,0.043,2797,1984,2001,2044,1958,0,0,0,0,0,0,14.69,14.61,14.02
$GC,1473,0.92,199.0,2796,1984,2041,1957,75.7,10.4,266,1479,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,1984,1998,2041,1956,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1541,0.94,212.3,2796,1984,2041,1956,69.6,9.4,279,1559,0.00,0.00,12.23,0.914,12294,0.000,0.000,2797,1984,1945,1988,1903,0,0,0,0,0,0,14.99,14.73,14.16
$GC,1621,0.96,233.0,2796,1984,1984,1901,62.0,9.0,294,1646,0.00,2.42,17.40,0.937,8452,0.000,0.061,2797,3391,1860,1903,1817,0,0,0,0,0,0,14.97,14.54,14.13
$GC,1684,0.96,233.0,2796,3392,1902,1816,55.2,11.0,305,1691,0.00,2.35,0.00,0.000,1030,0.000,0.042,2797,1977,1858,1902,1815,0,0,0,0,0,0,14.81,14.72,14.83
$GC,1755,0.97,241.5,2797,1977,1902,1813,48.1,9.6,318,1767,0.00,0.00,7.95,0.848,10502,0.000,0.000,2797,1977,1825,1870,1781,0,0,0,0,0,0,14.98,14.74,14.15
$GC,1830,0.98,247.1,2797,1977,1869,1779,40.8,9.7,332,1843,0.00,0.00,5.88,0.792,10758,0.000,0.000,2794,1977,1804,1848,1760,0,0,0,0,0,0,15.00,14.59,14.14
$GC,1907,1.02,277.8,2796,1977,1847,1757,34.4,8.6,346,1937,0.00,0.00,25.38,0.942,10246,0.000,0.000,2797,1977,1677,1729,1626,0,0,0,0,0,0,15.01,14.71,14.18
$GC,1998,1.14,377.4,2796,1977,1727,1622,27.6,5.4,363,2077,0.15,2.45,66.35,0.929,10500,0.108,0.062,2868,3381,1271,1330,1213,0,0,0,0,0,0,14.72,14.53,14.07
$GC,2240,1.23,448.9,2868,3381,1326,1210,3.6,6.7,408,2254,0.00,2.33,9.48,0.695,11266,0.000,0.043,2868,1981,1196,1253,1139,0,0,0,0,0,0,14.83,14.73,14.85
$STATE,2255,end climb,SURFACE_DEPTH_REACHED
$STATE,2255,begin surface coast
$FINISH,1.1,1.023167
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2282,83.25,0.750,0,0,598,542.59
$SM_GC,0.54,12.65,0.00,83.25,0.046,0.000,0.750,146,1980,598,-7.26,-0.20,542.59,0,0,0,0,0,0,14.74,14.97,14.14
$IRIDIUM_FIX,-2840.83,3218.84,310319,232817
$TT8_MAMPS,0.018725,0.948983
$HUMID,54.13
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$SC_FREEKB,3905568
$24V_AH,13.90,93.824
$10V_AH,13.46,0.000
$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,27.975,38.100,401.600,83.250,0.000,25.560,18.416,292.332,0.750,0.000,26.247,861.767,320.760,554.895,1058.778,95.786,0.000,964.850,0.000,623.265,0.000,5.797,0.000
$DEVICE_MAMPS,336.600,79.560,1035.045,749.700,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.813,0.000,0.000,0.000
$MEM,339576
$DATA_FILE_SIZE,13479,411
$CAP_FILE_SIZE,77718,0
$CFSIZE,1023623168,1016872960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.364,206.88,1
$GPS,010419,010304,-2852.956,3215.977,19,0.8,30,-23.7,0.9,209.3,11,9.8