version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 44
start: 4 1 119 18 12 56
data:
$ID,573
$MISSION,30
$DIVE,44
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,010419,175656,-2858.5808,3213.3286,64,1.1,64,-23.8,0.0,0.0,8,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-57.8
$GPS2,010419,181232,-2858.3049,3213.1187,17,0.8,21,-23.8,0.2,295.6,10,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2847.521,3213.769
$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,26.8,20000,-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,-146.0,72,2006,589,579,0.0,0.0,0,111,0.00,0.00,-88.97,0.000,16386,0.000,0.000,72,2006,3080,3078,3082,0,0,0,0,0,0,14.96,28.83,14.97
$GC,115,-0.85,-146.0,72,2006,3078,3083,3.3,-8.4,15,141,12.73,2.40,-5.57,0.000,19204,0.310,0.081,2209,578,3408,3442,3374,0,0,0,0,0,0,14.38,13.76,14.70
$GC,433,-0.85,-146.0,2209,578,3444,3374,70.5,-16.1,77,440,0.00,2.33,0.00,0.000,3078,0.000,0.045,2209,1991,3409,3444,3374,0,0,0,0,0,0,14.90,14.79,14.91
$GC,502,-0.85,-146.0,2209,1991,3444,3374,80.5,-12.9,90,509,0.00,2.40,0.00,0.000,2308,0.000,0.070,2207,3390,3409,3444,3374,0,0,0,0,0,0,15.06,14.73,15.06
$GC,607,-0.85,-146.0,2207,3390,3444,3374,96.1,-17.2,110,614,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,1983,3409,3444,3374,0,0,0,0,0,0,14.92,14.81,14.93
$GC,679,-0.85,-146.0,2207,1982,3444,3374,105.7,-13.6,123,686,0.00,2.35,0.00,0.000,2564,0.000,0.066,2207,584,3409,3445,3374,0,0,0,0,0,0,15.07,14.60,15.07
$GC,769,-0.85,-146.0,2207,584,3445,3374,117.9,-13.3,140,776,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,1990,3409,3445,3373,0,0,0,0,0,0,14.79,14.68,14.81
$GC,839,-0.85,-146.0,2207,1990,3445,3373,118.4,-0.1,153,846,0.00,2.38,0.00,0.000,2308,0.000,0.067,2207,3389,3409,3446,3373,0,0,0,0,0,0,15.08,14.62,15.08
$STATE,972,end dive,NO_VERTICAL_VELOCITY
$STATE,972,begin apogee
$GC,978,-0.19,0.0,2207,1976,3445,3375,118.3,0.0,179,1093,0.93,0.00,107.68,1.028,10246,0.073,0.000,2420,1975,2811,2849,2774,0,0,0,0,0,0,14.76,14.50,13.97
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1097,0.85,146.0,2420,1975,2848,2774,118.2,0.0,199,1216,1.55,2.50,109.25,1.014,11012,0.085,0.062,2753,3392,2215,2256,2174,0,0,0,0,0,0,14.50,14.39,13.93
$GC,1319,0.91,191.5,2753,3388,2251,2173,109.7,7.9,238,1361,0.00,2.35,35.38,0.995,11270,0.000,0.041,2753,1991,2031,2075,1987,0,0,0,0,0,0,14.71,14.62,14.00
$GC,1423,0.96,227.7,2753,1991,2071,1984,102.0,8.3,257,1461,0.08,2.45,29.40,0.978,10756,0.180,0.068,2804,574,1881,1925,1838,0,0,0,0,0,0,14.63,14.40,13.99
$GC,1594,0.99,253.9,2807,574,1919,1837,86.2,8.8,289,1625,0.00,2.33,21.55,0.960,9222,0.000,0.040,2807,1991,1774,1821,1728,0,0,0,0,0,0,14.77,14.67,14.07
$GC,1687,0.99,253.9,2807,1992,1819,1724,75.4,13.9,306,1694,0.00,2.35,0.00,0.000,260,0.000,0.066,2807,3382,1771,1819,1724,0,0,0,0,0,0,14.90,14.57,14.91
$GC,1826,0.99,253.9,2807,3382,1817,1722,59.6,11.9,333,1834,0.00,2.33,0.00,0.000,1030,0.000,0.044,2807,1981,1770,1817,1723,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1897,1.01,275.3,2807,1981,1817,1722,52.8,9.0,346,1922,0.00,2.40,17.42,0.924,10756,0.000,0.072,2808,580,1688,1739,1638,0,0,0,0,0,0,15.02,14.57,14.16
$GC,1929,1.03,290.8,2807,580,1738,1638,49.5,9.3,351,1948,0.00,2.30,13.73,0.899,11270,0.000,0.042,2808,1982,1625,1677,1573,0,0,0,0,0,0,14.83,14.72,14.14
$GC,2010,1.03,290.8,2807,1982,1675,1570,41.9,10.1,366,2017,0.00,2.40,0.00,0.000,2308,0.000,0.066,2808,3388,1622,1675,1570,0,0,0,0,0,0,14.95,14.69,14.95
$GC,2029,1.03,290.8,2807,3389,1674,1570,39.6,12.2,369,2036,0.00,2.33,0.00,0.000,3078,0.000,0.043,2807,1984,1621,1674,1569,0,0,0,0,0,0,14.78,14.68,14.80
$GC,2100,1.11,351.9,2807,1984,1674,1570,33.8,7.2,382,2159,0.08,2.47,48.45,0.937,10500,0.181,0.067,2865,3388,1375,1430,1321,0,0,0,0,0,0,14.68,14.59,14.12
$GC,2236,1.11,351.9,2865,3389,1426,1319,21.3,11.6,407,2244,0.08,2.33,0.00,0.000,5126,0.286,0.043,2850,1989,1372,1426,1318,0,0,0,0,0,0,14.54,14.69,14.71
$GC,2308,1.11,351.9,2850,1989,1426,1318,13.3,11.0,420,2314,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1990,1372,1426,1318,0,0,0,0,0,0,14.95,14.96,14.96
$GC,2376,1.15,387.3,2850,1989,1425,1318,6.8,8.4,433,2400,0.00,0.00,19.20,0.759,10246,0.000,0.000,2850,1989,1230,1286,1175,0,0,0,0,0,0,14.99,14.70,14.22
$STATE,2410,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,0.5,1.023359
$STATE,2438,end surface coast,CONTROL_FINISHED_OK
$STATE,2438,begin surface
$SM_CCo,2458,87.70,0.738,0,0,599,542.59
$SM_GC,0.66,12.65,0.00,87.70,0.058,0.000,0.738,148,1988,599,-7.27,0.03,542.59,0,0,0,0,0,0,14.71,14.98,14.14
$IRIDIUM_FIX,-2845.75,3212.59,010419,180007
$TT8_MAMPS,0.018725,0.887565
$HUMID,53.97
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$SC_FREEKB,3900320
$24V_AH,13.76,96.605
$10V_AH,13.43,0.000
$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,28.075,47.350,402.050,87.700,0.000,49.217,80.238,509.814,1.250,0.000,21.763,941.567,415.555,562.393,1449.163,118.771,0.000,994.523,0.000,679.126,0.000,11.314,0.000
$DEVICE_MAMPS,309.825,81.090,1028.160,738.225,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.326,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13490,444
$CAP_FILE_SIZE,87654,0
$CFSIZE,1023623168,1015513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,329.45,1
$GPS,010419,185618,-2858.010,3213.001,17,0.8,19,-23.8,1.0,295.6,10,8.2