version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 46
start: 4 1 119 19 52 23
data:
$ID,573
$MISSION,30
$DIVE,46
$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
$GPS1,010419,194304,-2857.5798,3212.9409,19,0.8,22,-23.8,1.2,352.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-56.6
$GPS2,010419,195159,-2857.4487,3212.8015,20,0.8,21,-23.8,1.2,304.0,10,8.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2857.486,3225.144
$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,114.0,20000,-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,-146.0,76,1974,582,578,0.0,0.0,0,111,0.00,0.00,-88.22,0.000,16386,0.000,0.000,73,1973,3051,3048,3054,0,0,0,0,0,0,15.00,28.83,15.00
$GC,114,-0.85,-146.0,73,1973,3048,3055,3.1,-7.7,15,140,12.62,2.42,-6.22,0.000,18692,0.310,0.081,2196,3390,3411,3445,3377,0,0,0,0,0,0,14.38,13.35,14.57
$GC,257,-0.85,-146.0,2196,3390,3446,3377,38.7,-17.3,42,265,0.08,2.33,0.00,0.000,3078,0.291,0.041,2211,1973,3411,3446,3377,0,0,0,0,0,0,14.61,14.81,14.82
$GC,328,-0.85,-146.0,2211,1972,3447,3377,53.4,-23.5,55,334,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1972,3411,3445,3377,0,0,0,0,0,0,15.07,15.07,15.07
$GC,395,-0.85,-146.0,2211,1972,3446,3377,66.5,-15.6,68,402,0.00,2.45,0.00,0.000,2308,0.000,0.069,2209,3387,3410,3446,3374,0,0,0,0,0,0,15.07,14.73,15.08
$GC,464,-0.85,-146.0,2209,3387,3446,3377,77.2,-15.1,81,471,0.00,2.28,0.00,0.000,3078,0.000,0.037,2209,1984,3411,3446,3377,0,0,0,0,0,0,14.82,14.74,14.83
$GC,532,-0.85,-146.0,2209,1984,3446,3377,88.0,-16.9,94,540,0.00,2.35,0.00,0.000,2564,0.000,0.064,2209,586,3411,3446,3377,0,0,0,0,0,0,15.10,14.83,15.11
$GC,572,-0.85,-146.0,2209,586,3446,3377,94.9,-19.0,101,578,0.00,2.30,0.00,0.000,3078,0.000,0.047,2209,1988,3411,3446,3377,0,0,0,0,0,0,14.96,14.85,14.97
$GC,641,-0.85,-146.0,2209,1990,3447,3376,95.8,-0.7,114,649,0.00,2.38,0.00,0.000,2308,0.000,0.071,2209,3389,3411,3447,3376,0,0,0,0,0,0,15.10,14.81,15.11
$STATE,885,end dive,NO_VERTICAL_VELOCITY
$STATE,885,begin apogee
$GC,891,-0.19,0.0,2209,1963,3447,3376,95.7,0.0,162,1006,1.02,0.00,107.45,0.979,10246,0.100,0.000,2429,1960,2811,2848,2775,0,0,0,0,0,0,14.69,14.53,14.06
$STATE,1008,end apogee,CONTROL_FINISHED_OK
$STATE,1008,begin climb
$GC,1010,0.85,146.0,2430,1961,2847,2775,95.8,0.0,182,1128,1.50,2.30,109.35,0.967,10756,0.096,0.067,2749,594,2214,2254,2174,0,0,0,0,0,0,14.54,14.45,13.98
$GC,1155,0.97,241.7,2749,594,2250,2174,91.1,5.6,206,1240,0.15,2.30,74.05,0.953,11270,0.105,0.038,2814,2003,1824,1871,1778,0,0,0,0,0,0,14.50,14.50,13.97
$GC,1303,1.01,272.0,2814,2002,1865,1775,80.1,8.6,232,1332,0.00,0.00,24.73,0.919,8198,0.000,0.000,2814,2002,1700,1750,1650,0,0,0,0,0,0,14.83,14.52,14.02
$GC,1394,1.01,272.0,2814,2002,1746,1648,71.7,11.4,249,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2003,1697,1746,1648,0,0,0,0,0,0,14.89,14.90,14.90
$GC,1461,1.01,272.0,2814,2004,1745,1647,64.1,10.5,262,1468,0.00,2.30,0.00,0.000,260,0.000,0.064,2814,3374,1695,1745,1646,0,0,0,0,0,0,14.95,14.66,14.95
$GC,1530,1.01,272.0,2814,3374,1744,1645,57.2,10.4,275,1537,0.00,2.28,0.00,0.000,1030,0.000,0.043,2814,1994,1695,1745,1646,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1601,1.05,301.5,2814,1994,1744,1645,51.6,8.6,288,1631,0.00,2.40,23.73,0.903,10756,0.000,0.070,2814,582,1580,1634,1527,0,0,0,0,0,0,15.03,14.62,14.21
$GC,1684,1.05,301.5,2814,582,1631,1527,43.4,10.4,303,1692,0.00,2.30,0.00,0.000,3078,0.000,0.041,2814,1987,1578,1630,1527,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1755,1.08,331.5,2814,1987,1630,1527,36.9,8.6,316,1786,0.00,2.42,24.90,0.891,10500,0.000,0.060,2814,3388,1459,1513,1405,0,0,0,0,0,0,15.02,14.66,14.20
$GC,1949,1.10,343.6,2814,3389,1509,1403,20.2,9.4,353,1963,0.00,2.30,6.78,0.716,11270,0.000,0.042,2814,1983,1410,1465,1356,0,0,0,0,0,0,14.91,14.81,14.19
$GC,2025,1.10,343.6,2814,1982,1464,1354,12.9,10.4,367,2033,0.00,2.35,0.00,0.000,2564,0.000,0.071,2814,587,1408,1463,1353,0,0,0,0,0,0,15.04,14.68,15.04
$GC,2059,1.10,346.1,2814,587,1462,1354,9.6,9.9,373,2066,0.00,2.28,0.00,0.000,3078,0.000,0.040,2814,1994,1408,1462,1354,0,0,0,0,0,0,14.92,14.83,14.91
$GC,2129,1.23,451.5,2814,1996,1462,1352,4.9,5.1,386,2155,0.20,0.00,22.73,0.730,10498,0.091,0.000,2902,1996,1238,1294,1182,0,0,0,0,0,0,14.80,28.83,14.83
$STATE,2156,end climb,SURFACE_DEPTH_REACHED
$STATE,2156,begin surface coast
$FINISH,0.0,1.023435
$STATE,2192,end surface coast,CONTROL_FINISHED_OK
$STATE,2192,begin surface
$SM_CCo,2213,86.55,0.715,0,0,599,542.59
$SM_GC,0.78,12.73,0.00,86.55,0.041,0.000,0.715,144,1997,599,-7.27,0.28,542.59,0,0,0,0,0,0,14.78,15.04,14.21
$IRIDIUM_FIX,-2845.75,3212.59,010419,185851
$TT8_MAMPS,0.018725,0.960218
$HUMID,53.26
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$SC_FREEKB,3899296
$24V_AH,13.35,96.973
$10V_AH,13.08,0.000
$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,28.300,42.050,393.700,86.550,0.000,26.076,24.098,303.934,0.250,0.000,22.039,833.071,310.812,549.661,1060.536,96.355,0.000,951.617,0.000,601.498,0.000,2.668,0.000
$DEVICE_MAMPS,309.825,81.090,979.200,715.275,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2225.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.994,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,13505,397
$CAP_FILE_SIZE,75903,0
$CFSIZE,1023623168,1015332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.277,341.87,1
$GPS,010419,203202,-2857.133,3212.940,36,1.1,42,-23.8,2.0,318.9,9,9.5