version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 47
start: 4 1 119 20 41 36
data:
$ID,573
$MISSION,30
$DIVE,47
$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,41
$R_STBD_OVSHOOT,40
$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
$GPS1,010419,203202,-2857.1328,3212.9397,36,1.1,42,-23.8,2.0,318.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.5
$GPS2,010419,204112,-2857.0139,3212.7861,18,1.1,21,-23.8,1.6,315.8,9,8.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.654,3224.509
$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,95.7,20000,-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,-146.0,72,2002,583,576,0.0,0.0,0,111,0.00,0.00,-88.80,0.000,16386,0.000,0.000,72,2000,3092,3085,3099,0,0,0,0,0,0,15.02,28.83,15.02
$GC,115,-0.85,-146.0,72,2001,3088,3098,3.3,-7.6,15,140,12.57,2.33,-5.40,0.000,18692,0.306,0.083,2198,3390,3413,3449,3377,0,0,0,0,0,0,14.42,13.93,14.59
$GC,308,-0.85,-146.0,2198,3390,3443,3377,45.9,-18.3,52,315,0.05,2.28,0.00,0.000,3078,0.347,0.037,2208,1984,3410,3443,3378,0,0,0,0,0,0,14.62,14.85,14.84
$GC,378,-0.85,-146.0,2208,1982,3452,3377,58.6,-19.4,65,384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1983,3410,3443,3377,0,0,0,0,0,0,15.09,15.10,15.10
$GC,447,-0.85,-146.0,2208,1983,3443,3377,70.4,-14.5,78,453,0.00,2.40,0.00,0.000,2308,0.000,0.066,2204,3386,3410,3443,3377,0,0,0,0,0,0,15.11,14.81,15.11
$GC,550,-0.85,-146.0,2203,3386,3444,3377,87.4,-16.9,98,557,0.00,2.30,0.00,0.000,3078,0.000,0.041,2203,1980,3410,3444,3377,0,0,0,0,0,0,14.92,14.82,14.92
$GC,620,-0.85,-146.0,2202,1978,3445,3375,92.6,-0.1,111,626,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3387,3410,3446,3375,0,0,0,0,0,0,15.11,14.72,15.12
$STATE,948,end dive,NO_VERTICAL_VELOCITY
$STATE,948,begin apogee
$GC,955,-0.19,0.0,2204,1977,3446,3374,92.6,0.0,176,1069,1.05,0.00,106.45,0.974,10246,0.117,0.000,2426,1976,2811,2848,2775,0,0,0,0,0,0,14.74,14.58,14.09
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1072,0.85,146.0,2426,1976,2848,2774,92.3,0.0,196,1190,1.52,2.35,108.22,0.966,11012,0.097,0.067,2750,582,2215,2254,2176,0,0,0,0,0,0,14.55,14.42,14.01
$GC,1499,0.99,254.9,2749,582,2245,2174,69.9,5.0,276,1594,0.17,2.30,83.45,0.946,11270,0.096,0.041,2821,1997,1769,1816,1722,0,0,0,0,0,0,14.79,14.73,14.07
$GC,1656,0.99,254.9,2821,1997,1811,1720,56.1,10.6,304,1663,0.00,2.35,0.00,0.000,4356,0.000,0.064,2821,3380,1765,1811,1719,0,0,0,0,0,0,14.90,14.65,14.90
$GC,1790,0.99,254.9,2821,3381,1809,1718,40.7,10.6,330,1798,0.05,2.30,0.00,0.000,5126,0.344,0.044,2812,1985,1763,1809,1718,0,0,0,0,0,0,14.59,14.78,14.82
$GC,1861,1.04,293.9,2811,1984,1809,1717,33.7,8.2,343,1897,0.00,2.42,30.02,0.895,10500,0.000,0.061,2811,3387,1612,1665,1559,0,0,0,0,0,0,15.04,14.71,14.20
$GC,1965,1.04,294.4,2811,3387,1661,1557,23.7,10.0,362,1972,0.00,2.30,0.00,0.000,3078,0.000,0.041,2811,1989,1609,1661,1557,0,0,0,0,0,0,14.86,14.78,14.88
$GC,2035,1.09,340.2,2811,1988,1660,1555,16.8,7.9,375,2071,0.00,2.40,26.88,0.810,10500,0.000,0.061,2811,3386,1423,1478,1368,0,0,0,0,0,0,15.03,14.69,14.23
$GC,2083,1.12,361.0,2811,3386,1477,1367,13.1,9.0,383,2103,0.08,2.30,11.50,0.733,11270,0.178,0.041,2859,1981,1340,1396,1284,0,0,0,0,0,0,14.65,14.66,14.23
$GC,2165,1.12,361.0,2859,1981,1392,1281,3.5,14.5,398,2172,0.00,2.38,0.00,0.000,4612,0.000,0.076,2860,591,1336,1393,1280,0,0,0,0,0,0,14.99,14.71,15.00
$STATE,2177,end climb,SURFACE_DEPTH_REACHED
$STATE,2177,begin surface coast
$FINISH,1.0,1.023427
$STATE,2183,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2206,99.25,0.710,0,0,598,542.59
$SM_GC,0.69,12.55,2.33,99.25,0.044,0.044,0.710,145,1987,598,-7.27,-1.24,542.59,0,0,0,0,0,0,14.78,14.81,14.21
$IRIDIUM_FIX,-2845.75,3212.59,010419,194530
$TT8_MAMPS,0.019474,0.965461
$HUMID,52.91
$INTERNAL_PRESSURE,9.41407
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$SC_FREEKB,3898784
$24V_AH,13.93,97.154
$10V_AH,13.47,0.000
$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,28.050,37.450,366.525,99.250,0.000,24.005,20.422,330.729,0.250,0.000,22.376,845.173,326.467,527.636,1079.335,91.946,0.000,915.018,0.000,610.991,0.000,2.652,0.000
$DEVICE_MAMPS,346.545,82.620,973.845,709.920,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2220.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.056,0.000,0.000,0.000
$MEM,339564
$DATA_FILE_SIZE,13484,401
$CAP_FILE_SIZE,71835,0
$CFSIZE,1023623168,1015234560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.254,351.55,1
$GPS,010419,212058,-2856.716,3212.875,18,0.8,19,-23.8,0.6,187.2,11,7.7