version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 48
start: 4 1 119 21 32 5
data:
$ID,573
$MISSION,30
$DIVE,48
$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,44
$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
$GPS1,010419,212058,-2856.7156,3212.8750,18,0.8,19,-23.8,0.6,187.2,11,7.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-61.0
$GPS2,010419,213140,-2856.5864,3212.7229,20,0.8,21,-23.8,0.7,337.1,10,8.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.000,3224.926
$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,105.4,20000,-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,-146.0,72,1993,585,575,0.0,0.0,0,115,0.00,0.00,-92.78,0.000,16386,0.000,0.000,72,1993,3193,3203,3184,0,0,0,0,0,0,15.03,28.83,15.03
$GC,118,-0.85,-146.0,72,1993,3204,3185,3.7,-8.9,16,144,12.62,2.35,-3.65,0.000,18692,0.311,0.082,2199,3382,3412,3444,3380,0,0,0,0,0,0,14.42,13.41,14.62
$GC,266,-0.85,-146.0,2199,3383,3445,3379,38.7,-16.6,44,274,0.05,2.28,0.00,0.000,3078,0.347,0.037,2210,1989,3412,3445,3380,0,0,0,0,0,0,14.62,14.85,14.85
$GC,337,-0.85,-146.0,2209,1988,3446,3379,50.5,-17.2,57,343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1988,3413,3446,3380,0,0,0,0,0,0,15.10,15.11,15.11
$GC,406,-0.85,-146.0,2209,1987,3446,3380,61.7,-12.6,70,412,0.00,2.38,0.00,0.000,2308,0.000,0.063,2205,3387,3412,3446,3379,0,0,0,0,0,0,15.11,14.83,15.11
$STATE,689,end dive,NO_VERTICAL_VELOCITY
$STATE,689,begin apogee
$GC,696,-0.19,0.0,2205,1969,3448,3377,84.0,0.0,126,812,1.05,0.00,106.62,0.953,10246,0.119,0.000,2426,1966,2810,2845,2775,0,0,0,0,0,0,14.69,14.60,14.12
$STATE,814,end apogee,CONTROL_FINISHED_OK
$STATE,814,begin climb
$GC,815,0.85,146.0,2426,1966,2845,2775,84.2,0.0,146,937,1.50,2.47,108.40,0.940,10500,0.092,0.061,2746,3382,2214,2254,2174,0,0,0,0,0,0,14.57,14.45,14.03
$GC,1005,0.96,229.9,2747,3381,2250,2173,78.2,6.1,179,1078,0.12,2.28,64.88,0.929,11270,0.119,0.039,2809,1997,1873,1917,1829,0,0,0,0,0,0,14.68,14.67,14.02
$GC,1140,0.96,229.9,2808,1995,1911,1825,65.4,10.1,203,1147,0.00,2.40,0.00,0.000,4612,0.000,0.071,2811,587,1867,1909,1826,0,0,0,0,0,0,14.88,14.54,14.88
$GC,1194,0.98,251.6,2811,587,1909,1825,60.9,9.0,213,1219,0.00,2.28,17.62,0.877,13318,0.000,0.039,2811,1991,1784,1829,1740,0,0,0,0,0,0,14.83,14.75,14.16
$GC,1280,0.98,251.6,2810,1991,1826,1737,51.8,10.8,229,1288,0.00,2.35,0.00,0.000,4356,0.000,0.064,2811,3383,1781,1826,1736,0,0,0,0,0,0,14.96,14.62,14.96
$GC,1385,0.99,256.3,2810,3383,1825,1734,41.4,9.8,249,1399,0.00,2.28,4.78,0.706,13318,0.000,0.041,2811,1991,1765,1811,1720,0,0,0,0,0,0,14.81,14.72,14.11
$GC,1461,0.99,256.3,2810,1991,1810,1719,33.8,10.3,263,1468,0.00,2.40,0.00,0.000,4612,0.000,0.070,2811,573,1765,1811,1719,0,0,0,0,0,0,15.04,14.69,15.05
$GC,1601,1.01,269.5,2811,573,1808,1719,20.3,9.4,290,1615,0.00,2.30,7.78,0.731,9222,0.000,0.040,2811,1992,1711,1759,1664,0,0,0,0,0,0,14.85,14.78,14.28
$GC,1677,1.01,269.5,2811,1995,1756,1659,12.9,10.9,304,1684,0.00,2.33,0.00,0.000,260,0.000,0.063,2811,3390,1707,1755,1659,0,0,0,0,0,0,15.09,14.80,15.09
$GC,1746,1.01,269.5,2811,3391,1754,1658,4.7,13.2,317,1754,0.00,2.30,0.00,0.000,1030,0.000,0.042,2811,1981,1706,1754,1658,0,0,0,0,0,0,14.90,14.82,14.92
$STATE,1764,end climb,SURFACE_DEPTH_REACHED
$STATE,1765,begin surface coast
$FINISH,1.3,1.023442
$STATE,1791,end surface coast,CONTROL_FINISHED_OK
$STATE,1791,begin surface
$SM_CCo,1812,145.62,0.712,0,0,599,542.59
$SM_GC,0.71,12.38,0.00,145.62,0.061,0.000,0.712,145,1979,599,-7.27,-0.23,542.59,0,0,0,0,0,0,14.87,15.13,14.22
$IRIDIUM_FIX,-2843.29,3212.59,010419,212321
$TT8_MAMPS,0.019474,0.955724
$HUMID,52.28
$INTERNAL_PRESSURE,9.42383
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.7
$SC_FREEKB,3898272
$24V_AH,13.41,97.323
$10V_AH,13.04,0.000
$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,27.725,32.700,310.075,145.625,0.000,47.898,55.985,297.206,0.250,0.000,22.189,686.392,314.643,531.577,994.741,89.164,0.000,861.678,0.000,499.877,0.000,2.681,0.000
$DEVICE_MAMPS,347.310,81.855,953.190,712.215,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.682,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10182,325
$CAP_FILE_SIZE,64226,0
$CFSIZE,1023623168,1015152640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.285,344.91,1
$GPS,010419,220543,-2856.315,3212.798,19,0.8,23,-23.7,1.6,245.1,11,8.3