version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 49
start: 4 1 119 22 14 20
data:
$ID,573
$MISSION,30
$DIVE,49
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$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,33
$T_MISSION,43
$T_ABORT,60
$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,42
$R_STBD_OVSHOOT,41
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,010419,220543,-2856.3147,3212.7981,19,0.8,23,-23.7,1.6,245.1,11,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-56.5
$GPS2,010419,221356,-2856.2258,3212.7234,32,0.9,36,-23.7,0.4,173.7,10,9.2
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.415,3224.632
$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,98.6,20000,-18.4,-10.101,-21.17,2215
$D_GRID,100
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,72,1975,587,576,0.0,0.0,0,108,0.00,0.00,-86.25,0.000,16386,0.000,0.000,72,1977,2972,2989,2955,0,0,0,0,0,0,15.04,28.83,15.05
$GC,112,-0.86,-146.0,68,1976,2986,2959,3.0,-6.8,15,138,12.48,2.42,-8.15,0.000,18692,0.305,0.081,2193,3390,3410,3444,3376,0,0,0,0,0,0,14.50,13.42,14.70
$GC,271,-0.86,-146.0,2193,3390,3445,3376,36.4,-15.6,45,279,0.08,2.28,0.00,0.000,3078,0.287,0.037,2209,1989,3410,3445,3376,0,0,0,0,0,0,14.66,14.88,14.87
$GC,343,-0.86,-146.0,2209,1990,3445,3374,48.1,-17.2,58,349,0.00,2.40,0.00,0.000,2308,0.000,0.067,2208,3392,3410,3445,3376,0,0,0,0,0,0,15.11,14.81,15.11
$GC,439,-0.86,-146.0,2208,3391,3445,3376,62.5,-12.9,76,446,0.00,2.30,0.00,0.000,3078,0.000,0.038,2208,1977,3411,3446,3376,0,0,0,0,0,0,14.85,14.74,14.88
$STATE,452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,452,begin apogee
$GC,456,-0.19,0.0,2208,1977,3445,3376,64.6,-15.0,78,568,1.08,0.00,105.10,0.935,10246,0.175,0.000,2419,1975,2810,2845,2776,0,0,0,0,0,0,14.59,14.61,14.14
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,571,0.86,146.0,2419,1975,2845,2776,71.1,0.0,97,691,1.58,2.45,106.62,0.927,10500,0.112,0.061,2748,3384,2214,2253,2175,0,0,0,0,0,0,14.56,14.48,14.05
$GC,709,0.95,219.4,2748,3385,2252,2174,68.2,6.7,119,774,0.12,2.33,56.17,0.909,11270,0.120,0.040,2811,1980,1915,1957,1873,0,0,0,0,0,0,14.62,14.59,14.04
$GC,838,0.96,228.1,2806,1980,1953,1868,56.8,9.7,142,851,0.00,0.00,7.47,0.781,12806,0.000,0.000,2811,1980,1881,1924,1839,0,0,0,0,0,0,14.88,14.49,14.09
$GC,913,1.02,277.0,2810,1980,1922,1838,50.4,7.8,156,961,0.00,2.38,38.90,0.887,10500,0.000,0.060,2811,3386,1679,1729,1630,0,0,0,0,0,0,14.96,14.61,14.14
$GC,1033,1.02,277.0,2810,3386,1726,1628,38.2,12.5,178,1040,0.00,2.30,0.00,0.000,3078,0.000,0.041,2811,1992,1677,1726,1628,0,0,0,0,0,0,14.80,14.71,14.81
$GC,1104,1.02,277.0,2810,1992,1726,1627,29.6,11.0,191,1110,0.00,2.40,0.00,0.000,2564,0.000,0.071,2818,580,1676,1726,1627,0,0,0,0,0,0,15.01,14.74,15.02
$GC,1131,1.02,277.0,2811,579,1724,1626,26.7,11.4,196,1138,0.00,2.28,0.00,0.000,3078,0.000,0.040,2811,1988,1675,1725,1626,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1201,1.03,282.2,2810,1988,1724,1626,20.3,9.9,209,1212,0.00,2.38,2.00,0.190,10500,0.000,0.062,2811,3389,1661,1710,1612,0,0,0,0,0,0,15.06,14.78,13.08
$GC,1260,1.03,282.2,2811,3389,1709,1610,13.7,11.3,219,1267,0.00,2.30,0.00,0.000,3078,0.000,0.041,2811,1977,1659,1709,1610,0,0,0,0,0,0,14.95,14.84,14.95
$GC,1331,1.08,325.6,2811,1976,1709,1610,6.6,8.1,232,1361,0.00,0.00,23.30,0.719,10758,0.000,0.000,2811,1976,1481,1533,1429,0,0,0,0,0,0,15.09,14.66,14.32
$STATE,1375,end climb,SURFACE_DEPTH_REACHED
$STATE,1375,begin surface coast
$FINISH,0.5,1.023454
$STATE,1402,end surface coast,CONTROL_FINISHED_OK
$STATE,1402,begin surface
$SM_CCo,1422,116.05,0.699,0,0,599,542.59
$SM_GC,0.75,12.38,0.00,116.05,0.059,0.000,0.699,146,1974,599,-7.27,-0.37,542.59,0,0,0,0,0,0,14.83,15.07,14.22
$IRIDIUM_FIX,-2843.29,3212.59,010419,212529
$TT8_MAMPS,0.019474,0.94374
$HUMID,52.16
$INTERNAL_PRESSURE,9.44336
$TCM_TEMP,26.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.0
$ALTIM_BOTTOM_PING,60.5,17.2
$SC_FREEKB,3897760
$24V_AH,13.08,97.479
$10V_AH,13.57,0.000
$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,27.700,28.200,339.575,116.050,0.000,23.000,38.129,252.548,1.250,0.000,38.048,494.301,160.072,518.010,793.497,82.262,0.000,802.507,0.000,376.299,0.000,11.481,0.000
$DEVICE_MAMPS,305.235,81.090,934.830,699.210,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.361,0.000,0.000,0.000
$MEM,339564
$DATA_FILE_SIZE,6854,245
$CAP_FILE_SIZE,54717,0
$CFSIZE,1023623168,1015054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.343,349.12,1
$GPS,010419,224110,-2855.910,3212.826,31,0.8,34,-23.7,0.0,313.6,10,7.9