version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 52
start: 4 1 119 23 52 42
data:
$ID,573
$MISSION,30
$DIVE,52
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,010419,234523,-2855.2854,3212.8367,16,0.8,18,-23.7,1.3,2.2,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-63.9
$GPS2,010419,235219,-2855.1887,3212.8022,30,0.8,33,-23.7,0.7,268.5,10,9.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.006,3225.138
$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,112.7,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,72,1981,588,576,0.0,0.0,0,114,0.00,0.00,-92.05,0.000,16386,0.000,0.000,72,1981,3183,3195,3172,0,0,0,0,0,0,15.07,28.83,15.07
$GC,118,-0.86,-146.0,72,1981,3195,3172,3.6,-9.3,16,143,12.70,2.38,-3.80,0.000,18692,0.324,0.079,2191,3385,3410,3442,3378,0,0,0,0,0,0,14.50,13.45,14.71
$GC,286,-0.86,-146.0,2191,3385,3443,3378,45.3,-18.1,48,294,0.08,2.28,0.00,0.000,3078,0.308,0.037,2206,1981,3410,3443,3378,0,0,0,0,0,0,14.66,14.89,14.88
$GC,355,-0.86,-146.0,2205,1979,3443,3378,57.9,-18.2,61,363,0.00,2.38,0.00,0.000,2308,0.000,0.065,2198,3383,3410,3443,3378,0,0,0,0,0,0,15.14,14.81,15.16
$STATE,693,end dive,NO_VERTICAL_VELOCITY
$STATE,693,begin apogee
$GC,699,-0.19,0.0,2198,1981,3446,3375,70.3,0.0,127,813,1.05,0.00,104.28,0.941,10246,0.107,0.000,2425,1980,2812,2846,2778,0,0,0,0,0,0,14.81,14.50,14.12
$STATE,815,end apogee,CONTROL_FINISHED_OK
$STATE,815,begin climb
$GC,817,0.86,146.0,2425,1980,2846,2778,70.0,0.0,147,935,1.52,2.38,105.05,0.942,10756,0.099,0.063,2750,584,2214,2253,2176,0,0,0,0,0,0,14.61,14.40,14.05
$GC,952,1.04,287.4,2750,584,2250,2176,69.0,3.5,169,1070,0.25,2.30,106.53,0.921,11270,0.073,0.038,2841,2001,1638,1690,1586,0,0,0,0,0,0,14.59,14.55,14.05
$GC,1133,1.04,287.4,2842,2001,1685,1583,53.7,11.1,201,1141,0.08,2.33,0.00,0.000,4356,0.260,0.058,2822,3380,1631,1684,1579,0,0,0,0,0,0,14.57,14.63,14.66
$GC,1279,1.04,287.4,2821,3380,1682,1581,35.1,12.2,229,1286,0.00,2.28,0.00,0.000,1030,0.000,0.041,2822,1989,1632,1683,1581,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1350,1.06,308.0,2821,1991,1682,1581,28.4,9.1,242,1374,0.00,2.33,15.82,0.819,10756,0.000,0.070,2821,585,1553,1605,1502,0,0,0,0,0,0,15.09,14.79,14.30
$GC,1422,1.09,335.6,2821,586,1604,1502,21.8,8.8,255,1447,0.00,2.25,16.60,0.814,11270,0.000,0.040,2822,1982,1441,1493,1389,0,0,0,0,0,0,14.83,14.75,14.28
$GC,1508,1.09,335.6,2821,1982,1490,1386,13.8,10.8,271,1515,0.00,2.35,0.00,0.000,2308,0.000,0.061,2822,3384,1436,1488,1385,0,0,0,0,0,0,15.04,14.76,15.05
$GC,1557,1.13,361.6,2821,3384,1488,1385,8.8,8.9,280,1577,0.00,2.28,13.65,0.719,11270,0.000,0.040,2822,1987,1336,1389,1283,0,0,0,0,0,0,14.84,14.74,14.31
$STATE,1613,end climb,SURFACE_DEPTH_REACHED
$STATE,1613,begin surface coast
$FINISH,0.4,1.023556
$STATE,1645,end surface coast,CONTROL_FINISHED_OK
$STATE,1645,begin surface
$SM_CCo,1665,97.53,0.707,0,0,599,542.59
$SM_GC,0.76,12.52,0.00,97.53,0.060,0.000,0.707,137,1984,599,-7.31,-0.08,542.59,0,0,0,0,0,0,14.80,15.09,14.26
$IRIDIUM_FIX,-2843.29,3212.59,010419,231502
$TT8_MAMPS,0.019474,0.935501
$HUMID,52.63
$INTERNAL_PRESSURE,9.47266
$TCM_TEMP,26.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$SC_FREEKB,3896224
$24V_AH,13.45,97.933
$10V_AH,13.13,0.000
$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,28.200,27.800,361.925,97.525,0.000,22.557,20.489,209.649,1.250,0.000,34.382,592.344,216.308,512.914,799.677,76.266,0.000,828.327,0.000,452.660,0.000,10.014,0.000
$DEVICE_MAMPS,323.595,78.795,942.480,706.860,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1664.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.302,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10165,296
$CAP_FILE_SIZE,56095,0
$CFSIZE,1023623168,1014792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.224,357.11,1
$GPS,020419,002318,-2854.976,3212.921,32,0.8,36,-23.7,0.5,220.2,11,9.7