version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 59
start: 4 2 119 3 39 22
data:
$ID,573
$MISSION,30
$DIVE,59
$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,43
$R_STBD_OVSHOOT,53
$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
$GPS1,020419,033207,-2853.2383,3214.6323,13,0.9,18,-23.7,0.5,261.1,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.8
$GPS2,020419,033859,-2853.1682,3214.7068,19,0.9,20,-23.7,0.5,79.0,10,8.2
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.233,3224.922
$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,147.9,20000,-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,-146.0,73,1985,587,576,0.0,0.0,0,115,0.00,0.00,-92.72,0.000,16386,0.000,0.000,73,1985,3187,3197,3178,0,0,0,0,0,0,15.07,28.83,15.08
$GC,118,-0.86,-146.0,73,1986,3198,3178,3.6,-8.7,16,144,12.73,2.35,-3.78,0.000,18692,0.325,0.080,2193,3372,3411,3442,3380,0,0,0,0,0,0,14.45,13.48,14.66
$GC,271,-0.86,-146.0,2192,3372,3443,3380,44.0,-20.7,45,279,0.08,2.25,0.00,0.000,3078,0.289,0.040,2208,1984,3412,3444,3380,0,0,0,0,0,0,14.70,14.90,14.90
$GC,344,-0.86,-146.0,2208,1983,3444,3380,56.5,-15.2,58,350,0.00,2.35,0.00,0.000,2308,0.000,0.064,2202,3379,3411,3444,3379,0,0,0,0,0,0,15.14,14.76,15.14
$STATE,381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,381,begin apogee
$GC,387,-0.19,0.0,2202,1983,3444,3379,62.4,-15.8,65,500,1.12,0.00,105.00,0.929,10246,0.183,0.000,2422,1981,2811,2845,2778,0,0,0,0,0,0,14.69,14.64,14.16
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,501,begin climb
$GC,503,0.86,146.0,2422,1981,2844,2778,70.1,0.0,84,620,1.55,2.38,106.80,0.922,10756,0.111,0.063,2749,580,2214,2252,2176,0,0,0,0,0,0,14.59,14.45,14.08
$GC,692,1.01,266.9,2749,579,2246,2175,64.1,4.5,117,793,0.20,2.28,91.25,0.908,11270,0.084,0.040,2834,1989,1720,1769,1672,0,0,0,0,0,0,14.76,14.73,14.08
$GC,856,1.01,266.9,2833,1990,1766,1669,49.5,10.4,146,863,0.08,2.33,0.00,0.000,4356,0.262,0.057,2813,3380,1717,1765,1669,0,0,0,0,0,0,14.54,14.67,14.63
$GC,1001,1.03,278.9,2813,3380,1762,1668,33.6,9.5,174,1020,0.00,2.30,9.90,0.805,11270,0.000,0.041,2813,1984,1673,1722,1624,0,0,0,0,0,0,14.92,14.83,14.26
$GC,1082,1.06,307.2,2813,1983,1720,1622,27.1,8.8,189,1107,0.00,2.35,18.15,0.830,10756,0.000,0.067,2813,581,1557,1608,1506,0,0,0,0,0,0,15.07,14.62,14.23
$GC,1145,1.07,315.8,2813,581,1605,1505,21.0,9.7,200,1159,0.00,2.28,4.57,0.631,11270,0.000,0.041,2813,1985,1524,1575,1473,0,0,0,0,0,0,14.88,14.80,14.22
$GC,1222,1.08,325.7,2813,1984,1573,1470,13.5,9.6,214,1235,0.00,2.30,5.38,0.619,10500,0.000,0.060,2813,3386,1482,1533,1431,0,0,0,0,0,0,15.07,14.82,14.29
$GC,1283,1.10,341.9,2813,3386,1531,1429,7.8,9.4,225,1298,0.00,2.28,8.43,0.659,11270,0.000,0.039,2812,1984,1416,1469,1364,0,0,0,0,0,0,14.87,14.79,14.31
$STATE,1327,end climb,SURFACE_DEPTH_REACHED
$STATE,1327,begin surface coast
$FINISH,0.1,1.023677
$STATE,1355,end surface coast,CONTROL_FINISHED_OK
$STATE,1355,begin surface
$SM_CCo,1376,107.00,0.699,0,0,600,542.59
$SM_GC,0.76,12.35,0.00,107.00,0.062,0.000,0.699,150,1981,600,-7.26,-0.17,542.59,0,0,0,0,0,0,14.86,15.11,14.28
$IRIDIUM_FIX,-2840.83,3213.36,020419,030307
$TT8_MAMPS,0.019474,0.937748
$HUMID,53.22
$INTERNAL_PRESSURE,9.47266
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.5
$ALTIM_BOTTOM_PING,50.4,26.3
$SC_FREEKB,3892640
$24V_AH,13.48,98.980
$10V_AH,13.51,0.000
$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,28.100,27.725,349.475,107.000,0.000,22.645,16.104,216.810,0.750,0.000,20.784,471.683,152.295,509.025,706.724,73.209,0.000,784.593,0.000,367.842,0.000,7.150,0.000
$DEVICE_MAMPS,325.125,80.325,929.475,699.210,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.514,0.000,0.000,0.000
$MEM,339540
$DATA_FILE_SIZE,6816,238
$CAP_FILE_SIZE,51149,0
$CFSIZE,1023623168,1014202368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.479,38.48,1
$GPS,020419,040500,-2852.934,3215.082,16,0.8,18,-23.7,0.8,30.5,11,8.9