version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 63
start: 4 2 119 6 5 34
data:
$ID,573
$MISSION,30
$DIVE,63
$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,40
$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
$GPS1,020419,055729,-2852.1057,3216.9287,16,0.8,18,-23.7,0.9,50.5,11,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.5
$GPS2,020419,060510,-2852.0271,3217.0505,18,0.8,18,-23.7,0.7,57.5,10,10.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.425,3226.045
$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,156.9,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,74,1977,583,579,0.0,0.0,0,115,0.00,0.00,-93.07,0.000,16386,0.000,0.000,73,1978,3171,3178,3165,0,0,0,0,0,0,15.07,28.83,15.07
$GC,119,-0.86,-146.0,73,1978,3179,3165,3.5,-8.6,16,144,12.62,2.40,-4.10,0.000,18692,0.317,0.082,2190,3384,3411,3443,3379,0,0,0,0,0,0,14.48,13.45,14.66
$GC,318,-0.86,-146.0,2190,3384,3444,3379,48.5,-16.6,54,325,0.08,2.28,0.00,0.000,3078,0.285,0.038,2206,1976,3412,3445,3379,0,0,0,0,0,0,14.69,14.90,14.90
$GC,387,-0.86,-146.0,2206,1976,3445,3379,58.9,-13.4,67,393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1976,3412,3445,3379,0,0,0,0,0,0,15.14,15.14,15.14
$GC,455,-0.86,-146.0,2206,1976,3445,3377,69.1,-15.5,80,463,0.00,2.38,0.00,0.000,2308,0.000,0.065,2203,3381,3412,3445,3379,0,0,0,0,0,0,15.15,14.80,15.15
$GC,535,-0.86,-146.0,2203,3381,3445,3379,81.8,-16.6,95,541,0.00,2.25,0.00,0.000,3078,0.000,0.037,2203,1985,3412,3445,3379,0,0,0,0,0,0,14.96,14.85,14.97
$GC,607,-0.86,-146.0,2203,1984,3445,3379,93.3,-16.7,108,613,0.00,2.38,0.00,0.000,2308,0.000,0.069,2203,3382,3412,3445,3379,0,0,0,0,0,0,15.16,14.85,15.16
$STATE,659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,660,begin apogee
$GC,666,-0.19,0.0,2203,1984,3446,3379,100.0,-12.8,118,781,1.12,0.00,105.70,0.990,10246,0.174,0.000,2424,1983,2811,2846,2776,0,0,0,0,0,0,14.64,14.63,14.14
$STATE,783,end apogee,CONTROL_FINISHED_OK
$STATE,783,begin climb
$GC,784,0.86,146.0,2424,1983,2845,2776,104.4,0.0,138,902,1.52,2.38,106.80,0.978,10756,0.103,0.065,2749,590,2215,2255,2176,0,0,0,0,0,0,14.59,14.42,14.07
$GC,909,0.96,225.2,2748,590,2252,2176,98.1,6.4,158,980,0.12,2.30,60.67,0.960,11270,0.117,0.041,2811,1991,1890,1934,1846,0,0,0,0,0,0,14.61,14.59,14.05
$GC,1044,0.96,225.2,2811,1992,1928,1844,85.7,10.1,182,1051,0.00,2.35,0.00,0.000,4356,0.000,0.063,2811,3384,1885,1928,1843,0,0,0,0,0,0,14.90,14.66,14.90
$GC,1123,0.96,225.2,2811,3384,1927,1842,76.5,11.8,197,1131,0.05,2.30,0.00,0.000,5126,0.346,0.041,2801,1984,1886,1927,1846,0,0,0,0,0,0,14.60,14.77,14.81
$GC,1194,0.96,225.2,2801,1983,1926,1841,69.2,10.1,210,1200,0.00,0.00,0.00,0.000,4102,0.000,0.000,2801,1983,1883,1926,1841,0,0,0,0,0,0,15.04,15.04,15.07
$GC,1262,0.96,226.7,2801,1983,1926,1841,61.9,10.0,223,1268,0.00,2.38,0.00,0.000,4356,0.000,0.061,2801,3385,1882,1926,1839,0,0,0,0,0,0,15.08,14.81,15.08
$GC,1382,0.96,226.7,2802,3385,1925,1840,48.7,11.1,246,1388,0.00,2.30,0.00,0.000,5126,0.000,0.042,2801,1980,1882,1925,1840,0,0,0,0,0,0,14.97,14.84,14.98
$GC,1451,1.04,288.8,2801,1980,1924,1840,43.2,7.2,259,1505,0.00,2.40,48.28,0.933,10756,0.000,0.070,2801,588,1631,1684,1578,0,0,0,0,0,0,15.12,14.67,14.28
$GC,1587,1.04,288.8,2801,587,1678,1579,31.0,10.1,284,1594,0.00,2.28,0.00,0.000,3078,0.000,0.041,2801,1986,1628,1678,1578,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1657,1.07,311.6,2799,1988,1678,1578,24.6,9.0,297,1677,0.00,2.40,13.65,0.842,10500,0.000,0.063,2801,3390,1538,1591,1485,0,0,0,0,0,0,15.07,14.77,14.27
$GC,1740,1.08,323.6,2801,3390,1588,1484,16.4,9.5,312,1755,0.08,2.30,6.47,0.710,11270,0.180,0.041,2850,1976,1491,1543,1440,0,0,0,0,0,0,14.71,14.73,14.27
$GC,1818,1.08,323.6,2850,1976,1541,1437,7.8,11.1,326,1824,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1976,1488,1540,1436,0,0,0,0,0,0,15.07,15.08,15.08
$STATE,1853,end climb,SURFACE_DEPTH_REACHED
$STATE,1853,begin surface coast
$FINISH,0.2,1.023689
$STATE,1875,end surface coast,CONTROL_FINISHED_OK
$STATE,1875,begin surface
$SM_CCo,1896,117.53,0.728,0,0,599,542.59
$SM_GC,0.79,12.55,0.00,117.53,0.054,0.000,0.728,144,1973,599,-7.27,-0.40,542.59,0,0,0,0,0,0,14.85,15.11,14.26
$IRIDIUM_FIX,-2840.83,3216.76,020419,051942
$TT8_MAMPS,0.019474,0.939246
$HUMID,55.86
$INTERNAL_PRESSURE,9.41407
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,21.1
$ALTIM_BOTTOM_PING,90.3,35.1
$SC_FREEKB,3890592
$24V_AH,13.45,99.635
$10V_AH,13.52,0.000
$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,28.150,37.350,341.575,117.525,0.000,22.967,16.331,254.487,1.750,0.000,19.254,710.681,250.372,537.495,903.107,90.195,0.000,889.474,0.000,516.048,0.000,13.970,0.000
$DEVICE_MAMPS,345.780,81.855,989.910,728.280,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.927,0.000,0.000,0.000
$MEM,339564
$DATA_FILE_SIZE,10125,337
$CAP_FILE_SIZE,67829,0
$CFSIZE,1023623168,1013809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.398,45.85,1
$GPS,020419,064008,-2851.884,3217.558,20,0.8,24,-23.7,0.8,80.2,11,10.0