version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 64
start: 4 2 119 6 49 9
data:
$ID,573
$MISSION,30
$DIVE,64
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,020419,064008,-2851.8840,3217.5576,20,0.8,24,-23.7,0.8,80.2,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.6
$GPS2,020419,064845,-2851.7981,3217.7354,18,0.9,23,-23.7,1.3,71.9,10,9.9
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.546,3226.335
$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,159.5,20000,-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,17,begin dive
$GC,19,-0.86,-146.0,72,1972,582,579,0.0,0.0,0,115,0.00,0.00,-93.25,0.000,16386,0.000,0.000,72,1972,3181,3190,3172,0,0,0,0,0,0,15.06,28.83,15.07
$GC,119,-0.86,-146.0,72,1972,3190,3172,3.7,-9.3,16,145,12.62,2.40,-3.88,0.000,18692,0.317,0.082,2189,3377,3410,3442,3379,0,0,0,0,0,0,14.46,13.46,14.66
$GC,257,-0.86,-146.0,2190,3377,3443,3379,38.1,-18.1,42,265,0.08,2.25,0.00,0.000,3078,0.282,0.042,2207,1993,3412,3445,3379,0,0,0,0,0,0,14.68,14.88,14.88
$GC,327,-0.86,-146.0,2205,1993,3445,3379,48.7,-14.1,55,334,0.00,2.35,0.00,0.000,2564,0.000,0.062,2207,578,3412,3445,3379,0,0,0,0,0,0,15.12,14.83,15.12
$GC,356,-0.86,-146.0,2206,577,3445,3379,52.6,-14.2,60,362,0.00,2.30,0.00,0.000,3078,0.000,0.044,2204,1989,3412,3445,3379,0,0,0,0,0,0,14.99,14.88,15.00
$GC,426,-0.86,-146.0,2203,1989,3445,3379,63.0,-16.2,73,433,0.00,2.38,0.00,0.000,2308,0.000,0.068,2203,3394,3412,3445,3379,0,0,0,0,0,0,15.14,14.83,15.14
$STATE,689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,690,begin apogee
$GC,697,-0.19,0.0,2204,1990,3446,3379,100.1,-14.0,125,811,1.10,0.00,106.35,0.995,10246,0.168,0.000,2422,1988,2810,2846,2775,0,0,0,0,0,0,14.70,14.58,14.09
$STATE,812,end apogee,CONTROL_FINISHED_OK
$STATE,812,begin climb
$GC,814,0.86,146.0,2422,1987,2845,2775,106.3,0.0,144,930,1.55,0.00,108.10,0.985,10758,0.103,0.000,2750,1988,2214,2254,2174,0,0,0,0,0,0,14.58,14.51,14.05
$GC,993,0.92,190.5,2748,1988,2249,2173,99.8,8.0,175,1036,0.08,2.40,34.47,0.962,10756,0.175,0.070,2804,580,2032,2074,1991,0,0,0,0,0,0,14.63,14.46,14.04
$GC,1063,0.92,190.5,2804,580,2070,1991,92.0,12.0,187,1070,0.08,2.30,0.00,0.000,5126,0.269,0.040,2789,1991,2026,2064,1989,0,0,0,0,0,0,14.54,14.69,14.71
$GC,1133,0.92,190.5,2789,1991,2068,1987,84.6,13.0,200,1139,0.00,0.00,0.00,0.000,4102,0.000,0.000,2789,1992,2027,2068,1987,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1201,0.92,190.5,2789,1991,2067,1987,76.6,10.5,213,1208,0.00,2.35,0.00,0.000,4356,0.000,0.062,2789,3391,2027,2067,1987,0,0,0,0,0,0,15.02,14.73,15.02
$GC,1441,1.06,306.4,2789,3391,2067,1986,60.7,4.7,260,1536,0.10,2.33,87.50,0.966,11270,0.144,0.041,2845,1978,1561,1614,1508,0,0,0,0,0,0,14.83,14.81,14.12
$GC,1599,1.06,306.4,2840,1979,1609,1503,43.0,12.9,288,1605,0.00,2.38,0.00,0.000,4612,0.000,0.071,2845,586,1555,1608,1503,0,0,0,0,0,0,14.92,14.62,14.92
$GC,1702,1.06,306.4,2845,586,1605,1503,31.5,12.1,308,1709,0.05,2.28,0.00,0.000,5126,0.321,0.041,2834,1987,1554,1606,1503,0,0,0,0,0,0,14.63,14.81,14.82
$GC,1772,1.06,308.8,2833,1988,1605,1501,23.9,10.0,321,1779,0.00,2.38,0.00,0.000,4356,0.000,0.063,2833,3393,1552,1605,1500,0,0,0,0,0,0,15.06,14.79,15.06
$GC,1877,1.06,308.8,2833,3393,1605,1499,12.8,11.1,341,1885,0.00,2.33,0.00,0.000,5126,0.000,0.041,2833,1982,1552,1605,1499,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1948,1.08,323.0,2833,1981,1605,1499,5.5,9.4,354,1962,0.00,2.40,7.82,0.682,8708,0.000,0.072,2833,584,1493,1544,1442,0,0,0,0,0,0,15.10,14.83,14.30
$STATE,1967,end climb,SURFACE_DEPTH_REACHED
$STATE,1967,begin surface coast
$FINISH,1.1,1.023703
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,2007,118.62,0.737,0,0,600,542.59
$SM_GC,0.70,12.40,2.33,118.62,0.047,0.042,0.737,143,1987,600,-7.27,-1.13,542.59,0,0,0,0,0,0,14.86,14.89,14.23
$IRIDIUM_FIX,-2840.83,3216.76,020419,055943
$TT8_MAMPS,0.019474,0.957971
$HUMID,57.16
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$SC_FREEKB,3890080
$24V_AH,13.46,99.813
$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,28.050,37.450,344.250,118.625,0.000,26.451,16.488,299.886,1.750,0.000,24.060,762.001,280.055,535.085,991.852,90.192,0.000,895.575,0.000,548.982,0.000,11.790,0.000
$DEVICE_MAMPS,320.535,81.855,994.500,736.695,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2016.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.711,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,13408,360
$CAP_FILE_SIZE,68539,0
$CFSIZE,1023623168,1013710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.360,52.49,1
$GPS,020419,072545,-2851.722,3218.264,16,0.8,33,-23.7,0.8,90.0,10,9.9