version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 65
start: 4 2 119 7 34 13
data:
$ID,573
$MISSION,30
$DIVE,65
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,020419,072545,-2851.7219,3218.2644,16,0.8,33,-23.7,0.8,90.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-63.5
$GPS2,020419,073350,-2851.6526,3218.4004,16,0.8,25,-23.7,1.0,21.8,10,8.8
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.219,3225.919
$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,166.2,20000,-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,-146.0,72,1994,583,579,0.0,0.0,0,115,0.00,0.00,-92.88,0.000,16386,0.000,0.000,72,1995,3130,3132,3128,0,0,0,0,0,0,15.05,28.83,15.06
$GC,119,-0.86,-146.0,72,1995,3133,3129,3.2,-7.9,16,144,12.68,2.33,-4.85,0.000,18692,0.318,0.087,2196,3390,3409,3442,3377,0,0,0,0,0,0,14.44,13.43,14.63
$GC,292,-0.86,-146.0,2195,3391,3443,3377,43.1,-16.3,49,300,0.05,2.30,0.00,0.000,3078,0.337,0.040,2206,1978,3410,3444,3377,0,0,0,0,0,0,14.66,14.88,14.87
$GC,363,-0.86,-146.0,2205,1977,3444,3377,54.4,-14.7,62,370,0.00,2.33,0.00,0.000,2564,0.000,0.063,2206,580,3410,3444,3377,0,0,0,0,0,0,15.12,14.82,15.12
$GC,438,-0.86,-146.0,2205,580,3444,3377,66.4,-16.6,76,445,0.00,2.30,0.00,0.000,3078,0.000,0.045,2204,1995,3410,3444,3377,0,0,0,0,0,0,14.99,14.88,15.00
$GC,508,-0.86,-146.0,2203,1995,3444,3377,77.2,-15.6,89,515,0.00,2.35,0.00,0.000,2308,0.000,0.069,2204,3393,3410,3444,3377,0,0,0,0,0,0,15.14,14.83,15.14
$STATE,697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,697,begin apogee
$GC,704,-0.19,0.0,2204,1990,3445,3377,100.2,-14.7,126,817,1.10,0.00,105.65,1.005,10246,0.172,0.000,2421,1982,2811,2846,2776,0,0,0,0,0,0,14.68,14.57,14.09
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,819,begin climb
$GC,820,0.86,146.0,2422,1982,2846,2775,107.3,0.0,145,937,1.55,0.00,108.03,0.984,10758,0.104,0.000,2747,1981,2215,2255,2175,0,0,0,0,0,0,14.57,14.51,14.04
$GC,1000,1.04,288.0,2747,1981,2250,2173,97.7,3.5,176,1115,0.20,2.47,107.05,0.986,10500,0.085,0.062,2829,3386,1635,1688,1582,0,0,0,0,0,0,14.69,14.47,13.97
$GC,1252,1.04,288.0,2829,3386,1681,1578,64.6,12.9,222,1259,0.00,2.33,0.00,0.000,5126,0.000,0.042,2831,1982,1629,1681,1578,0,0,0,0,0,0,14.81,14.72,14.83
$GC,1323,1.04,288.0,2831,1981,1681,1578,56.5,10.7,235,1329,0.00,2.38,0.00,0.000,4612,0.000,0.071,2831,584,1629,1680,1578,0,0,0,0,0,0,15.02,14.75,15.02
$GC,1356,1.04,288.0,2831,582,1683,1578,52.6,11.3,241,1363,0.00,2.30,0.00,0.000,5126,0.000,0.041,2831,1989,1628,1679,1577,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1426,1.04,288.0,2831,1990,1679,1577,45.4,10.2,254,1432,0.00,0.00,0.00,0.000,4102,0.000,0.000,2831,1989,1628,1679,1577,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1495,1.06,304.9,2831,1990,1678,1577,38.6,9.3,267,1514,0.00,2.45,13.07,0.857,8708,0.000,0.070,2831,568,1569,1621,1518,0,0,0,0,0,0,15.09,14.81,14.28
$GC,1572,1.06,304.9,2831,568,1623,1517,29.7,12.3,281,1578,0.00,2.33,0.00,0.000,1030,0.000,0.041,2831,1991,1570,1623,1517,0,0,0,0,0,0,14.88,14.82,14.90
$GC,1641,1.06,304.9,2831,1991,1617,1517,22.3,11.3,294,1648,0.00,2.35,0.00,0.000,260,0.000,0.063,2831,3401,1566,1617,1515,0,0,0,0,0,0,15.08,14.71,15.09
$GC,1725,1.06,304.9,2831,3400,1615,1515,12.2,12.7,310,1733,0.00,2.33,0.00,0.000,1030,0.000,0.043,2831,1982,1565,1616,1515,0,0,0,0,0,0,14.85,14.80,14.87
$GC,1796,1.06,304.9,2831,1982,1616,1515,4.3,11.5,323,1803,0.00,2.38,0.00,0.000,516,0.000,0.074,2831,576,1565,1617,1514,0,0,0,0,0,0,15.11,14.73,15.12
$STATE,1807,end climb,SURFACE_DEPTH_REACHED
$STATE,1808,begin surface coast
$FINISH,0.3,1.023668
$STATE,1829,end surface coast,CONTROL_FINISHED_OK
$STATE,1829,begin surface
$SM_CCo,1852,128.45,0.743,0,0,599,542.59
$SM_GC,0.68,12.48,2.38,128.45,0.050,0.050,0.743,128,1998,599,-7.31,-0.88,542.59,0,0,0,0,0,0,14.89,14.90,14.23
$IRIDIUM_FIX,-2840.83,3216.76,020419,064229
$TT8_MAMPS,0.019474,0.925764
$HUMID,56.41
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$SC_FREEKB,3889568
$24V_AH,13.43,99.987
$10V_AH,13.49,0.000
$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,28.050,37.600,333.800,128.450,0.000,26.584,16.011,264.607,1.750,0.000,26.142,690.141,249.965,538.502,910.195,92.600,0.000,878.707,0.000,501.756,0.000,11.735,0.000
$DEVICE_MAMPS,336.600,87.210,1005.210,742.815,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1862.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.774,0.000,0.000,0.000
$MEM,339564
$DATA_FILE_SIZE,10148,329
$CAP_FILE_SIZE,65008,0
$CFSIZE,1023623168,1013628928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1023.26,0x23609a,1,24
$CURRENT,0.279,63.08,1
$GPS,020419,080831,-2851.685,3218.865,20,0.9,40,-23.7,0.5,0.2,9,6.8