version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 66
start: 4 2 119 8 17 8
data:
$ID,573
$MISSION,30
$DIVE,66
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,020419,080831,-2851.6848,3218.8655,20,0.9,40,-23.7,0.5,0.2,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-64.6
$GPS2,020419,081645,-2851.6169,3218.9834,18,1.1,18,-23.7,0.6,20.0,8,9.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2901.246,3224.575
$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,176.8,20000,-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,-146.0,72,2006,584,580,0.0,0.0,0,115,0.00,0.00,-92.80,0.000,16386,0.000,0.000,72,2006,3124,3125,3123,0,0,0,0,0,0,15.04,28.83,15.05
$GC,119,-0.86,-146.0,72,2006,3126,3123,3.1,-6.9,16,145,12.68,2.33,-5.03,0.000,18692,0.318,0.084,2196,3390,3408,3442,3374,0,0,0,0,0,0,14.45,13.45,14.74
$GC,272,-0.86,-146.0,2196,3390,3442,3374,39.3,-17.6,45,280,0.05,2.30,0.00,0.000,3078,0.340,0.040,2206,1978,3408,3443,3374,0,0,0,0,0,0,14.66,14.87,14.87
$GC,342,-0.86,-146.0,2206,1977,3444,3374,52.9,-20.7,58,349,0.00,2.35,0.00,0.000,2564,0.000,0.063,2207,576,3410,3448,3373,0,0,0,0,0,0,15.13,14.83,15.14
$GC,370,-0.86,-146.0,2206,576,3443,3374,57.3,-14.8,63,377,0.00,2.30,0.00,0.000,3078,0.000,0.044,2204,1990,3408,3443,3374,0,0,0,0,0,0,14.92,14.83,14.93
$GC,440,-0.86,-146.0,2203,1990,3443,3374,68.2,-15.4,76,447,0.00,2.35,0.00,0.000,2308,0.000,0.068,2204,3383,3408,3443,3374,0,0,0,0,0,0,15.14,14.78,15.16
$GC,630,-0.86,-146.0,2203,3384,3443,3374,94.9,-12.7,113,638,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,1983,3409,3445,3374,0,0,0,0,0,0,14.94,14.84,14.95
$STATE,673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,677,-0.19,0.0,2204,1982,3445,3374,100.3,-12.3,121,789,1.10,0.00,105.80,0.996,10246,0.174,0.000,2421,1980,2811,2846,2776,0,0,0,0,0,0,14.67,14.61,14.11
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,791,begin climb
$GC,792,0.86,146.0,2421,1980,2846,2775,105.7,0.0,140,912,1.55,2.38,107.75,0.997,10756,0.103,0.067,2749,584,2215,2254,2176,0,0,0,0,0,0,14.57,14.44,14.02
$GC,930,0.93,205.3,2749,584,2251,2176,100.9,7.3,162,984,0.10,2.33,46.40,0.971,11270,0.142,0.041,2805,1992,1973,2017,1930,0,0,0,0,0,0,14.59,14.59,14.04
$GC,1047,0.94,207.2,2804,1992,2012,1926,89.2,10.0,183,1053,0.00,2.38,0.00,0.000,4356,0.000,0.062,2804,3391,1969,2012,1926,0,0,0,0,0,0,14.88,14.65,14.88
$GC,1301,0.94,207.2,2804,3392,2008,1924,59.3,10.9,233,1309,0.05,2.30,0.00,0.000,5126,0.353,0.042,2794,1981,1966,2009,1923,0,0,0,0,0,0,14.64,14.83,14.85
$GC,1373,0.98,245.0,2794,1981,2008,1923,53.1,8.3,246,1408,0.00,0.00,30.83,0.928,10502,0.000,0.000,2795,1981,1811,1857,1766,0,0,0,0,0,0,15.09,14.79,14.26
$GC,1470,1.06,305.2,2795,1981,1854,1763,44.6,7.3,264,1523,0.08,0.00,47.67,0.931,10246,0.180,0.000,2846,1980,1565,1618,1512,0,0,0,0,0,0,14.72,14.66,14.16
$GC,1585,1.06,305.2,2846,1980,1613,1509,31.6,12.8,285,1593,0.08,2.38,0.00,0.000,4612,0.264,0.070,2831,587,1560,1612,1509,0,0,0,0,0,0,14.52,14.66,14.62
$GC,1610,1.06,305.2,2831,587,1612,1509,28.4,13.4,289,1617,0.00,2.30,0.00,0.000,1030,0.000,0.041,2831,1991,1560,1612,1509,0,0,0,0,0,0,14.84,14.77,14.85
$GC,1681,1.06,305.2,2831,1991,1611,1509,20.4,11.2,302,1688,0.00,2.35,0.00,0.000,260,0.000,0.065,2831,3388,1559,1611,1507,0,0,0,0,0,0,15.02,14.76,15.02
$GC,1755,1.06,305.2,2831,3388,1609,1507,11.5,12.8,316,1762,0.00,2.33,0.00,0.000,1030,0.000,0.043,2831,1988,1558,1610,1507,0,0,0,0,0,0,14.90,14.83,14.93
$GC,1824,1.06,305.2,2831,1988,1609,1507,3.8,12.1,329,1832,0.00,2.38,0.00,0.000,516,0.000,0.076,2831,586,1557,1609,1506,0,0,0,0,0,0,15.07,14.78,15.08
$STATE,1837,end climb,SURFACE_DEPTH_REACHED
$STATE,1837,begin surface coast
$FINISH,-0.0,1.023656
$STATE,1859,end surface coast,CONTROL_FINISHED_OK
$STATE,1859,begin surface
$SM_CCo,1882,127.50,0.741,0,0,599,542.59
$SM_GC,0.62,12.38,2.35,127.50,0.049,0.049,0.741,144,1995,599,-7.26,-1.05,542.59,0,0,0,0,0,0,14.86,14.87,14.23
$IRIDIUM_FIX,-2838.37,3220.15,020419,073303
$TT8_MAMPS,0.019474,0.895055
$HUMID,56.37
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$SC_FREEKB,3889056
$24V_AH,13.45,100.162
$10V_AH,13.80,0.000
$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,28.050,37.350,338.450,127.500,0.000,23.800,39.959,266.686,1.750,0.000,18.719,705.426,250.634,543.308,929.384,90.930,0.000,890.159,0.000,513.093,0.000,11.781,0.000
$DEVICE_MAMPS,352.665,84.150,996.795,740.520,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1889.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.639,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10135,335
$CAP_FILE_SIZE,67039,0
$CFSIZE,1023623168,1013514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,66.43,1
$GPS,020419,085134,-2851.702,3219.402,18,1.0,19,-23.7,0.7,306.5,9,8.6