version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 67
start: 4 2 119 9 0 5
data:
$ID,573
$MISSION,30
$DIVE,67
$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,0
$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,0
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,020419,085134,-2851.7024,3219.4016,18,1.0,19,-23.7,0.7,306.5,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-61.3
$GPS2,020419,085940,-2851.6401,3219.4978,16,0.9,17,-23.7,1.0,53.2,9,7.4
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2847.321,3230.792
$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,90.1,20000,-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,-146.0,72,2003,582,581,0.0,0.0,0,116,0.00,0.00,-93.10,0.000,16386,0.000,0.000,72,2003,3161,3170,3153,0,0,0,0,0,0,15.04,28.83,15.04
$GC,119,-0.86,-146.0,72,2003,3170,3153,3.4,-7.7,16,145,12.68,2.35,-4.25,0.000,18692,0.319,0.083,2193,3383,3411,3444,3379,0,0,0,0,0,0,14.45,13.45,14.64
$GC,373,-0.86,-146.0,2192,3383,3446,3379,60.1,-17.6,65,382,0.08,2.28,0.00,0.000,3078,0.285,0.039,2208,1973,3412,3446,3379,0,0,0,0,0,0,14.57,14.87,14.78
$GC,446,-0.86,-146.0,2207,1973,3446,3379,71.2,-16.4,78,452,0.00,2.30,0.00,0.000,2564,0.000,0.063,2208,595,3412,3446,3379,0,0,0,0,0,0,15.14,14.83,15.14
$GC,469,-0.86,-146.0,2208,594,3446,3379,75.1,-16.6,82,476,0.00,2.28,0.00,0.000,3078,0.000,0.046,2204,1988,3414,3446,3383,0,0,0,0,0,0,14.85,14.75,14.87
$GC,539,-0.86,-146.0,2203,1989,3447,3379,86.6,-15.8,95,545,0.00,2.35,0.00,0.000,2308,0.000,0.069,2204,3385,3412,3446,3379,0,0,0,0,0,0,15.14,14.71,15.14
$STATE,627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,634,-0.19,0.0,2204,1989,3447,3379,100.7,-16.4,112,747,1.08,0.00,106.97,0.996,10246,0.175,0.000,2416,1987,2811,2846,2776,0,0,0,0,0,0,14.66,14.60,14.09
$STATE,749,end apogee,CONTROL_FINISHED_OK
$STATE,749,begin climb
$GC,751,0.86,146.0,2416,1987,2845,2775,107.7,0.0,131,870,1.60,2.35,108.53,0.986,10756,0.107,0.068,2753,591,2214,2253,2175,0,0,0,0,0,0,14.56,14.46,14.04
$GC,954,0.92,195.5,2753,590,2246,2174,97.5,7.8,166,1002,0.05,2.30,38.53,0.962,11270,0.252,0.040,2799,1999,2013,2055,1972,0,0,0,0,0,0,14.61,14.71,14.08
$GC,1064,0.92,195.5,2799,2000,2052,1968,85.4,13.0,186,1071,0.00,2.35,0.00,0.000,4356,0.000,0.062,2799,3386,2009,2052,1967,0,0,0,0,0,0,14.92,14.69,14.92
$GC,1128,0.92,195.5,2799,3386,2049,1966,78.2,11.3,198,1136,0.08,2.30,0.00,0.000,5126,0.290,0.039,2790,1988,2008,2050,1966,0,0,0,0,0,0,14.62,14.77,14.80
$GC,1199,0.92,195.5,2789,1987,2054,1966,70.7,10.1,211,1205,0.00,2.35,0.00,0.000,4356,0.000,0.060,2789,3387,2006,2050,1963,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1242,0.92,195.5,2789,3387,2049,1965,65.4,12.1,219,1249,0.00,2.30,0.00,0.000,5126,0.000,0.042,2789,1982,2007,2049,1965,0,0,0,0,0,0,14.83,14.72,14.84
$GC,1312,0.92,195.5,2789,1981,2049,1965,58.4,10.1,232,1318,0.00,2.35,0.00,0.000,4612,0.000,0.071,2791,592,2007,2048,1966,0,0,0,0,0,0,15.07,14.71,15.07
$GC,1376,0.92,196.9,2790,591,2047,1964,51.9,10.0,244,1383,0.00,2.28,0.00,0.000,5126,0.000,0.040,2790,1992,2005,2046,1965,0,0,0,0,0,0,14.84,14.76,14.85
$GC,1446,1.02,278.6,2790,1992,2046,1965,46.9,6.3,257,1516,0.00,2.40,63.38,0.945,10756,0.000,0.066,2790,585,1674,1726,1623,0,0,0,0,0,0,15.11,14.57,14.19
$GC,1559,1.09,334.4,2790,585,1721,1623,38.8,7.5,277,1614,0.12,2.30,44.47,0.926,11270,0.121,0.041,2852,1990,1446,1500,1393,0,0,0,0,0,0,14.74,14.73,14.12
$GC,1676,1.09,334.4,2852,1991,1496,1389,26.5,11.5,298,1683,0.00,2.38,0.00,0.000,4356,0.000,0.063,2853,3386,1442,1495,1389,0,0,0,0,0,0,14.92,14.59,14.93
$GC,1721,1.09,334.4,2853,3386,1494,1389,20.9,12.8,306,1728,0.05,2.30,0.00,0.000,5126,0.356,0.042,2845,1991,1441,1494,1389,0,0,0,0,0,0,14.57,14.76,14.77
$GC,1790,1.09,334.4,2845,1991,1494,1389,12.5,13.1,319,1796,0.00,2.40,0.00,0.000,4612,0.000,0.074,2845,583,1439,1491,1388,0,0,0,0,0,0,15.02,14.73,15.02
$GC,1823,1.09,334.4,2845,581,1493,1395,7.8,13.2,325,1830,0.00,2.30,0.00,0.000,5126,0.000,0.041,2845,1991,1440,1492,1389,0,0,0,0,0,0,14.86,14.78,14.88
$STATE,1865,end climb,SURFACE_DEPTH_REACHED
$STATE,1865,begin surface coast
$FINISH,0.2,1.023651
$STATE,1887,end surface coast,CONTROL_FINISHED_OK
$STATE,1887,begin surface
$SM_CCo,1908,112.55,0.735,0,0,598,542.59
$SM_GC,0.74,12.50,0.00,112.55,0.049,0.000,0.735,143,1993,598,-7.27,0.17,542.59,0,0,0,0,0,0,14.83,15.09,14.23
$IRIDIUM_FIX,-2840.83,3220.15,020419,081052
$TT8_MAMPS,0.019474,0.880075
$HUMID,56.37
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.3
$SC_FREEKB,3888544
$24V_AH,13.45,100.340
$10V_AH,13.53,0.000
$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,28.225,46.500,361.875,112.550,0.000,24.217,40.653,259.294,1.750,0.000,18.775,706.764,244.896,554.146,926.412,91.612,0.000,911.674,0.000,515.413,0.000,12.503,0.000
$DEVICE_MAMPS,355.725,82.620,996.030,735.165,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.857,0.000,0.000,0.000
$MEM,339564
$DATA_FILE_SIZE,10141,337
$CAP_FILE_SIZE,69279,0
$CFSIZE,1023623168,1013415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158,57.17,1
$GPS,020419,093440,-2851.542,3219.903,16,0.8,17,-23.7,0.0,0.0,10,9.1