version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 68
start: 4 2 119 9 41 22
data:
$ID,573
$MISSION,30
$DIVE,68
$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,40
$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
$GPS1,020419,093440,-2851.5425,3219.9026,16,0.8,17,-23.7,0.0,0.0,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-62.1
$GPS2,020419,094059,-2851.5164,3219.9673,14,0.7,16,-23.7,0.0,0.0,12,10.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2845.662,3230.319
$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,80.9,20000,-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,17,begin dive
$GC,19,-0.86,-146.0,72,1999,582,580,0.0,0.0,0,115,0.00,0.00,-93.72,0.000,16386,0.000,0.000,72,1999,3157,3165,3150,0,0,0,0,0,0,15.04,28.83,15.05
$GC,119,-0.86,-146.0,72,1999,3164,3150,3.1,-6.5,16,145,12.62,2.35,-4.38,0.000,18692,0.316,0.081,2191,3382,3411,3443,3379,0,0,0,0,0,0,14.47,13.44,14.66
$GC,302,-0.86,-146.0,2191,3383,3445,3379,46.1,-18.6,51,310,0.08,2.30,0.00,0.000,3078,0.282,0.040,2206,1976,3412,3445,3379,0,0,0,0,0,0,14.67,14.88,14.88
$GC,371,-0.86,-146.0,2206,1977,3445,3374,57.3,-14.2,64,378,0.00,2.33,0.00,0.000,2564,0.000,0.064,2207,586,3412,3446,3379,0,0,0,0,0,0,15.12,14.82,15.12
$GC,430,-0.86,-146.0,2206,585,3446,3379,65.8,-16.1,75,436,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1993,3412,3446,3379,0,0,0,0,0,0,14.92,14.83,14.93
$GC,499,-0.86,-146.0,2206,1993,3446,3379,76.0,-13.9,88,506,0.00,2.35,0.00,0.000,2308,0.000,0.067,2207,3387,3412,3446,3379,0,0,0,0,0,0,15.13,14.73,15.13
$GC,645,-0.86,-146.0,2206,3387,3446,3378,96.4,-14.3,116,651,0.00,2.28,0.00,0.000,3078,0.000,0.038,2207,1988,3413,3447,3379,0,0,0,0,0,0,14.93,14.82,14.95
$STATE,672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,672,begin apogee
$GC,676,-0.19,0.0,2207,1988,3447,3379,100.5,-14.5,121,790,1.10,0.00,106.47,0.998,10246,0.174,0.000,2423,1987,2812,2848,2777,0,0,0,0,0,0,14.62,14.60,14.12
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,791,begin climb
$GC,793,0.86,146.0,2423,1987,2848,2777,106.4,0.0,140,910,1.55,0.00,107.90,0.993,10502,0.103,0.000,2749,1987,2216,2256,2176,0,0,0,0,0,0,14.56,14.38,14.00
$GC,973,0.94,206.4,2749,1987,2250,2174,98.3,7.3,171,1026,0.08,0.00,46.80,0.970,10502,0.179,0.000,2803,1987,1968,2012,1924,0,0,0,0,0,0,14.65,14.51,14.01
$GC,1088,0.94,206.4,2803,1986,2007,1921,86.9,10.9,192,1094,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,1986,1963,2006,1921,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1155,0.94,206.4,2802,1987,2005,1920,79.5,11.4,205,1162,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,1987,1963,2006,1920,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1224,0.96,226.0,2802,1986,2005,1919,72.9,9.2,218,1249,0.00,2.38,15.93,0.916,12548,0.000,0.063,2803,3394,1886,1929,1844,0,0,0,0,0,0,15.02,14.73,14.18
$GC,1271,0.96,226.0,2803,3394,1928,1844,68.1,10.7,226,1278,0.00,2.30,0.00,0.000,5126,0.000,0.039,2804,1997,1885,1928,1843,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1340,0.96,226.0,2804,1997,1926,1842,60.4,10.7,239,1347,0.00,2.38,0.00,0.000,4356,0.000,0.062,2804,3390,1883,1926,1841,0,0,0,0,0,0,15.02,14.78,15.03
$GC,1363,0.96,226.0,2803,3390,1926,1841,57.8,11.3,243,1370,0.00,2.33,0.00,0.000,5126,0.000,0.043,2804,1972,1883,1926,1841,0,0,0,0,0,0,14.81,14.70,14.81
$GC,1433,0.97,232.4,2804,1972,1926,1841,50.7,9.8,256,1447,0.00,2.35,5.97,0.786,12804,0.000,0.070,2805,581,1862,1905,1820,0,0,0,0,0,0,15.07,14.66,14.19
$GC,1491,0.98,239.1,2804,582,1903,1820,45.3,9.8,266,1504,0.00,2.30,7.00,0.819,9222,0.000,0.041,2804,1995,1835,1878,1793,0,0,0,0,0,0,14.92,14.85,14.19
$GC,1566,1.02,276.4,2804,1996,1877,1789,39.1,8.4,280,1603,0.00,2.45,29.77,0.930,10756,0.000,0.070,2804,587,1681,1730,1633,0,0,0,0,0,0,15.07,14.73,14.21
$GC,1649,1.02,276.4,2804,586,1729,1632,31.2,10.5,295,1656,0.00,2.30,0.00,0.000,3078,0.000,0.041,2804,1992,1680,1729,1632,0,0,0,0,0,0,14.84,14.74,14.85
$GC,1719,1.05,299.8,2804,1992,1728,1630,25.0,9.0,308,1739,0.00,2.40,14.40,0.866,10500,0.000,0.064,2804,3387,1586,1640,1533,0,0,0,0,0,0,15.04,14.71,14.22
$GC,1792,1.05,299.8,2804,3387,1636,1531,18.0,10.3,321,1799,0.00,2.30,0.00,0.000,3078,0.000,0.042,2804,1983,1583,1636,1531,0,0,0,0,0,0,14.90,14.79,14.91
$GC,1862,1.08,322.0,2804,1983,1635,1530,11.6,9.1,334,1882,0.05,2.38,11.85,0.760,10756,0.255,0.071,2852,586,1497,1550,1445,0,0,0,0,0,0,14.76,14.66,14.28
$GC,1899,1.08,322.0,2852,586,1548,1445,6.9,12.0,340,1906,0.05,2.30,0.00,0.000,5126,0.318,0.042,2840,1993,1496,1548,1445,0,0,0,0,0,0,14.58,14.73,14.77
$STATE,1932,end climb,SURFACE_DEPTH_REACHED
$STATE,1932,begin surface coast
$FINISH,-0.0,1.023659
$STATE,1958,end surface coast,CONTROL_FINISHED_OK
$STATE,1958,begin surface
$SM_CCo,1979,119.35,0.740,0,0,600,542.59
$SM_GC,0.65,12.48,0.00,119.35,0.050,0.000,0.740,143,1995,600,-7.26,0.20,542.59,0,0,0,0,0,0,14.83,15.08,14.21
$IRIDIUM_FIX,-2840.83,3218.84,020419,085354
$TT8_MAMPS,0.019474,0.95123
$HUMID,57.12
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.4
$SC_FREEKB,3888032
$24V_AH,13.44,100.508
$10V_AH,13.55,0.000
$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,28.000,42.050,346.100,119.350,0.000,23.130,38.394,157.890,1.750,0.000,16.924,746.392,257.320,554.072,851.693,83.223,0.000,923.128,0.000,534.309,0.000,12.516,0.000
$DEVICE_MAMPS,318.240,81.090,997.560,739.755,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.706,0.000,0.000,0.000
$MEM,339628
$DATA_FILE_SIZE,10151,351
$CAP_FILE_SIZE,71145,0
$CFSIZE,1023623168,1013317632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,62.75,1
$GPS,020419,101716,-2851.356,3220.337,18,0.7,19,-23.7,0.0,121.6,12,8.0