version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 69
start: 4 2 119 10 24 7
data:
$ID,573
$MISSION,30
$DIVE,69
$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,42
$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
$GPS1,020419,101716,-2851.3564,3220.3374,18,0.7,19,-23.7,0.0,121.6,12,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.1
$GPS2,020419,102344,-2851.3242,3220.4204,20,0.8,36,-23.7,1.2,98.9,10,10.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2846.380,3231.374
$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,86.5,20000,-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,18,begin dive
$GC,20,-0.86,-146.0,72,1999,582,581,0.0,0.0,0,119,0.00,0.00,-97.25,0.000,16386,0.000,0.000,72,1999,3295,3310,3280,0,0,0,0,0,0,15.05,28.83,15.07
$GC,123,-0.86,-146.0,72,1999,3311,3280,4.1,-11.3,17,143,12.60,2.38,-1.85,0.000,18692,0.316,0.073,2190,3402,3410,3440,3381,0,0,0,0,0,0,14.50,13.45,14.71
$GC,341,-0.86,-146.0,2190,3403,3437,3381,56.6,-17.8,59,349,0.08,2.33,0.00,0.000,3078,0.284,0.039,2206,1972,3412,3443,3381,0,0,0,0,0,0,14.67,14.85,14.88
$GC,411,-0.86,-146.0,2205,1971,3443,3381,66.8,-13.7,72,418,0.00,2.30,0.00,0.000,2564,0.000,0.063,2206,594,3412,3443,3381,0,0,0,0,0,0,15.13,14.83,15.13
$GC,430,-0.86,-146.0,2206,593,3443,3381,69.9,-16.1,75,440,0.00,2.28,0.00,0.000,3078,0.000,0.044,2204,1990,3412,3443,3381,0,0,0,0,0,0,14.92,14.81,14.93
$GC,503,-0.86,-146.0,2200,1990,3444,3381,81.7,-16.0,88,513,0.00,2.35,0.00,0.000,2308,0.000,0.068,2204,3385,3412,3443,3381,0,0,0,0,0,0,15.14,14.73,15.14
$GC,580,-0.86,-146.0,2204,3386,3444,3381,93.1,-15.6,102,587,0.00,2.28,0.00,0.000,3078,0.000,0.038,2204,1990,3413,3445,3381,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,627,-0.19,0.0,2204,1990,3445,3381,100.0,-15.4,110,741,1.10,0.00,105.50,0.998,10246,0.177,0.000,2420,1988,2813,2848,2778,0,0,0,0,0,0,14.67,14.60,14.11
$STATE,742,end apogee,CONTROL_FINISHED_OK
$STATE,742,begin climb
$GC,744,0.86,146.0,2420,1988,2848,2778,106.3,0.0,129,861,1.58,0.00,106.97,0.998,10502,0.105,0.000,2750,1988,2214,2254,2174,0,0,0,0,0,0,14.54,14.38,14.01
$GC,925,0.92,191.9,2750,1988,2249,2173,98.5,8.0,160,966,0.05,0.00,35.28,0.960,10246,0.249,0.000,2793,1986,2029,2071,1987,0,0,0,0,0,0,14.61,14.59,14.05
$GC,1028,0.93,197.7,2797,1988,2067,1981,88.3,9.8,179,1042,0.00,2.38,5.70,0.780,12548,0.000,0.063,2793,3393,2005,2047,1963,0,0,0,0,0,0,14.90,14.61,14.08
$GC,1054,0.93,197.7,2793,3393,2046,1962,85.6,10.2,183,1061,0.00,2.33,0.00,0.000,5126,0.000,0.040,2797,1984,2004,2046,1962,0,0,0,0,0,0,14.73,14.64,14.73
$GC,1125,0.93,202.1,2797,1984,2045,1961,78.6,9.9,196,1132,0.00,0.00,5.00,0.752,12294,0.000,0.000,2797,1984,1987,2030,1945,0,0,0,0,0,0,14.99,14.74,14.13
$GC,1195,0.94,209.3,2797,1984,2028,1943,71.8,9.8,209,1207,0.00,0.00,6.80,0.816,12294,0.000,0.000,2797,1984,1959,2002,1916,0,0,0,0,0,0,15.02,14.56,14.11
$GC,1269,0.97,237.2,2797,1984,1999,1915,64.9,8.8,223,1300,0.00,2.38,22.92,0.935,10500,0.000,0.060,2797,3386,1844,1887,1801,0,0,0,0,0,0,15.03,14.61,14.18
$GC,1327,0.97,237.2,2796,3386,1885,1799,59.9,10.8,233,1334,0.00,2.30,0.00,0.000,3078,0.000,0.041,2797,1987,1841,1885,1798,0,0,0,0,0,0,14.86,14.77,14.87
$GC,1397,0.98,241.3,2797,1987,1884,1798,52.6,9.9,246,1411,0.00,2.42,4.43,0.711,10756,0.000,0.072,2797,587,1827,1871,1784,0,0,0,0,0,0,15.02,14.73,14.11
$GC,1438,1.02,278.6,2796,587,1869,1784,49.3,8.4,253,1474,0.00,2.28,29.80,0.937,11270,0.000,0.042,2797,1987,1676,1727,1625,0,0,0,0,0,0,14.91,14.83,14.19
$GC,1535,1.06,310.0,2797,1986,1723,1621,40.6,8.6,271,1566,0.08,0.00,25.58,0.919,10246,0.180,0.000,2854,1987,1547,1600,1494,0,0,0,0,0,0,14.76,14.63,14.13
$GC,1629,1.06,310.0,2853,1987,1592,1491,30.0,12.3,288,1635,0.08,0.00,0.00,0.000,4102,0.267,0.000,2834,1988,1543,1595,1491,0,0,0,0,0,0,14.63,14.77,14.72
$GC,1698,1.06,310.0,2834,1988,1594,1490,23.0,10.2,301,1704,0.00,2.38,0.00,0.000,4356,0.000,0.063,2834,3390,1541,1593,1490,0,0,0,0,0,0,15.02,14.76,15.02
$GC,1731,1.06,310.0,2834,3390,1592,1489,19.1,10.6,307,1738,0.00,2.33,0.00,0.000,5126,0.000,0.042,2834,1980,1540,1592,1489,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1802,1.06,310.0,2834,1986,1592,1489,11.8,11.3,320,1808,0.00,2.35,0.00,0.000,4612,0.000,0.073,2835,589,1540,1592,1489,0,0,0,0,0,0,15.06,14.78,15.06
$GC,1830,1.06,310.0,2834,588,1591,1489,8.3,13.1,325,1836,0.00,2.28,0.00,0.000,5126,0.000,0.042,2835,1986,1539,1591,1488,0,0,0,0,0,0,14.85,14.76,14.86
$STATE,1876,end climb,SURFACE_DEPTH_REACHED
$STATE,1877,begin surface coast
$FINISH,0.3,1.023660
$STATE,1903,end surface coast,CONTROL_FINISHED_OK
$STATE,1903,begin surface
$SM_CCo,1923,125.25,0.740,0,0,600,542.59
$SM_GC,0.71,12.48,0.00,125.25,0.055,0.000,0.740,144,1988,600,-7.26,0.03,542.59,0,0,0,0,0,0,14.83,15.11,14.22
$IRIDIUM_FIX,-2838.37,3218.84,020419,093650
$TT8_MAMPS,0.019474,0.874832
$HUMID,56.45
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$SC_FREEKB,3887520
$24V_AH,13.45,100.677
$10V_AH,13.13,0.000
$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,28.025,37.300,347.975,125.250,0.000,23.752,16.255,167.528,1.750,0.000,37.366,715.075,245.334,564.071,841.934,84.792,0.000,926.562,0.000,516.618,0.000,11.777,0.000
$DEVICE_MAMPS,315.945,73.440,998.325,739.755,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1936.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.803,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10196,339
$CAP_FILE_SIZE,70342,0
$CFSIZE,1023623168,1013219328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,507.56,0x23609a,0,24
$CURRENT,0.101,57.75,1
$GPS,020419,105916,-2851.198,3220.772,20,0.9,24,-23.7,1.1,103.8,9,9.8