version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 70
start: 4 2 119 11 6 24
data:
$ID,573
$MISSION,30
$DIVE,70
$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,40
$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
$GPS1,020419,105916,-2851.1975,3220.7717,20,0.9,24,-23.7,1.1,103.8,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.3
$GPS2,020419,110601,-2851.1692,3220.8318,16,0.9,20,-23.7,0.8,53.4,9,10.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2845.407,3231.250
$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,81.5,20000,-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,19,-0.86,-146.0,71,1993,580,582,0.0,0.0,0,118,0.00,0.00,-96.07,0.000,16386,0.000,0.000,72,1993,3266,3281,3251,0,0,0,0,0,0,15.04,28.83,15.05
$GC,121,-0.86,-146.0,72,1994,3281,3251,4.4,-12.5,17,142,12.60,2.38,-2.33,0.000,18692,0.312,0.076,2194,3390,3411,3441,3381,0,0,0,0,0,0,14.53,13.46,14.71
$GC,294,-0.86,-146.0,2193,3390,3443,3381,46.5,-18.6,50,303,0.05,2.30,0.00,0.000,3078,0.335,0.040,2205,1983,3411,3443,3380,0,0,0,0,0,0,14.57,14.77,14.80
$GC,365,-0.86,-146.0,2205,1983,3443,3380,58.0,-14.5,63,371,0.00,2.35,0.00,0.000,2564,0.000,0.064,2205,580,3411,3443,3380,0,0,0,0,0,0,15.11,14.76,15.11
$GC,418,-0.86,-146.0,2205,580,3444,3380,66.0,-13.4,73,425,0.00,2.30,0.00,0.000,3078,0.000,0.044,2204,1993,3411,3443,3380,0,0,0,0,0,0,14.97,14.88,14.99
$GC,488,-0.86,-146.0,2203,1993,3444,3380,75.7,-14.1,86,495,0.00,2.35,0.00,0.000,2308,0.000,0.067,2203,3388,3412,3444,3380,0,0,0,0,0,0,15.12,14.83,15.12
$GC,548,-0.86,-146.0,2203,3388,3444,3381,85.2,-15.9,97,555,0.00,2.28,0.00,0.000,3078,0.000,0.040,2203,1983,3412,3445,3380,0,0,0,0,0,0,14.99,14.87,15.00
$GC,618,-0.86,-146.0,2203,1982,3445,3380,97.5,-15.9,110,624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,1983,3412,3445,3380,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,635,begin apogee
$GC,639,-0.19,0.0,2204,1981,3445,3385,100.1,-14.0,113,753,1.10,0.00,105.72,0.995,10246,0.177,0.000,2420,1981,2811,2846,2777,0,0,0,0,0,0,14.66,14.60,14.10
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,756,0.86,146.0,2419,1981,2846,2776,107.1,0.0,132,870,1.58,0.00,107.85,0.988,10758,0.105,0.000,2750,1981,2215,2256,2175,0,0,0,0,0,0,14.56,14.50,14.02
$GC,933,0.97,232.0,2749,1981,2250,2173,101.6,6.1,162,1011,0.10,2.40,65.95,0.974,10756,0.142,0.068,2814,598,1863,1906,1820,0,0,0,0,0,0,14.65,14.49,13.97
$GC,1017,0.97,232.0,2816,599,1905,1819,93.7,11.2,176,1024,0.00,2.30,0.00,0.000,5126,0.000,0.038,2814,1993,1862,1904,1820,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1087,0.97,234.8,2813,1993,1903,1817,86.9,10.0,189,1094,0.00,2.38,0.00,0.000,4356,0.000,0.062,2814,3388,1860,1903,1817,0,0,0,0,0,0,14.90,14.63,14.91
$GC,1121,0.97,234.8,2814,3389,1902,1817,83.5,10.5,195,1128,0.00,2.30,0.00,0.000,5126,0.000,0.042,2815,1996,1859,1902,1816,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1190,0.97,234.8,2814,1995,1902,1816,75.6,12.2,208,1197,0.00,2.42,0.00,0.000,4612,0.000,0.072,2815,576,1859,1902,1816,0,0,0,0,0,0,15.00,14.73,15.00
$GC,1219,0.97,234.8,2814,576,1900,1816,72.3,10.3,213,1226,0.00,2.30,0.00,0.000,5126,0.000,0.041,2814,1987,1858,1901,1816,0,0,0,0,0,0,14.90,14.81,14.90
$GC,1288,0.97,234.8,2814,1988,1901,1816,63.9,12.4,226,1295,0.00,2.38,0.00,0.000,4356,0.000,0.063,2814,3396,1858,1901,1816,0,0,0,0,0,0,15.04,14.74,15.04
$GC,1332,0.97,234.8,2814,3396,1900,1815,58.5,12.1,234,1340,0.08,2.33,0.00,0.000,5126,0.286,0.041,2803,1977,1857,1900,1815,0,0,0,0,0,0,14.58,14.73,14.77
$GC,1403,1.02,278.1,2802,1977,1900,1814,51.8,8.1,247,1444,0.00,0.00,35.70,0.936,10502,0.000,0.000,2803,1977,1676,1727,1626,0,0,0,0,0,0,15.09,14.73,14.24
$GC,1506,1.05,296.2,2802,1977,1723,1622,42.4,9.3,266,1525,0.00,0.00,14.85,0.888,10758,0.000,0.000,2802,1977,1604,1657,1551,0,0,0,0,0,0,15.00,14.73,14.19
$GC,1587,1.06,308.8,2803,1977,1653,1549,34.7,9.5,281,1606,0.00,2.35,11.30,0.858,10756,0.000,0.073,2803,587,1552,1605,1499,0,0,0,0,0,0,15.00,14.72,14.15
$GC,1638,1.09,335.3,2802,588,1604,1499,29.9,8.9,290,1670,0.10,2.30,22.10,0.897,11270,0.145,0.041,2861,1993,1443,1496,1391,0,0,0,0,0,0,14.75,14.75,14.19
$GC,1732,1.09,335.3,2861,1993,1492,1388,19.1,12.5,307,1739,0.08,2.35,0.00,0.000,4356,0.270,0.061,2841,3386,1439,1492,1387,0,0,0,0,0,0,14.63,14.66,14.73
$GC,1786,1.09,335.3,2841,3391,1490,1386,11.9,13.2,317,1793,0.00,2.30,0.00,0.000,1030,0.000,0.043,2842,1987,1438,1490,1386,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1855,1.09,335.3,2842,1986,1490,1386,4.0,11.9,330,1862,0.00,2.38,0.00,0.000,516,0.000,0.076,2842,588,1438,1490,1386,0,0,0,0,0,0,15.04,14.76,15.05
$STATE,1867,end climb,SURFACE_DEPTH_REACHED
$STATE,1867,begin surface coast
$FINISH,0.2,1.022929
$STATE,1888,end surface coast,CONTROL_FINISHED_OK
$STATE,1889,begin surface
$SM_CCo,1911,112.22,0.734,0,0,598,542.59
$SM_GC,0.72,12.48,2.33,112.22,0.047,0.041,0.734,142,1987,598,-7.27,-1.05,542.59,0,0,0,0,0,0,14.84,14.87,14.23
$IRIDIUM_FIX,-2838.37,3218.84,020419,102250
$TT8_MAMPS,0.018725,0.965461
$HUMID,56.77
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.5
$SC_FREEKB,3887008
$24V_AH,13.46,100.850
$10V_AH,13.57,0.000
$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,28.150,46.750,363.475,112.225,0.000,22.948,45.867,173.584,1.750,0.000,20.780,702.690,236.746,567.979,853.953,82.858,0.000,932.510,0.000,511.789,0.000,11.793,0.000
$DEVICE_MAMPS,335.070,76.500,994.500,733.635,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.779,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10147,336
$CAP_FILE_SIZE,70338,0
$CFSIZE,1023623168,1013121024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,51.28,1
$GPS,020419,114144,-2851.012,3221.143,19,1.2,59,-23.7,0.6,100.4,7,3.2