version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 96
start: 4 4 119 10 29 12
data:
$ID,573
$MISSION,30
$DIVE,96
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,358
$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,270
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,040419,102130,-2904.8994,3208.2424,16,0.7,30,-23.9,0.6,185.4,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-58.6
$GPS2,040419,102848,-2905.0361,3208.2495,17,0.8,36,-23.9,0.5,231.3,11,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2905.036,3155.892
$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,293.9,20000,-18.3,-10.010,-21.05,2234
$D_GRID,1000
$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,-146.0,73,1978,586,577,0.0,0.0,0,121,0.00,0.00,-98.05,0.000,16386,0.000,0.000,73,1978,3224,3240,3208,0,0,0,0,0,0,15.02,28.83,15.02
$GC,124,-0.86,-146.0,73,1977,3240,3209,3.3,-8.5,17,150,12.65,2.38,-3.17,0.000,19204,0.312,0.081,2203,582,3410,3442,3378,0,0,0,0,0,0,14.39,13.34,14.58
$GC,188,-0.86,-146.0,2203,582,3444,3379,23.9,-23.0,28,194,0.00,2.30,0.00,0.000,3078,0.000,0.044,2203,1988,3410,3443,3378,0,0,0,0,0,0,14.90,14.81,14.92
$GC,257,-0.86,-146.0,2203,1988,3444,3378,35.1,-15.0,41,264,0.00,2.40,0.00,0.000,2308,0.000,0.069,2203,3392,3411,3444,3378,0,0,0,0,0,0,15.07,14.76,15.07
$GC,456,-0.86,-146.0,2203,3392,3445,3378,62.6,-14.2,80,463,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,1982,3414,3446,3383,0,0,0,0,0,0,14.95,14.85,14.97
$GC,526,-0.86,-146.0,2203,1981,3446,3378,71.6,-12.4,93,533,0.00,2.42,0.00,0.000,2308,0.000,0.066,2203,3389,3412,3446,3379,0,0,0,0,0,0,15.10,14.78,15.10
$GC,579,-0.86,-146.0,2202,3389,3446,3378,78.5,-12.8,103,586,0.00,2.30,0.00,0.000,3078,0.000,0.037,2202,1985,3412,3446,3379,0,0,0,0,0,0,14.84,14.72,14.85
$GC,649,-0.86,-146.0,2202,1985,3446,3378,87.9,-14.5,116,655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1986,3411,3446,3377,0,0,0,0,0,0,15.11,15.11,15.11
$GC,720,-0.86,-146.0,2202,1984,3447,3378,96.8,-9.9,129,728,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3384,3412,3446,3378,0,0,0,0,0,0,15.11,14.76,15.11
$STATE,864,end dive,NO_VERTICAL_VELOCITY
$STATE,864,begin apogee
$GC,870,-0.19,0.0,2203,1979,3447,3378,97.0,0.0,157,985,1.08,0.00,107.45,1.001,10246,0.130,0.000,2425,1978,2812,2849,2775,0,0,0,0,0,0,14.56,14.57,14.04
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,987,begin climb
$GC,988,0.86,146.0,2425,1978,2848,2775,97.2,0.0,177,1107,1.55,0.00,110.40,0.989,10758,0.095,0.000,2750,1979,2214,2256,2173,0,0,0,0,0,0,14.53,14.42,13.93
$GC,1169,0.93,202.9,2750,1978,2250,2171,87.7,7.4,208,1223,0.08,2.45,44.55,0.966,10500,0.177,0.067,2802,3384,1983,2028,1939,0,0,0,0,0,0,14.61,14.48,13.96
$GC,1235,0.93,202.9,2801,3384,2027,1938,80.6,11.9,219,1242,0.08,2.35,0.00,0.000,5126,0.288,0.042,2790,1981,1982,2027,1937,0,0,0,0,0,0,14.43,14.53,14.61
$GC,1305,0.93,202.9,2790,1981,2024,1936,73.0,10.9,232,1310,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1978,1980,2024,1936,0,0,0,0,0,0,14.89,14.90,14.89
$GC,1372,0.93,202.9,2790,1981,2023,1936,66.1,10.1,245,1379,0.00,2.42,0.00,0.000,4356,0.000,0.063,2789,3388,1979,2023,1936,0,0,0,0,0,0,14.96,14.70,14.95
$GC,1407,0.93,202.9,2789,3388,2022,1936,62.4,10.3,251,1413,0.00,2.33,0.00,0.000,5126,0.000,0.043,2790,1979,1978,2022,1935,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1476,0.93,204.0,2790,1980,2022,1935,55.2,10.0,264,1483,0.00,2.35,0.00,0.000,516,0.000,0.073,2790,592,1976,2021,1932,0,0,0,0,0,0,15.00,14.72,15.01
$GC,1499,0.93,204.0,2790,592,2021,1935,52.8,10.1,268,1506,0.00,2.28,0.00,0.000,1030,0.000,0.042,2790,1985,1978,2021,1935,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1569,0.93,204.0,2790,1985,2020,1934,45.9,10.2,281,1575,0.00,2.38,0.00,0.000,260,0.000,0.065,2790,3395,1976,2020,1933,0,0,0,0,0,0,15.04,14.65,15.04
$GC,1632,0.93,204.0,2790,3395,2020,1933,38.6,11.4,293,1639,0.00,2.33,0.00,0.000,1030,0.000,0.043,2790,1983,1976,2020,1933,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1701,0.93,204.0,2790,1983,2020,1932,31.2,10.9,306,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1983,1975,2019,1932,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1770,0.93,204.0,2790,1982,2020,1932,22.8,13.2,319,1776,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1983,1976,2020,1932,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1840,1.01,272.5,2790,1982,2019,1932,16.5,6.9,332,1888,0.00,2.45,38.90,0.854,10500,0.000,0.063,2791,3393,1697,1750,1645,0,0,0,0,0,0,15.09,14.69,14.25
$GC,1946,1.12,356.9,2790,3393,1746,1641,10.1,6.1,351,2000,0.17,2.33,45.47,0.799,11270,0.099,0.041,2857,1989,1356,1413,1299,0,0,0,0,0,0,14.79,14.76,14.17
$STATE,2017,end climb,SURFACE_DEPTH_REACHED
$STATE,2017,begin surface coast
$FINISH,-0.2,1.010901
$STATE,2039,end surface coast,CONTROL_FINISHED_OK
$STATE,2039,begin surface
$SM_CCo,2060,102.05,0.737,0,0,599,542.59
$SM_GC,0.45,12.80,0.00,102.05,0.053,0.000,0.737,119,1988,599,-7.31,0.03,542.59,0,0,0,0,0,0,14.72,14.94,14.10
$IRIDIUM_FIX,-2853.13,3209.73,040419,093600
$TT8_MAMPS,0.019474,0.884569
$HUMID,56.45
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$SC_FREEKB,3874336
$24V_AH,13.34,108.492
$10V_AH,13.36,0.000
$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,28.400,42.525,346.775,102.050,0.000,24.172,38.961,188.896,1.000,0.000,37.064,775.022,276.612,546.227,928.081,89.423,0.000,927.430,0.000,558.587,0.000,8.576,0.000
$DEVICE_MAMPS,312.120,81.090,1001.385,737.460,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.459,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13471,367
$CAP_FILE_SIZE,71389,0
$CFSIZE,1023623168,1009696768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.268,204.99,1
$GPS,040419,110627,-2905.299,3207.933,22,1.0,36,-23.9,0.7,190.2,8,9.9