version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 116
start: 4 6 119 2 32 44
data:
$ID,573
$MISSION,30
$DIVE,116
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,110
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,47
$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,2
$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
$GPS1,060419,022555,-2913.9094,3201.8308,21,0.9,61,-24.1,0.8,187.4,10,19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-55.7
$GPS2,060419,023220,-2913.8325,3201.8445,41,0.9,60,-24.1,1.3,352.1,11,8.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2917.526,3213.480
$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,134.1,20000,-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,19,begin dive
$GC,20,-0.86,-146.0,103,1966,587,574,0.0,0.0,0,116,0.00,0.00,-93.15,0.000,16386,0.000,0.000,96,1968,3203,3213,3194,0,0,0,0,0,0,15.06,28.83,15.07
$GC,120,-0.86,-146.0,95,1968,3214,3194,3.7,-8.5,17,144,12.45,2.45,-3.40,0.000,18692,0.310,0.080,2196,3410,3412,3443,3381,0,0,0,0,0,0,14.46,13.31,14.64
$GC,286,-0.86,-146.0,2196,3410,3444,3381,42.7,-15.5,49,294,0.05,2.30,0.00,0.000,3078,0.339,0.039,2207,1998,3413,3445,3381,0,0,0,0,0,0,14.66,14.85,14.88
$GC,355,-0.86,-146.0,2206,1998,3445,3381,55.1,-18.6,62,362,0.00,2.33,0.00,0.000,2564,0.000,0.064,2207,616,3413,3445,3381,0,0,0,0,0,0,15.11,14.77,15.11
$GC,379,-0.86,-146.0,2207,616,3445,3381,59.2,-17.2,66,389,0.00,2.28,0.00,0.000,3078,0.000,0.044,2201,2008,3412,3445,3380,0,0,0,0,0,0,14.84,14.76,14.85
$GC,451,-0.86,-146.0,2203,2008,3445,3381,69.0,-12.1,79,463,0.00,2.38,0.00,0.000,2308,0.000,0.068,2203,3409,3413,3445,3381,0,0,0,0,0,0,15.11,14.82,15.12
$STATE,543,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,544,begin apogee
$GC,550,-0.19,0.0,2204,1955,3446,3381,84.0,-14.5,96,666,1.10,0.00,106.75,0.952,10246,0.168,0.000,2421,1955,2811,2846,2776,0,0,0,0,0,0,14.57,14.45,14.07
$STATE,668,end apogee,CONTROL_FINISHED_OK
$STATE,668,begin climb
$GC,670,0.86,146.0,2421,1955,2845,2776,89.1,0.0,117,787,1.55,2.45,107.68,0.939,11012,0.104,0.059,2747,3363,2215,2255,2176,0,0,0,0,0,0,14.54,14.38,13.98
$GC,819,0.90,185.0,2747,3363,2252,2174,82.5,8.2,143,859,0.00,2.33,30.95,0.907,11270,0.000,0.039,2749,1962,2054,2097,2012,0,0,0,0,0,0,14.69,14.59,13.98
$GC,922,1.00,261.7,2749,1962,2094,2009,75.7,6.5,162,990,0.15,2.42,59.72,0.917,10500,0.104,0.060,2821,3366,1741,1790,1693,0,0,0,0,0,0,14.70,14.37,13.95
$GC,1032,1.00,261.7,2821,3366,1787,1690,62.7,13.3,182,1039,0.00,2.35,0.00,0.000,5126,0.000,0.042,2821,1956,1738,1787,1689,0,0,0,0,0,0,14.75,14.65,14.76
$GC,1102,1.00,261.7,2821,1956,1786,1688,54.6,11.0,195,1108,0.00,0.00,0.00,0.000,4102,0.000,0.000,2821,1956,1736,1785,1688,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1170,1.00,261.7,2821,1956,1784,1688,46.3,12.1,208,1176,0.00,2.38,0.00,0.000,4612,0.000,0.072,2821,561,1736,1784,1688,0,0,0,0,0,0,14.99,14.63,15.00
$GC,1198,1.00,261.7,2821,562,1783,1688,43.3,10.1,213,1205,0.00,2.28,0.00,0.000,5126,0.000,0.040,2821,1967,1736,1784,1688,0,0,0,0,0,0,14.90,14.81,14.90
$GC,1268,1.00,261.7,2821,1968,1783,1687,34.8,12.2,226,1275,0.00,2.35,0.00,0.000,4356,0.000,0.061,2821,3367,1734,1782,1687,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1347,1.01,269.7,2821,3367,1782,1686,25.9,9.6,241,1360,0.00,2.30,3.75,0.614,13318,0.000,0.042,2822,1963,1710,1761,1659,0,0,0,0,0,0,14.94,14.83,14.10
$GC,1424,1.02,278.8,2821,1962,1759,1662,18.2,9.6,255,1437,0.00,2.35,5.25,0.649,12548,0.000,0.060,2821,3362,1672,1722,1623,0,0,0,0,0,0,15.09,14.76,14.19
$GC,1469,1.02,278.8,2821,3362,1720,1621,14.0,10.9,263,1476,0.00,2.30,0.00,0.000,5126,0.000,0.043,2822,1957,1670,1720,1620,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1539,1.12,359.4,2821,1959,1719,1620,8.7,6.3,276,1585,0.00,1.05,42.38,0.736,10755,0.000,0.059,2821,1320,1344,1398,1290,0,0,0,0,0,0,15.09,14.78,14.26
$STATE,1586,end climb,SURFACE_DEPTH_REACHED
$STATE,1586,begin surface coast
$FINISH,0.3,1.023591
$STATE,1607,end surface coast,CONTROL_FINISHED_OK
$STATE,1607,begin surface
$SM_CCo,1629,99.07,0.701,0,0,599,542.59
$SM_GC,0.73,12.55,1.15,99.07,0.057,0.040,0.701,143,2026,599,-7.27,-1.10,542.59,0,0,0,0,0,0,14.77,14.81,14.14
$IRIDIUM_FIX,-2902.99,3201.37,060419,015131
$TT8_MAMPS,0.019474,0.86884
$HUMID,52.79
$INTERNAL_PRESSURE,9.36524
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,70.3,28.6
$SC_FREEKB,3863488
$24V_AH,13.31,113.792
$10V_AH,13.31,0.000
$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,27.850,39.825,356.475,99.075,0.000,23.777,17.543,148.969,1.500,0.000,60.738,553.815,214.421,522.548,761.590,79.309,0.000,852.806,0.000,441.128,0.000,13.830,0.000
$DEVICE_MAMPS,338.895,79.560,952.425,700.740,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1634.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.662,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10129,288
$CAP_FILE_SIZE,59951,0
$CFSIZE,1023623168,1006780416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,030229,-2913.685,3202.162,18,1.0,19,-24.1,0.6,50.4,10,7.7