version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 117
start: 4 6 119 3 11 9
data:
$ID,573
$MISSION,30
$DIVE,117
$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,39
$R_STBD_OVSHOOT,48
$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
$GPS1,060419,030229,-2913.6853,3202.1616,18,1.0,19,-24.1,0.6,50.4,10,7.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-56.4
$GPS2,060419,031045,-2913.5984,3202.1963,18,1.1,18,-24.1,0.6,154.7,8,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2917.292,3213.832
$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,18,begin dive
$GC,20,-0.86,-146.0,77,2033,587,573,0.0,0.0,0,122,0.00,0.00,-98.62,0.000,16386,0.000,0.000,72,2034,3329,3346,3313,0,0,0,0,0,0,15.05,28.83,15.06
$GC,125,-0.86,-146.0,72,2034,3346,3312,4.0,-10.5,18,144,12.60,2.35,-1.27,0.000,18692,0.308,0.073,2197,3413,3409,3437,3381,0,0,0,0,0,0,14.45,13.31,14.62
$GC,277,-0.86,-146.0,2197,3413,3440,3381,39.2,-18.4,47,284,0.05,2.30,0.00,0.000,3078,0.342,0.037,2208,2005,3408,3437,3380,0,0,0,0,0,0,14.66,14.87,14.87
$GC,347,-0.86,-146.0,2207,2005,3441,3380,52.4,-20.0,60,353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2005,3410,3441,3380,0,0,0,0,0,0,15.14,15.14,15.13
$GC,415,-0.86,-146.0,2208,2005,3441,3380,63.6,-16.8,73,422,0.00,2.40,0.00,0.000,2308,0.000,0.066,2210,3403,3410,3441,3379,0,0,0,0,0,0,15.12,14.78,15.12
$GC,468,-0.86,-146.0,2207,3403,3441,3379,72.0,-14.9,83,475,0.00,2.28,0.00,0.000,3078,0.000,0.037,2207,2012,3410,3441,3379,0,0,0,0,0,0,14.99,14.91,15.01
$GC,540,-0.86,-146.0,2207,2012,3438,3379,83.0,-13.6,96,546,0.00,2.38,0.00,0.000,2308,0.000,0.066,2204,3404,3410,3441,3379,0,0,0,0,0,0,15.14,14.76,15.14
$GC,623,-0.86,-146.0,2203,3404,3441,3379,94.8,-13.2,112,629,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,2004,3410,3442,3379,0,0,0,0,0,0,15.00,14.90,15.01
$STATE,650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,650,begin apogee
$GC,654,-0.19,0.0,2204,2004,3441,3379,98.5,-13.0,117,766,1.10,0.00,106.62,0.975,10246,0.171,0.000,2422,2002,2812,2847,2777,0,0,0,0,0,0,14.66,14.59,14.05
$STATE,768,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,770,0.86,146.0,2422,2002,2846,2776,104.5,0.0,137,886,1.55,0.00,108.50,0.959,10758,0.100,0.000,2749,2002,2214,2256,2173,0,0,0,0,0,0,14.55,14.49,13.98
$GC,950,0.97,234.7,2748,2002,2250,2174,98.2,5.9,169,1029,0.12,2.38,68.57,0.943,10500,0.122,0.061,2812,3356,1852,1896,1809,0,0,0,0,0,0,14.66,14.49,13.97
$GC,1166,0.97,234.7,2811,3357,1890,1805,72.6,12.7,210,1173,0.00,2.33,0.00,0.000,5126,0.000,0.042,2813,1954,1847,1890,1804,0,0,0,0,0,0,14.81,14.71,14.82
$GC,1236,0.97,234.7,2812,1954,1890,1804,64.2,11.5,223,1242,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1954,1846,1890,1803,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1304,0.99,258.2,2812,1954,1890,1803,57.8,8.9,236,1333,0.00,2.42,19.15,0.884,12548,0.000,0.060,2812,3358,1755,1803,1708,0,0,0,0,0,0,15.06,14.76,14.18
$GC,1371,0.99,258.2,2812,3358,1801,1706,50.5,11.1,248,1378,0.00,2.30,0.00,0.000,5126,0.000,0.041,2814,1961,1753,1801,1706,0,0,0,0,0,0,14.84,14.74,14.87
$GC,1441,0.99,258.2,2814,1962,1801,1705,43.4,10.6,261,1447,0.00,2.38,0.00,0.000,4612,0.000,0.073,2814,567,1752,1800,1705,0,0,0,0,0,0,15.04,14.72,15.06
$GC,1510,0.99,258.2,2814,567,1798,1705,35.9,12.6,274,1517,0.00,2.25,0.00,0.000,5126,0.000,0.040,2814,1961,1752,1799,1705,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1580,0.99,258.2,2814,1962,1798,1704,28.4,10.2,287,1586,0.00,2.35,0.00,0.000,4356,0.000,0.061,2814,3363,1751,1798,1704,0,0,0,0,0,0,15.09,14.70,15.09
$GC,1659,1.02,277.2,2814,3363,1797,1704,20.1,9.1,302,1676,0.00,2.30,10.40,0.766,9222,0.000,0.044,2814,1957,1680,1730,1630,0,0,0,0,0,0,14.95,14.86,14.20
$GC,1738,1.02,277.2,2814,1957,1727,1627,13.1,10.9,316,1744,0.00,2.35,0.00,0.000,516,0.000,0.073,2814,561,1675,1726,1625,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1771,1.02,277.2,2814,560,1724,1626,8.6,11.7,322,1778,0.00,2.28,0.00,0.000,1030,0.000,0.037,2814,1977,1676,1725,1627,0,0,0,0,0,0,14.90,14.83,14.91
$STATE,1823,end climb,SURFACE_DEPTH_REACHED
$STATE,1823,begin surface coast
$FINISH,-0.1,1.023984
$STATE,1849,end surface coast,CONTROL_FINISHED_OK
$STATE,1850,begin surface
$SM_CCo,1870,140.98,0.710,0,0,598,542.59
$SM_GC,0.69,12.35,0.00,140.98,0.049,0.000,0.710,138,1980,598,-7.27,-0.96,542.59,0,0,0,0,0,0,14.89,15.14,14.19
$IRIDIUM_FIX,-2902.99,3201.37,060419,022802
$TT8_MAMPS,0.019474,0.907788
$HUMID,53.30
$INTERNAL_PRESSURE,9.36524
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$ALTIM_BOTTOM_PING,80.6,32.5
$SC_FREEKB,3862976
$24V_AH,13.31,113.953
$10V_AH,12.82,0.000
$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,27.775,37.300,313.250,140.975,0.000,54.377,63.519,150.779,1.500,0.000,19.352,677.584,343.340,533.910,886.552,84.321,0.000,887.293,0.000,514.426,0.000,12.510,0.000
$DEVICE_MAMPS,341.955,73.440,974.610,709.920,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1877.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.901,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10159,337
$CAP_FILE_SIZE,66394,0
$CFSIZE,1023623168,1006665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,034534,-2913.487,3202.509,14,0.8,15,-24.1,0.0,359.3,11,9.4