version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 164
start: 4 9 119 5 23 47
data:
$ID,573
$MISSION,30
$DIVE,164
$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,35
$T_MISSION,45
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,260
$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,41
$R_STBD_OVSHOOT,45
$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,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
$GPS1,090419,051927,-2940.6626,3131.8948,18,0.9,21,-24.5,0.4,207.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-62.5
$GPS2,090419,052323,-2940.6831,3131.8967,16,0.9,18,-24.5,0.0,0.0,9,9.0
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,-2942.558,3119.652
$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,284.5,20000,-17.5,-9.524,-20.42,2346
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.83,-146.0,118,1981,584,582,0.0,0.0,0,122,0.00,0.00,-98.43,0.000,16386,0.000,0.000,104,1981,3333,3349,3317,0,0,0,0,0,0,15.15,28.83,15.16
$GC,125,-0.83,-146.0,104,1981,3349,3317,4.0,-10.3,18,144,12.43,2.30,-1.23,0.000,18948,0.301,0.076,2212,607,3409,3437,3382,0,0,0,0,0,0,14.32,13.19,14.53
$GC,261,-0.83,-146.0,2212,607,3440,3382,38.5,-17.7,44,267,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,2009,3411,3441,3381,0,0,0,0,0,0,14.90,14.79,14.91
$GC,330,-0.83,-146.0,2210,2010,3441,3381,49.1,-15.5,57,337,0.00,2.40,0.00,0.000,2308,0.000,0.069,2207,3416,3411,3441,3381,0,0,0,0,0,0,15.12,14.73,15.13
$GC,399,-0.83,-146.0,2207,3416,3441,3381,59.3,-14.4,70,407,0.05,2.28,0.00,0.000,3078,0.322,0.036,2218,2011,3411,3441,3381,0,0,0,0,0,0,14.49,14.74,14.69
$GC,469,-0.83,-146.0,2218,2011,3442,3381,69.8,-15.0,83,476,0.00,2.35,0.00,0.000,2564,0.000,0.063,2218,614,3411,3442,3380,0,0,0,0,0,0,15.13,14.64,15.13
$GC,483,-0.83,-146.0,2218,614,3442,3381,72.1,-15.1,85,489,0.00,2.28,0.00,0.000,3078,0.000,0.041,2216,2015,3411,3442,3380,0,0,0,0,0,0,14.97,14.87,14.99
$GC,551,-0.83,-146.0,2216,2015,3442,3380,81.1,-13.3,98,558,0.00,2.38,0.00,0.000,2308,0.000,0.068,2216,3410,3411,3442,3380,0,0,0,0,0,0,15.14,14.81,15.14
$GC,580,-0.83,-146.0,2217,3410,3442,3380,84.9,-11.6,103,587,0.00,2.28,0.00,0.000,3078,0.000,0.035,2217,2014,3411,3442,3380,0,0,0,0,0,0,14.85,14.75,14.88
$GC,651,-0.83,-146.0,2217,2013,3442,3380,94.0,-12.9,116,657,0.00,2.40,0.00,0.000,2308,0.000,0.067,2217,3411,3411,3442,3380,0,0,0,0,0,0,15.16,14.79,15.14
$STATE,699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,699,begin apogee
$GC,705,-0.19,0.0,2217,1967,3442,3380,100.5,-12.7,125,822,1.02,0.00,107.90,0.950,10246,0.158,0.000,2422,1965,2812,2848,2776,0,0,0,0,0,0,14.50,14.42,13.99
$STATE,823,end apogee,CONTROL_FINISHED_OK
$STATE,824,begin climb
$GC,825,0.83,146.0,2422,1965,2848,2776,106.2,0.0,146,948,1.50,2.47,109.93,0.944,10756,0.096,0.069,2740,559,2213,2254,2173,0,0,0,0,0,0,14.54,14.45,13.91
$GC,960,0.85,159.7,2739,559,2251,2173,99.6,8.9,169,979,0.00,2.33,11.95,0.856,11270,0.000,0.039,2740,1970,2159,2200,2119,0,0,0,0,0,0,14.56,14.47,13.93
$GC,1041,0.87,183.4,2739,1970,2196,2117,92.6,8.5,184,1064,0.00,0.00,19.23,0.891,10246,0.000,0.000,2740,1969,2064,2108,2020,0,0,0,0,0,0,14.88,14.60,14.01
$GC,1126,0.90,201.3,2739,1969,2104,2018,85.3,8.7,200,1145,0.08,0.00,15.57,0.875,10502,0.179,0.000,2791,1970,1990,2035,1945,0,0,0,0,0,0,14.70,14.64,14.04
$GC,1206,0.90,201.3,2791,1969,2029,1942,76.1,11.4,215,1212,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1969,1986,2030,1942,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1274,0.90,201.3,2791,1969,2029,1942,68.8,10.5,228,1280,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1969,1985,2029,1942,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1342,0.90,201.3,2792,1969,2028,1947,61.8,9.8,241,1348,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1969,1984,2028,1941,0,0,0,0,0,0,15.03,15.04,15.03
$GC,1410,0.90,201.3,2791,1970,2028,1941,55.1,10.2,254,1415,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1969,1984,2028,1941,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1477,0.90,201.3,2791,1969,2028,1940,48.1,10.1,267,1484,0.00,2.38,0.00,0.000,4356,0.000,0.064,2791,3373,1984,2028,1940,0,0,0,0,0,0,15.08,14.78,15.08
$GC,1702,1.02,298.0,2790,3367,2025,1940,32.3,5.3,311,1786,0.00,2.33,74.50,0.897,11270,0.000,0.041,2798,1959,1596,1651,1542,0,0,0,0,0,0,14.90,14.79,14.12
$GC,1849,1.07,342.3,2798,1959,1646,1539,23.4,7.6,338,1887,0.08,2.40,26.23,0.825,10756,0.177,0.073,2853,560,1415,1471,1359,0,0,0,0,0,0,14.66,14.55,14.09
$GC,1924,1.07,342.3,2853,560,1470,1360,15.5,12.1,351,1931,0.08,2.30,0.00,0.000,5126,0.259,0.039,2837,1970,1415,1470,1360,0,0,0,0,0,0,14.56,14.72,14.73
$GC,1994,1.07,342.3,2836,1971,1467,1359,7.9,11.3,364,2000,0.00,0.00,0.00,0.000,4102,0.000,0.000,2837,1971,1413,1467,1359,0,0,0,0,0,0,15.00,15.00,15.00
$STATE,2035,end climb,SURFACE_DEPTH_REACHED
$STATE,2035,begin surface coast
$FINISH,0.0,1.023638
$STATE,2062,end surface coast,CONTROL_FINISHED_OK
$STATE,2062,begin surface
$SM_CCo,2083,107.65,0.687,0,0,598,542.59
$SM_GC,0.60,12.43,0.00,107.65,0.043,0.000,0.687,146,1971,598,-7.26,-1.19,542.59,0,0,0,0,0,0,14.82,15.05,14.18
$IRIDIUM_FIX,-2927.71,3132.71,090419,051608
$TT8_MAMPS,0.019474,0.910784
$HUMID,54.80
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.6
$SC_FREEKB,3838656
$24V_AH,13.19,125.549
$10V_AH,13.10,0.000
$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,27.650,37.550,365.300,107.650,0.000,0.000,0.000,0.000,1.500,0.000,18.703,740.798,313.971,551.209,615.501,49.814,0.000,938.766,0.000,570.962,0.000,7.300,0.000
$DEVICE_MAMPS,322.065,75.735,950.130,686.970,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.552,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13476,377
$CAP_FILE_SIZE,92286,0
$CFSIZE,1023623168,1000046592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090419,060131,-2940.821,3131.536,31,0.8,36,-24.5,0.4,5.5,11,7.5