version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 325
start: 4 22 119 4 50 38
data:
$ID,573
$MISSION,30
$DIVE,325
$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,335
$T_MISSION,345
$T_ABORT,360
$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,250
$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,150
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,220419,044217,-3310.1331,2801.1018,16,1.2,17,-27.4,2.8,221.2,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-62.1
$GPS2,220419,045012,-3310.3767,2800.6741,19,1.0,22,-27.4,1.2,228.1,9,9.9
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3319.729,2807.136
$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,177.4,20000,-13.8,-9.950,-17.02,3733
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.81,-243.3,72,1975,612,572,0.0,0.0,0,112,0.00,0.00,-87.15,0.000,16386,0.000,0.000,72,1976,3057,3057,3058,0,0,0,0,0,0,15.11,28.83,15.12
$GC,116,-0.81,-243.3,72,1976,3058,3058,3.5,-7.3,16,146,12.50,0.00,-12.23,0.000,18694,0.297,0.000,2218,1976,3806,3930,3683,0,0,0,0,0,0,14.47,13.21,14.67
$GC,208,-0.81,-243.3,2218,1976,3931,3683,28.4,-19.6,33,215,0.00,2.42,0.00,0.000,2308,0.000,0.070,2212,3405,3807,3931,3683,0,0,0,0,0,0,15.14,14.83,15.15
$GC,252,-0.81,-243.3,2212,3405,3931,3683,37.2,-19.3,41,259,0.05,2.28,0.00,0.000,3078,0.330,0.037,2223,2004,3807,3931,3683,0,0,0,0,0,0,14.70,14.90,14.90
$GC,324,-0.81,-243.3,2223,2004,3932,3683,48.3,-14.4,54,330,0.00,2.33,0.00,0.000,2564,0.000,0.063,2223,613,3805,3932,3679,0,0,0,0,0,0,15.15,14.86,15.15
$GC,443,-0.81,-243.3,2223,612,3932,3683,64.4,-11.9,77,449,0.00,2.30,0.00,0.000,3078,0.000,0.055,2223,2002,3807,3931,3683,0,0,0,0,0,0,15.02,14.90,15.03
$GC,513,-0.81,-243.3,2223,2003,3931,3683,72.4,-11.5,90,520,0.00,2.40,0.00,0.000,2308,0.000,0.076,2223,3416,3807,3931,3683,0,0,0,0,0,0,15.16,14.85,15.16
$GC,563,-0.81,-243.3,2223,3417,3931,3681,78.9,-10.5,99,569,0.00,2.25,0.00,0.000,3078,0.000,0.032,2222,2004,3807,3932,3683,0,0,0,0,0,0,15.04,14.96,15.05
$STATE,577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,577,begin apogee
$GC,582,-0.19,0.0,2223,2004,3931,3683,80.2,-10.0,101,765,1.00,0.00,176.40,0.904,10246,0.165,0.000,2424,2002,2811,2861,2761,0,0,0,0,0,0,14.71,14.52,13.93
$STATE,768,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,770,0.81,243.3,2424,2002,2859,2761,86.6,0.0,134,960,1.42,2.47,180.38,0.887,11012,0.086,0.064,2734,571,1819,1868,1770,0,0,0,0,0,0,14.59,14.56,13.95
$GC,985,0.83,254.4,2734,570,1865,1770,67.2,9.6,171,1003,0.00,2.30,10.35,0.789,11270,0.000,0.041,2734,1976,1772,1821,1724,0,0,0,0,0,0,14.78,14.69,13.95
$GC,1066,1.12,490.0,2734,1976,1817,1722,62.1,3.5,186,1262,0.38,2.45,182.98,0.860,10756,0.060,0.069,2866,580,814,864,764,0,0,0,0,0,0,14.81,14.52,14.01
$GC,1315,1.20,558.9,2866,580,867,759,35.1,8.1,231,1366,0.00,2.28,45.97,0.825,11270,0.000,0.038,2866,1975,599,601,598,0,0,0,0,0,0,14.85,14.76,14.03
$GC,1430,1.28,623.8,2866,1975,600,584,25.8,8.2,252,1437,0.08,2.35,0.00,0.000,2308,0.178,0.065,2922,3357,592,600,584,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1454,1.28,623.8,2922,3358,600,583,23.0,10.6,256,1462,0.10,2.28,0.00,0.000,5126,0.226,0.042,2901,1972,591,600,582,0,0,0,0,0,0,14.68,14.81,14.85
$GC,1525,1.28,623.8,2901,1973,601,580,14.1,13.8,269,1532,0.00,2.40,0.00,0.000,516,0.000,0.073,2901,559,590,600,581,0,0,0,0,0,0,15.07,14.69,15.08
$GC,1574,1.28,623.8,2901,558,602,579,8.9,10.8,278,1581,0.00,2.25,0.00,0.000,1030,0.000,0.038,2901,1962,590,601,579,0,0,0,0,0,0,14.95,14.88,14.97
$STATE,1626,end climb,SURFACE_DEPTH_REACHED
$STATE,1627,begin surface coast
$FINISH,0.7,1.023306
$STATE,1649,end surface coast,CONTROL_FINISHED_OK
$STATE,1649,begin surface
$SM_CCo,1731,0.00,0.000,0,0,588,545.54
$SM_GC,0.73,12.55,0.00,0.00,0.037,0.000,0.000,127,1965,588,-7.31,-1.36,545.54,0,0,0,0,0,0,14.92,15.15,14.99
$IRIDIUM_FIX,-3254.46,2802.53,220419,035728
$TT8_MAMPS,0.018725,0.903294
$HUMID,55.82
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,80.2,7.0
$SC_FREEKB,3751840
$24V_AH,13.21,171.312
$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,28.075,32.750,596.075,0.000,0.000,25.119,37.495,201.103,0.750,0.000,23.161,462.907,228.541,579.327,807.502,138.868,0.000,944.987,0.000,448.855,0.000,7.095,0.000
$DEVICE_MAMPS,330.480,75.735,904.230,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1697.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.750,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10160,292
$CAP_FILE_SIZE,57168,0
$CFSIZE,1023623168,976814080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,052023,-3311.087,2759.791,17,1.0,18,-27.4,1.3,234.9,9,9.3