version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 396
start: 4 25 119 3 50 6
data:
$ID,573
$MISSION,30
$DIVE,396
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,6
$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,167
$T_MISSION,177
$T_ABORT,245
$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,350
$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,320
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,2
$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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,250419,034220,-3421.5110,2545.0459,17,1.0,21,-27.7,0.4,318.9,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-63.9
$GPS2,250419,034939,-3421.5090,2545.0303,23,1.0,49,-27.7,0.0,20.0,9,9.8
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.236,2536.635
$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,347.7,20000,-20.9,-19.960,-22.72,2620
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.19,-340.6,113,2021,587,581,0.0,0.0,0,151,0.00,0.00,-124.85,0.000,16390,0.000,0.000,106,2020,3962,3994,3930,0,0,0,0,0,0,15.03,13.00,15.00
$GC,154,-1.19,-340.6,106,2025,3989,3936,8.0,-25.6,23,173,11.98,2.42,0.00,0.000,2564,0.315,0.058,2096,596,3963,3989,3938,0,0,0,0,0,0,14.20,14.57,14.42
$GC,186,-1.19,-340.6,2096,596,3990,3938,26.6,-52.0,28,193,0.00,2.35,0.00,0.000,3078,0.000,0.047,2092,1999,3964,3990,3938,0,0,0,0,0,0,14.81,14.70,14.83
$GC,257,-1.19,-340.6,2092,1999,3992,3938,41.3,-19.9,41,264,0.00,2.45,0.00,0.000,2308,0.000,0.075,2092,3414,3964,3990,3938,0,0,0,0,0,0,15.02,14.70,15.03
$GC,334,-1.19,-340.6,2092,3414,3990,3937,55.0,-16.8,55,341,0.00,2.33,0.00,0.000,3078,0.000,0.039,2092,2005,3964,3990,3938,0,0,0,0,0,0,14.89,14.78,14.91
$GC,405,-1.19,-340.6,2092,2005,3991,3938,68.5,-19.1,68,412,0.00,2.40,0.00,0.000,2564,0.000,0.069,2092,604,3964,3990,3938,0,0,0,0,0,0,15.05,14.66,15.06
$GC,435,-1.19,-340.6,2092,604,3990,3938,74.2,-19.7,73,442,0.00,2.35,0.00,0.000,3078,0.000,0.045,2092,2021,3964,3990,3938,0,0,0,0,0,0,14.76,14.66,14.77
$GC,508,-1.19,-340.6,2091,2021,3991,3938,87.1,-18.1,86,515,0.00,2.40,0.00,0.000,2308,0.000,0.075,2089,3413,3964,3990,3938,0,0,0,0,0,0,15.06,14.71,15.07
$STATE,566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,566,begin apogee
$GC,575,-0.19,0.0,2089,1949,3990,3938,97.4,-15.9,97,796,1.73,0.00,210.50,1.034,10246,0.165,0.000,2423,1948,2813,2858,2768,0,0,0,0,0,0,14.55,14.15,13.63
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,801,1.19,340.6,2424,1948,2857,2763,112.1,0.0,137,1077,2.05,2.42,262.23,1.022,10756,0.076,0.076,2867,571,1423,1477,1369,0,0,0,0,0,0,14.46,14.13,13.64
$GC,1090,1.45,546.9,2866,571,1477,1367,84.5,11.9,187,1269,0.32,2.33,167.55,0.978,11270,0.073,0.037,2958,1973,597,590,604,0,0,0,0,0,0,14.45,14.51,13.72
$GC,1334,1.45,546.9,2958,1974,590,598,31.1,21.4,231,1339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,1974,593,590,597,0,0,0,0,0,0,14.81,14.82,14.82
$GC,1404,1.51,596.0,2958,1974,590,594,17.1,18.0,244,1410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2959,1974,592,590,594,0,0,0,0,0,0,14.88,14.89,14.88
$GC,1473,1.51,597.1,2958,1974,590,592,3.1,19.9,257,1479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2957,1974,591,590,592,0,0,0,0,0,0,14.95,14.95,14.95
$STATE,1483,end climb,SURFACE_DEPTH_REACHED
$STATE,1484,begin surface coast
$FINISH,-0.2,1.025283
$STATE,1500,end surface coast,CONTROL_FINISHED_OK
$STATE,1501,begin surface
$SM_CCo,1584,0.00,0.000,0,0,590,545.05
$SM_GC,0.42,13.12,0.00,0.00,0.047,0.000,0.000,145,1975,590,-7.26,-1.07,545.05,0,0,0,0,0,0,14.76,14.99,14.83
$IRIDIUM_FIX,-3406.89,2544.86,250419,031005
$TT8_MAMPS,0.019474,0.84637
$HUMID,58.62
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.2
$ALTIM_BOTTOM_PING,80.4,31.7
$SC_FREEKB,3715424
$24V_AH,13.00,189.459
$10V_AH,12.53,0.000
$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,29.200,23.900,640.275,0.000,0.000,26.396,16.255,63.726,0.750,0.000,49.620,362.874,185.018,623.947,628.040,235.340,0.000,981.812,0.000,400.805,0.000,8.708,0.000
$DEVICE_MAMPS,315.180,75.735,1033.515,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1540.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.016,0.000,0.000,0.000
$MEM,339500
$DATA_FILE_SIZE,6839,262
$CAP_FILE_SIZE,49201,0
$CFSIZE,1023623168,967950336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,987.66,0x23609a,1,24
$GPS,250419,041728,-3421.280,2545.004,20,1.0,21,-27.7,0.0,0.0,8,7.4