version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 398
start: 4 25 119 5 0 48
data:
$ID,573
$MISSION,30
$DIVE,398
$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,33
$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,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
$GPS1,250419,045249,-3421.0679,2545.0359,20,1.0,24,-27.7,0.3,134.5,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-63.7
$GPS2,250419,050021,-3421.0300,2545.0764,16,0.9,20,-27.7,0.0,33.6,9,9.3
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.757,2536.682
$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,-340.6,112,1963,589,584,0.0,0.0,0,151,0.00,0.00,-125.22,0.000,16390,0.000,0.000,112,1964,3962,3995,3930,0,0,0,0,0,0,15.02,13.01,15.00
$GC,154,-1.19,-340.6,112,1964,3989,3936,7.6,-25.1,23,173,11.88,2.33,0.00,0.000,2564,0.310,0.055,2098,594,3964,3989,3939,0,0,0,0,0,0,14.27,14.53,14.44
$GC,201,-1.19,-340.6,2097,594,3990,3938,29.7,-28.6,31,208,0.00,2.35,0.00,0.000,3078,0.000,0.045,2095,2005,3964,3990,3938,0,0,0,0,0,0,14.82,14.71,14.83
$GC,272,-1.19,-340.6,2094,2005,3990,3938,43.8,-21.3,44,278,0.00,2.45,0.00,0.000,2308,0.000,0.073,2090,3414,3964,3990,3938,0,0,0,0,0,0,15.04,14.71,15.04
$GC,348,-1.19,-340.6,2090,3413,3990,3937,58.0,-18.1,58,354,0.00,2.33,0.00,0.000,3078,0.000,0.039,2090,2009,3964,3990,3938,0,0,0,0,0,0,14.90,14.78,14.91
$GC,419,-1.19,-340.6,2090,2008,3990,3938,71.4,-18.8,71,426,0.05,2.38,0.00,0.000,2564,0.354,0.064,2099,603,3964,3990,3938,0,0,0,0,0,0,14.62,14.60,14.78
$GC,440,-1.19,-340.6,2099,603,3990,3938,75.8,-19.2,74,446,0.00,2.33,0.00,0.000,3078,0.000,0.044,2099,2015,3964,3990,3938,0,0,0,0,0,0,14.73,14.64,14.75
$GC,513,-1.19,-340.6,2098,2015,3990,3939,89.6,-18.1,87,520,0.00,2.45,0.00,0.000,2308,0.000,0.076,2098,3420,3964,3990,3938,0,0,0,0,0,0,15.06,14.71,15.07
$STATE,530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,530,begin apogee
$GC,539,-0.19,0.0,2098,1943,3991,3938,93.0,-16.1,90,761,1.62,0.00,210.05,1.024,10246,0.163,0.000,2423,1941,2810,2857,2763,0,0,0,0,0,0,14.60,14.14,13.64
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,763,begin climb
$GC,765,1.19,340.6,2423,1941,2856,2763,108.0,0.0,130,1039,2.10,2.55,262.83,1.009,11012,0.105,0.063,2858,3364,1422,1477,1367,0,0,0,0,0,0,14.43,14.33,13.64
$GC,1058,1.36,480.5,2858,3364,1475,1368,79.8,14.5,181,1182,0.22,2.38,114.47,0.970,11270,0.089,0.044,2927,1967,852,902,803,0,0,0,0,0,0,14.53,14.50,13.72
$GC,1246,1.36,480.5,2927,1967,902,799,44.1,21.3,215,1252,0.00,2.45,0.00,0.000,516,0.000,0.078,2936,559,850,902,799,0,0,0,0,0,0,14.81,14.45,14.82
$GC,1300,1.48,577.1,2935,560,902,797,35.1,16.2,225,1362,0.00,2.33,54.97,0.923,11270,0.000,0.037,2936,1979,598,590,607,0,0,0,0,0,0,14.77,14.68,13.76
$GC,1425,1.53,616.9,2935,1979,589,598,13.1,18.4,248,1432,0.08,2.38,0.00,0.000,2308,0.181,0.062,2979,3362,594,590,598,0,0,0,0,0,0,14.62,14.47,14.66
$GC,1440,1.60,674.1,2978,3362,589,598,10.5,17.7,250,1447,0.00,2.35,0.00,0.000,3078,0.000,0.048,2981,1967,593,589,597,0,0,0,0,0,0,14.73,14.62,14.72
$STATE,1477,end climb,SURFACE_DEPTH_REACHED
$STATE,1477,begin surface coast
$FINISH,0.4,1.025698
$STATE,1488,end surface coast,CONTROL_FINISHED_OK
$STATE,1490,begin surface
$SM_CCo,1574,0.00,0.000,0,0,591,544.80
$SM_GC,0.44,13.35,0.00,0.00,0.052,0.000,0.000,147,1967,591,-7.27,-1.33,544.80,0,0,0,0,0,0,14.69,14.95,14.78
$IRIDIUM_FIX,-3406.89,2543.73,250419,042211
$TT8_MAMPS,0.018725,0.885318
$HUMID,57.83
$INTERNAL_PRESSURE,9.01366
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,80.5,27.2
$SC_FREEKB,3714400
$24V_AH,13.01,189.896
$10V_AH,12.54,0.000
$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,29.300,33.500,642.325,0.000,0.000,25.118,41.301,68.834,0.750,0.000,21.232,361.806,173.100,628.049,623.104,252.485,0.000,986.719,0.000,396.322,0.000,7.141,0.000
$DEVICE_MAMPS,354.195,78.030,1023.570,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1526.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.412,0.000,0.000,0.000
$MEM,339500
$DATA_FILE_SIZE,6835,259
$CAP_FILE_SIZE,50453,0
$CFSIZE,1023623168,967655424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,052801,-3420.789,2545.107,19,0.9,22,-27.7,0.0,53.7,9,9.0