version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 399
start: 4 25 119 5 36 6
data:
$ID,573
$MISSION,30
$DIVE,399
$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,46
$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
$GPS1,250419,052801,-3420.7893,2545.1074,19,0.9,22,-27.7,0.0,53.7,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-61.9
$GPS2,250419,053539,-3420.7651,2545.1665,16,0.9,21,-27.7,0.3,76.1,9,8.7
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.492,2536.773
$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,-340.6,136,1964,586,584,0.0,0.0,0,151,0.00,0.00,-125.10,0.000,16390,0.000,0.000,130,1964,3962,3994,3931,0,0,0,0,0,0,15.02,13.02,15.00
$GC,155,-1.19,-340.6,128,1964,3989,3937,7.7,-24.7,23,173,11.80,2.33,0.00,0.000,2564,0.314,0.059,2100,603,3965,3990,3940,0,0,0,0,0,0,14.33,14.65,14.54
$GC,216,-1.19,-340.6,2096,602,3991,3939,32.6,-21.1,34,223,0.00,2.35,0.00,0.000,3078,0.000,0.045,2095,2014,3965,3991,3939,0,0,0,0,0,0,14.82,14.71,14.83
$GC,288,-1.19,-340.6,2094,2014,3991,3940,45.7,-17.9,47,294,0.00,2.42,0.00,0.000,2308,0.000,0.075,2094,3417,3965,3991,3939,0,0,0,0,0,0,15.03,14.71,15.03
$GC,337,-1.19,-340.6,2094,3417,3992,3939,55.3,-18.5,56,344,0.00,2.33,0.00,0.000,3078,0.000,0.038,2094,2013,3965,3991,3939,0,0,0,0,0,0,14.90,14.78,14.91
$GC,407,-1.19,-340.6,2094,2012,3991,3939,68.7,-20.2,69,413,0.00,2.40,0.00,0.000,2564,0.000,0.068,2094,608,3965,3991,3939,0,0,0,0,0,0,15.05,14.73,15.06
$GC,421,-1.19,-340.6,2094,607,3991,3939,71.6,-20.7,71,427,0.00,2.33,0.00,0.000,3078,0.000,0.044,2093,2015,3965,3991,3940,0,0,0,0,0,0,14.83,14.73,14.85
$GC,495,-1.19,-340.6,2093,2014,3991,3939,85.5,-19.3,84,502,0.00,2.42,0.00,0.000,2308,0.000,0.075,2090,3417,3965,3991,3939,0,0,0,0,0,0,15.07,14.64,15.07
$STATE,522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,523,begin apogee
$GC,531,-0.19,0.0,2090,1951,3991,3939,91.4,-17.2,89,754,1.73,0.00,210.27,1.023,10246,0.168,0.000,2422,1949,2810,2857,2763,0,0,0,0,0,0,14.51,14.16,13.66
$STATE,755,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,758,1.19,340.6,2422,1950,2856,2763,106.4,0.0,129,1030,2.15,0.00,262.83,1.008,11014,0.099,0.000,2870,1950,1423,1477,1369,0,0,0,0,0,0,14.44,14.30,13.67
$GC,1094,1.35,469.5,2869,1950,1475,1367,70.6,14.9,189,1208,0.12,2.40,105.57,0.964,11012,0.125,0.078,2926,557,897,950,844,0,0,0,0,0,0,14.59,14.29,13.71
$GC,1216,1.36,481.6,2926,557,949,843,48.5,19.5,210,1234,0.00,2.35,11.73,0.869,9222,0.000,0.037,2926,1972,847,896,799,0,0,0,0,0,0,14.60,14.52,13.76
$GC,1298,1.44,543.6,2926,1972,896,793,33.6,17.5,225,1360,0.00,2.38,53.33,0.920,10500,0.000,0.062,2926,3359,599,589,609,0,0,0,0,0,0,14.85,14.46,13.78
$GC,1369,1.55,629.5,2926,3359,589,608,22.3,16.6,237,1377,0.17,2.38,0.00,0.000,3078,0.103,0.046,2988,1961,598,588,608,0,0,0,0,0,0,14.53,14.50,14.59
$GC,1440,1.55,629.5,2988,1962,588,601,7.2,22.7,250,1446,0.00,2.47,0.00,0.000,4612,0.000,0.080,2991,557,594,588,600,0,0,0,0,0,0,14.88,14.57,14.88
$STATE,1457,end climb,SURFACE_DEPTH_REACHED
$STATE,1457,begin surface coast
$FINISH,0.6,1.025695
$STATE,1468,end surface coast,CONTROL_FINISHED_OK
$STATE,1468,begin surface
$SM_CCo,1555,0.00,0.000,0,0,592,544.80
$SM_GC,0.49,13.40,2.40,0.00,0.052,0.029,0.000,142,2008,592,-7.27,-1.41,544.80,0,0,0,0,0,0,14.69,14.73,14.78
$IRIDIUM_FIX,-3406.89,2544.86,250419,045738
$TT8_MAMPS,0.018725,0.859852
$HUMID,57.67
$INTERNAL_PRESSURE,9.01366
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.0
$ALTIM_BOTTOM_PING,80.5,25.8
$SC_FREEKB,3713888
$24V_AH,13.02,190.112
$10V_AH,12.56,0.000
$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,29.375,33.400,643.725,0.000,0.000,26.257,38.940,63.415,0.750,0.000,22.588,353.793,170.204,629.409,615.794,255.949,0.000,985.544,0.000,393.407,0.000,7.135,0.000
$DEVICE_MAMPS,313.650,80.325,1022.805,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.010,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,6852,255
$CAP_FILE_SIZE,49990,0
$CFSIZE,1023623168,967507968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,060312,-3420.548,2545.190,30,0.8,34,-27.7,0.5,90.5,10,8.8