version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 401
start: 4 25 119 6 46 11
data:
$ID,573
$MISSION,30
$DIVE,401
$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,40
$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
$GPS1,250419,063816,-3420.3193,2545.3162,19,1.0,20,-27.7,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-63.8
$GPS2,250419,064546,-3420.3118,2545.3999,15,1.0,16,-27.7,0.0,0.0,9,9.8
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.039,2537.007
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.19,-340.6,128,1983,598,580,0.0,0.0,0,150,0.00,0.00,-124.65,0.000,16390,0.000,0.000,122,1983,3963,3994,3933,0,0,0,0,0,0,15.03,13.01,15.00
$GC,153,-1.19,-340.6,122,1983,3991,3937,7.8,-26.0,23,172,11.77,2.33,0.00,0.000,2564,0.310,0.059,2096,610,3965,3990,3940,0,0,0,0,0,0,14.33,14.67,14.56
$GC,200,-1.19,-340.6,2095,610,3992,3940,29.9,-30.7,31,207,0.00,2.33,0.00,0.000,3078,0.000,0.045,2093,2007,3965,3991,3940,0,0,0,0,0,0,14.82,14.72,14.83
$GC,271,-1.19,-340.6,2093,2007,3991,3940,44.0,-20.2,44,278,0.00,2.45,0.00,0.000,2308,0.000,0.078,2092,3410,3966,3992,3940,0,0,0,0,0,0,15.04,14.70,15.04
$GC,358,-1.19,-340.6,2091,3410,3992,3935,59.2,-17.1,60,364,0.00,2.30,0.00,0.000,3078,0.000,0.041,2092,2007,3966,3992,3940,0,0,0,0,0,0,14.94,14.78,14.92
$GC,429,-1.19,-340.6,2090,2007,3992,3940,72.7,-19.2,73,436,0.00,2.38,0.00,0.000,2564,0.000,0.070,2092,617,3966,3992,3940,0,0,0,0,0,0,15.06,14.64,15.07
$GC,444,-1.19,-340.6,2091,617,3992,3940,75.6,-17.8,75,451,0.03,2.30,0.00,0.000,3078,0.521,0.045,2097,2015,3966,3992,3940,0,0,0,0,0,0,14.42,14.68,14.65
$GC,517,-1.19,-340.6,2097,2015,3992,3940,88.1,-16.9,88,524,0.00,2.40,0.00,0.000,2308,0.000,0.076,2094,3409,3966,3992,3940,0,0,0,0,0,0,15.07,14.73,15.07
$STATE,529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,529,begin apogee
$GC,538,-0.19,0.0,2094,1963,3992,3940,90.5,-16.6,90,760,1.65,0.00,210.18,1.017,10246,0.168,0.000,2423,1962,2810,2856,2764,0,0,0,0,0,0,14.60,14.15,13.64
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,762,begin climb
$GC,765,1.19,340.6,2422,1962,2856,2764,105.3,0.0,130,1039,2.10,2.50,262.48,1.001,10756,0.067,0.076,2889,565,1423,1477,1369,0,0,0,0,0,0,14.50,14.33,13.67
$GC,1052,1.32,445.9,2889,565,1477,1368,73.9,15.8,180,1148,0.00,2.35,85.40,0.959,11270,0.000,0.038,2890,1971,994,1053,936,0,0,0,0,0,0,14.60,14.51,13.74
$GC,1211,1.41,521.2,2889,1971,1052,932,47.6,17.0,209,1286,0.12,2.50,65.62,0.933,10756,0.127,0.079,2955,564,685,688,683,0,0,0,0,0,0,14.60,14.21,13.73
$GC,1294,1.49,584.8,2955,564,688,683,32.7,17.5,223,1323,0.00,2.33,20.65,0.889,11270,0.000,0.037,2955,1969,599,568,631,0,0,0,0,0,0,14.64,14.56,13.74
$GC,1388,1.51,597.7,2955,1969,567,624,14.2,19.5,240,1395,0.00,2.38,0.00,0.000,2308,0.000,0.063,2955,3361,595,567,623,0,0,0,0,0,0,14.85,14.59,14.85
$GC,1408,1.51,597.7,2955,3361,567,622,10.2,20.4,243,1415,0.00,2.38,0.00,0.000,3078,0.000,0.049,2957,1965,594,567,622,0,0,0,0,0,0,14.75,14.63,14.77
$STATE,1445,end climb,SURFACE_DEPTH_REACHED
$STATE,1445,begin surface coast
$FINISH,-0.1,1.025697
$STATE,1462,end surface coast,CONTROL_FINISHED_OK
$STATE,1463,begin surface
$SM_CCo,1547,0.00,0.000,0,0,591,544.80
$SM_GC,0.40,13.30,0.00,0.00,0.057,0.000,0.000,149,1964,591,-7.26,-1.36,544.80,0,0,0,0,0,0,14.71,14.96,14.79
$IRIDIUM_FIX,-3406.89,2547.21,250419,060812
$TT8_MAMPS,0.019474,0.877079
$HUMID,57.75
$INTERNAL_PRESSURE,9.02343
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,80.1,24.9
$SC_FREEKB,3712864
$24V_AH,13.01,190.543
$10V_AH,12.52,0.000
$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,28.975,33.325,644.325,0.000,0.000,25.183,19.961,65.519,0.750,0.000,16.603,347.264,168.416,631.527,591.778,269.979,0.000,986.255,0.000,389.252,0.000,7.134,0.000
$DEVICE_MAMPS,520.965,78.795,1017.450,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1499.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.300,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,6867,253
$CAP_FILE_SIZE,49835,0
$CFSIZE,1023623168,967213056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,071253,-3420.097,2545.458,16,0.9,17,-27.7,0.0,54.2,9,9.6