version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 404
start: 4 25 119 8 30 43
data:
$ID,573
$MISSION,30
$DIVE,404
$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,60
$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,34
$R_STBD_OVSHOOT,67
$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
$GPS1,250419,082229,-3419.7654,2546.1179,16,0.8,18,-27.7,0.3,2.5,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-60.1
$GPS2,250419,083016,-3419.7312,2546.1814,18,0.8,19,-27.7,0.0,115.2,9,9.6
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.332,2557.494
$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,87.7,20000,-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,-340.6,126,2035,587,586,0.0,0.0,0,150,0.00,0.00,-124.72,0.000,16390,0.000,0.000,119,2038,3963,3994,3933,0,0,0,0,0,0,15.04,13.05,15.00
$GC,154,-1.19,-340.6,119,2038,3991,3937,7.7,-25.5,23,172,11.80,2.40,0.00,0.000,2564,0.309,0.047,2098,599,3965,3990,3940,0,0,0,0,0,0,14.34,14.67,14.56
$GC,227,-1.19,-340.6,2098,600,3991,3940,33.9,-17.0,36,234,0.00,2.30,0.00,0.000,3078,0.000,0.045,2096,1984,3965,3991,3940,0,0,0,0,0,0,14.90,14.79,14.91
$GC,299,-1.19,-340.6,2095,1984,3991,3940,46.0,-18.0,49,305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2095,1984,3966,3992,3940,0,0,0,0,0,0,15.05,15.05,15.06
$GC,368,-1.19,-340.6,2096,1984,3991,3940,59.0,-18.3,62,374,0.00,2.47,0.00,0.000,2308,0.000,0.076,2092,3417,3965,3991,3940,0,0,0,0,0,0,15.07,14.73,15.07
$GC,468,-1.19,-340.6,2092,3417,3991,3940,78.0,-18.2,81,475,0.00,2.33,0.00,0.000,3078,0.000,0.037,2092,2008,3965,3991,3940,0,0,0,0,0,0,14.80,14.70,14.81
$STATE,529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,529,begin apogee
$GC,536,-0.19,0.0,2092,1940,3991,3940,88.6,-17.0,92,758,1.67,0.00,210.20,1.012,10246,0.169,0.000,2423,1938,2813,2856,2771,0,0,0,0,0,0,14.56,14.17,13.68
$STATE,760,end apogee,CONTROL_FINISHED_OK
$STATE,760,begin climb
$GC,762,1.19,340.6,2422,1938,2856,2764,103.8,0.0,132,1036,2.08,2.55,262.00,0.997,10500,0.096,0.064,2857,3361,1423,1478,1369,0,0,0,0,0,0,14.45,14.35,13.72
$GC,1069,1.40,507.6,2857,3365,1475,1367,76.0,13.4,186,1215,0.28,2.35,137.35,0.959,11270,0.075,0.044,2942,1978,745,783,708,0,0,0,0,0,0,14.59,14.51,13.73
$GC,1279,1.44,540.6,2941,1978,774,701,38.2,18.7,224,1319,0.00,2.53,30.20,0.907,10756,0.000,0.080,2946,566,606,604,608,0,0,0,0,0,0,14.83,14.45,13.77
$GC,1349,1.51,600.1,2946,566,604,603,26.1,17.6,236,1356,0.00,2.33,1.25,0.243,11270,0.000,0.035,2946,1978,599,598,600,0,0,0,0,0,0,14.69,14.58,14.37
$GC,1420,1.55,634.8,2946,1978,598,595,12.6,18.6,249,1427,0.08,2.35,0.00,0.000,2308,0.180,0.058,2991,3357,597,598,596,0,0,0,0,0,0,14.58,14.62,14.60
$GC,1450,1.55,634.8,2991,3358,598,594,6.6,21.6,254,1457,0.00,2.35,0.00,0.000,5126,0.000,0.049,2998,1964,596,598,595,0,0,0,0,0,0,14.81,14.68,14.83
$STATE,1467,end climb,SURFACE_DEPTH_REACHED
$STATE,1467,begin surface coast
$FINISH,-0.2,1.025688
$STATE,1483,end surface coast,CONTROL_FINISHED_OK
$STATE,1484,begin surface
$SM_CCo,1568,0.00,0.000,0,0,595,543.82
$SM_GC,0.52,13.43,0.00,0.00,0.055,0.000,0.000,144,1962,595,-7.27,-1.41,543.82,0,0,0,0,0,0,14.73,14.99,14.82
$IRIDIUM_FIX,-3406.89,2547.21,250419,075250
$TT8_MAMPS,0.019474,0.814163
$HUMID,57.75
$INTERNAL_PRESSURE,9.03319
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.0
$ALTIM_BOTTOM_PING,80.7,22.7
$SC_FREEKB,3711328
$24V_AH,13.05,191.186
$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,29.325,24.025,641.000,0.000,0.000,26.175,16.167,65.678,0.750,0.000,19.763,363.438,177.976,618.226,596.915,290.471,0.000,973.527,0.000,395.903,0.000,7.128,0.000
$DEVICE_MAMPS,309.060,289.935,1012.095,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1519.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.407,0.000,0.000,0.000
$MEM,339476
$DATA_FILE_SIZE,6850,260
$CAP_FILE_SIZE,48662,0
$CFSIZE,1023623168,966787072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,085801,-3419.558,2546.456,19,0.8,33,-27.7,0.4,357.5,11,5.9