version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 406
start: 4 25 119 9 43 40
data:
$ID,573
$MISSION,30
$DIVE,406
$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,30
$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,35
$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
$GPS1,250419,093448,-3419.3330,2546.8003,20,1.0,23,-27.7,0.6,30.5,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-64.3
$GPS2,250419,094311,-3419.2922,2546.8650,16,1.1,18,-27.7,0.4,95.9,8,9.8
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.940,2553.391
$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,57.7,20000,-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,-340.6,77,1962,587,583,0.0,0.0,0,150,0.00,0.00,-124.50,0.000,16390,0.000,0.000,74,1962,3963,3993,3933,0,0,0,0,0,0,15.04,13.01,15.00
$GC,153,-1.19,-340.6,74,1963,3988,3937,7.9,-27.2,23,172,12.05,2.30,0.00,0.000,2564,0.308,0.053,2094,601,3964,3989,3939,0,0,0,0,0,0,14.31,14.55,14.45
$GC,185,-1.19,-340.6,2093,601,3990,3939,26.8,-52.7,28,192,0.00,2.35,0.00,0.000,3078,0.000,0.047,2091,2005,3964,3990,3939,0,0,0,0,0,0,14.83,14.71,14.84
$GC,256,-1.19,-340.6,2092,2005,3990,3939,43.6,-22.7,41,263,0.03,2.45,0.00,0.000,2308,0.526,0.073,2099,3423,3963,3990,3937,0,0,0,0,0,0,14.54,14.70,14.69
$GC,301,-1.19,-340.6,2098,3423,3991,3939,53.0,-18.7,49,308,0.00,2.33,0.00,0.000,3078,0.000,0.037,2098,2008,3964,3990,3939,0,0,0,0,0,0,14.91,14.80,14.95
$GC,373,-1.19,-340.6,2098,2007,3990,3939,66.3,-19.4,62,380,0.00,2.45,0.00,0.000,2308,0.000,0.073,2095,3415,3964,3990,3939,0,0,0,0,0,0,15.06,14.59,15.06
$GC,403,-1.19,-340.6,2095,3415,3990,3939,72.5,-18.9,67,410,0.00,2.33,0.00,0.000,3078,0.000,0.037,2096,2011,3964,3990,3939,0,0,0,0,0,0,14.92,14.81,14.93
$GC,476,-1.19,-340.6,2095,2011,3990,3939,83.6,-14.3,80,483,0.00,2.45,0.00,0.000,2308,0.000,0.072,2096,3419,3964,3989,3939,0,0,0,0,0,0,15.07,14.74,15.07
$GC,511,-1.19,-340.6,2095,3419,3990,3939,88.9,-14.7,86,523,0.00,2.33,0.00,0.000,3078,0.000,0.037,2096,2006,3964,3990,3939,0,0,0,0,0,0,14.92,14.81,14.94
$STATE,528,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,528,begin apogee
$GC,534,-0.19,0.0,2096,2005,3990,3939,91.8,-15.3,88,757,1.65,0.00,211.48,1.012,10246,0.172,0.000,2422,2003,2811,2857,2765,0,0,0,0,0,0,14.54,14.39,13.69
$STATE,758,end apogee,CONTROL_FINISHED_OK
$STATE,758,begin climb
$GC,761,1.19,340.6,2422,2003,2856,2764,104.5,0.0,128,1035,2.05,2.38,262.45,0.996,10500,0.082,0.063,2862,3367,1422,1476,1369,0,0,0,0,0,0,14.47,14.34,13.69
$GC,1048,1.25,386.5,2857,3366,1475,1368,74.1,18.2,178,1094,0.00,2.38,37.08,0.944,11270,0.000,0.046,2863,1971,1236,1297,1175,0,0,0,0,0,0,14.61,14.50,13.71
$GC,1158,1.42,527.5,2862,1972,1297,1175,56.5,14.4,198,1287,0.25,2.53,118.28,0.937,10756,0.082,0.080,2954,565,660,673,648,0,0,0,0,0,0,14.56,14.39,13.77
$GC,1305,1.42,527.5,2953,565,673,645,26.9,22.0,224,1312,0.00,2.33,0.00,0.000,5126,0.000,0.035,2954,1974,658,673,644,0,0,0,0,0,0,14.65,14.56,14.66
$GC,1376,1.45,549.3,2953,1974,673,640,12.9,19.1,237,1394,0.00,2.42,8.77,0.719,8452,0.000,0.063,2954,3361,598,605,591,0,0,0,0,0,0,14.88,14.54,13.86
$GC,1412,1.46,557.4,2953,3361,605,587,5.5,19.6,243,1419,0.00,2.35,0.00,0.000,1030,0.000,0.046,2957,1964,596,605,587,0,0,0,0,0,0,14.69,14.60,14.72
$STATE,1429,end climb,SURFACE_DEPTH_REACHED
$STATE,1429,begin surface coast
$FINISH,-0.2,1.025595
$STATE,1446,end surface coast,CONTROL_FINISHED_OK
$STATE,1446,begin surface
$SM_CCo,1530,0.00,0.000,0,0,594,544.07
$SM_GC,0.52,13.23,0.00,0.00,0.047,0.000,0.000,131,1964,594,-7.31,-1.39,544.07,0,0,0,0,0,0,14.71,14.95,14.80
$IRIDIUM_FIX,-3406.89,2547.21,250419,090342
$TT8_MAMPS,0.019474,0.873334
$HUMID,57.48
$INTERNAL_PRESSURE,9.04296
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,90.1,14.6
$SC_FREEKB,3710304
$24V_AH,13.01,191.616
$10V_AH,12.55,0.000
$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,29.250,33.350,638.050,0.000,0.000,26.116,39.149,63.772,1.000,0.000,19.039,344.968,162.439,630.623,600.969,308.176,0.000,989.386,0.000,382.103,0.000,8.648,0.000
$DEVICE_MAMPS,525.555,79.560,1012.095,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1484.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.059,0.000,0.000,0.000
$MEM,339476
$DATA_FILE_SIZE,6813,249
$CAP_FILE_SIZE,50356,0
$CFSIZE,1023623168,966475776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,101043,-3419.076,2547.093,16,1.4,56,-27.7,0.4,70.5,7,3.0