version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 20
start: 3 31 119 2 44 36
data:
$ID,573
$MISSION,30
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,182
$T_ABORT,197
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$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,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$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
$GPS1,310319,023045,-2847.2151,3220.7400,24,0.8,42,-23.6,0.9,214.8,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.3
$GPS2,310319,024412,-2847.3362,3220.7427,20,0.9,23,-23.6,0.4,159.2,10,9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2843.322,3209.311
$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,315.4,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,73,1995,628,620,0.0,0.0,0,110,0.00,0.00,-87.97,0.000,16386,0.000,0.000,74,1995,3097,3093,3102,0,0,0,0,0,0,14.95,28.83,14.95
$GC,113,-0.85,-146.0,73,1996,3094,3101,3.6,-9.1,15,139,12.62,2.40,-4.97,0.000,18692,0.308,0.086,2195,3401,3411,3442,3381,0,0,0,0,0,0,14.41,13.85,14.62
$GC,351,-0.85,-146.0,2194,3401,3443,3380,62.4,-17.3,61,359,0.08,2.35,0.00,0.000,3078,0.289,0.041,2209,1990,3411,3444,3379,0,0,0,0,0,0,14.55,14.72,14.77
$GC,421,-0.85,-146.0,2209,1989,3444,3378,74.2,-16.1,74,429,0.00,2.42,0.00,0.000,2308,0.000,0.068,2209,3396,3411,3444,3378,0,0,0,0,0,0,15.07,14.74,15.07
$GC,455,-0.85,-146.0,2208,3394,3444,3379,79.9,-16.7,80,462,0.00,2.33,0.00,0.000,3078,0.000,0.041,2209,1980,3411,3445,3378,0,0,0,0,0,0,14.82,14.69,14.84
$GC,525,-0.85,-146.0,2208,1979,3445,3379,91.8,-16.7,93,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,1979,3412,3445,3379,0,0,0,0,0,0,15.06,15.06,15.06
$GC,592,-0.85,-146.0,2208,1979,3445,3379,103.2,-15.5,106,600,0.00,2.35,0.00,0.000,2564,0.000,0.067,2209,587,3411,3445,3378,0,0,0,0,0,0,15.07,14.74,15.07
$GC,637,-0.85,-146.0,2208,587,3445,3379,109.8,-15.4,114,645,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1995,3411,3444,3378,0,0,0,0,0,0,14.91,14.81,14.93
$GC,711,-0.85,-146.0,2204,1997,3445,3378,120.8,-15.7,127,717,0.00,2.40,0.00,0.000,2308,0.000,0.072,2204,3393,3411,3445,3378,0,0,0,0,0,0,15.08,14.69,15.08
$GC,809,-0.85,-146.0,2203,3393,3445,3378,133.4,-10.2,146,816,0.00,2.30,0.00,0.000,3078,0.000,0.040,2204,1984,3411,3445,3378,0,0,0,0,0,0,14.94,14.83,14.95
$GC,881,-0.85,-146.0,2203,1984,3445,3378,141.6,-12.5,159,887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1984,3411,3445,3378,0,0,0,0,0,0,15.10,15.11,15.11
$GC,948,-0.85,-146.0,2204,1983,3445,3378,152.5,-21.7,172,955,0.00,2.42,0.00,0.000,2308,0.000,0.070,2204,3397,3411,3445,3378,0,0,0,0,0,0,15.11,14.76,15.11
$GC,1042,-0.85,-146.0,2202,3397,3445,3378,167.0,-13.9,190,1049,0.00,2.33,0.00,0.000,3078,0.000,0.039,2204,1985,3411,3445,3377,0,0,0,0,0,0,14.92,14.83,14.95
$GC,1113,-0.85,-146.0,2203,1983,3446,3377,174.0,-1.3,203,1119,0.00,2.40,0.00,0.000,2308,0.000,0.070,2204,3391,3411,3445,3377,0,0,0,0,0,0,15.10,14.76,15.10
$STATE,1239,end dive,NO_VERTICAL_VELOCITY
$STATE,1239,begin apogee
$GC,1246,-0.19,0.0,2204,1980,3443,3377,173.9,0.0,228,1360,1.02,0.00,109.20,1.135,10246,0.076,0.000,2434,1979,2811,2850,2773,0,0,0,0,0,0,14.62,14.45,13.94
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1363,0.85,146.0,2434,1979,2850,2773,174.1,0.0,248,1482,1.52,2.50,110.32,1.130,11012,0.076,0.064,2764,3390,2216,2258,2174,0,0,0,0,0,0,14.47,14.36,13.84
$GC,1529,0.91,187.7,2764,3390,2254,2173,166.4,8.1,276,1572,0.00,2.38,33.42,1.095,11270,0.000,0.043,2770,1984,2044,2089,2000,0,0,0,0,0,0,14.54,14.45,13.91
$GC,1634,0.95,220.0,2768,1984,2086,1997,157.6,8.5,295,1670,0.00,2.47,25.90,1.078,10500,0.000,0.065,2769,3389,1913,1958,1868,0,0,0,0,0,0,14.82,14.50,13.95
$GC,1683,0.98,249.2,2769,3388,1958,1868,153.7,8.6,303,1715,0.08,2.35,24.42,1.069,11270,0.181,0.044,2813,1981,1794,1843,1746,0,0,0,0,0,0,14.54,14.57,13.97
$GC,1777,1.01,275.1,2813,1979,1840,1745,143.4,8.8,320,1801,0.00,0.00,21.50,1.056,8198,0.000,0.000,2814,1979,1689,1741,1637,0,0,0,0,0,0,14.83,14.54,13.97
$GC,1863,1.01,275.1,2813,1979,1739,1635,132.2,14.3,336,1869,0.00,2.42,0.00,0.000,260,0.000,0.067,2813,3398,1686,1738,1635,0,0,0,0,0,0,14.85,14.60,14.85
$GC,1882,1.01,275.1,2813,3398,1737,1635,129.7,14.4,339,1889,0.00,2.38,0.00,0.000,1030,0.000,0.048,2814,1984,1686,1737,1635,0,0,0,0,0,0,14.74,14.65,14.76
$GC,1951,1.01,275.1,2812,1985,1737,1633,121.1,10.5,352,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1986,1685,1737,1633,0,0,0,0,0,0,14.92,14.93,14.93
$GC,2019,1.06,311.5,2814,1985,1737,1633,115.2,8.3,365,2056,0.00,2.42,29.55,1.062,10500,0.000,0.064,2814,3396,1540,1595,1485,0,0,0,0,0,0,14.97,14.54,14.12
$GC,2074,1.06,315.7,2814,3396,1594,1485,110.3,9.8,374,2088,0.00,2.38,4.53,0.784,11270,0.000,0.046,2814,1978,1525,1581,1469,0,0,0,0,0,0,14.68,14.58,14.03
$GC,2150,1.10,347.8,2814,1978,1576,1470,103.2,8.5,388,2186,0.00,2.42,27.05,1.040,10756,0.000,0.075,2814,588,1393,1450,1337,0,0,0,0,0,0,14.92,14.57,14.05
$GC,2223,1.17,405.3,2814,587,1451,1336,97.4,7.3,401,2278,0.15,2.33,47.08,1.049,11270,0.109,0.043,2879,1996,1157,1214,1100,0,0,0,0,0,0,14.69,14.67,14.00
$GC,2340,1.17,405.3,2879,1996,1217,1096,83.3,12.8,422,2347,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,1996,1156,1217,1096,0,0,0,0,0,0,14.83,14.84,14.83
$GC,2409,1.17,405.3,2878,1996,1216,1095,74.3,13.7,435,2415,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,1996,1156,1216,1096,0,0,0,0,0,0,14.90,14.91,14.90
$GC,2477,1.17,405.3,2879,1996,1215,1095,65.5,13.6,448,2482,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,1996,1153,1211,1095,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2545,1.17,405.3,2878,1996,1216,1095,55.5,15.1,461,2551,0.00,2.45,0.00,0.000,4612,0.000,0.076,2879,582,1155,1215,1095,0,0,0,0,0,0,14.98,14.63,14.98
$GC,2573,1.17,405.3,2879,582,1214,1095,51.5,13.3,466,2581,0.00,2.30,0.00,0.000,5126,0.000,0.042,2882,1986,1154,1215,1094,0,0,0,0,0,0,14.87,14.78,14.88
$GC,2644,1.17,405.3,2879,1986,1215,1094,41.7,13.8,479,2650,0.00,0.00,0.00,0.000,4102,0.000,0.000,2879,1986,1154,1215,1094,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2712,1.17,405.3,2879,1986,1215,1094,32.1,14.0,492,2719,0.00,2.40,0.00,0.000,4356,0.000,0.068,2880,3391,1153,1214,1093,0,0,0,0,0,0,15.04,14.74,15.04
$GC,2746,1.17,405.3,2879,3391,1214,1093,27.7,12.0,498,2753,0.00,2.35,0.00,0.000,5126,0.000,0.045,2880,1978,1153,1214,1093,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2819,1.17,405.3,2879,1978,1214,1093,19.9,11.0,511,2826,0.00,2.40,0.00,0.000,4612,0.000,0.077,2879,581,1153,1214,1093,0,0,0,0,0,0,15.06,14.62,15.06
$GC,2852,1.17,405.3,2879,581,1214,1093,16.1,11.3,517,2859,0.00,2.33,0.00,0.000,5126,0.000,0.044,2882,1990,1153,1214,1092,0,0,0,0,0,0,14.90,14.82,14.93
$GC,2922,1.17,405.3,2879,1990,1214,1092,8.6,10.2,530,2929,0.00,2.38,0.00,0.000,4356,0.000,0.067,2879,3389,1153,1214,1092,0,0,0,0,0,0,15.06,14.76,15.07
$GC,2946,1.17,405.3,2879,3389,1213,1091,5.8,11.4,534,2954,0.00,2.33,0.00,0.000,5126,0.000,0.047,2880,1989,1154,1213,1096,0,0,0,0,0,0,14.92,14.81,14.94
$STATE,2975,end climb,SURFACE_DEPTH_REACHED
$STATE,2975,begin surface coast
$FINISH,0.3,1.023157
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3018,74.47,0.789,0,0,637,532.78
$SM_GC,0.62,12.77,0.00,74.47,0.056,0.000,0.789,149,1987,637,-7.26,0.00,532.78,0,0,0,0,0,0,14.81,15.09,14.24
$IRIDIUM_FIX,-2833.46,3220.92,310319,010408
$TT8_MAMPS,0.019474,0.928011
$HUMID,57.28
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$SC_FREEKB,3912832
$24V_AH,13.84,90.281
$10V_AH,13.50,0.000
$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,28.250,71.375,432.975,74.475,0.000,26.058,53.161,500.577,2.250,0.000,23.797,1172.926,431.056,634.417,1533.645,132.334,0.000,1167.485,0.000,821.092,0.000,15.947,0.000
$DEVICE_MAMPS,307.530,85.680,1135.260,788.715,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3065.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.548,0.000,0.000,0.000
$MEM,339576
$DATA_FILE_SIZE,16758,543
$CAP_FILE_SIZE,110101,0
$CFSIZE,1023623168,1018527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139,178.28,1
$GPS,310319,033725,-2847.371,3220.357,21,0.8,39,-23.6,0.4,52.7,11,8.7