version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 21
start: 3 31 119 3 48 21
data:
$ID,573
$MISSION,30
$DIVE,21
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,310319,033725,-2847.3713,3220.3572,21,0.8,39,-23.6,0.4,52.7,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.2
$GPS2,310319,034756,-2847.4724,3220.3691,18,0.8,20,-23.6,0.0,102.4,12,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2847.797,3208.052
$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,291.9,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.85,-146.0,77,1985,621,622,0.0,0.0,0,109,0.00,0.00,-87.00,0.000,16386,0.000,0.000,73,1985,3046,3041,3051,0,0,0,0,0,0,14.96,28.83,14.97
$GC,112,-0.85,-146.0,73,1986,3041,3052,3.7,-9.6,15,138,12.55,2.38,-5.93,0.000,18948,0.302,0.080,2205,575,3410,3442,3378,0,0,0,0,0,0,14.45,13.89,14.62
$GC,340,-0.85,-146.0,2205,575,3442,3378,57.4,-16.1,59,347,0.00,2.35,0.00,0.000,3078,0.000,0.047,2204,1991,3410,3442,3378,0,0,0,0,0,0,14.84,14.73,14.85
$GC,409,-0.85,-146.0,2201,1991,3443,3376,68.3,-16.9,72,416,0.00,2.38,0.00,0.000,2308,0.000,0.072,2204,3387,3410,3443,3378,0,0,0,0,0,0,15.06,14.61,15.06
$GC,488,-0.85,-146.0,2203,3387,3443,3378,82.1,-17.2,87,495,0.00,2.33,0.00,0.000,3078,0.000,0.041,2204,1980,3410,3443,3378,0,0,0,0,0,0,14.91,14.80,14.93
$GC,558,-0.85,-146.0,2203,1979,3443,3378,95.0,-18.9,100,563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1979,3410,3443,3378,0,0,0,0,0,0,15.07,15.08,15.08
$GC,626,-0.85,-146.0,2203,1978,3443,3378,106.8,-16.2,113,634,0.00,2.38,0.00,0.000,2564,0.000,0.064,2204,576,3411,3444,3378,0,0,0,0,0,0,15.09,14.76,15.09
$GC,671,-0.85,-146.0,2203,576,3443,3377,114.2,-16.1,121,679,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1989,3411,3444,3378,0,0,0,0,0,0,14.92,14.82,14.94
$GC,742,-0.85,-146.0,2203,1990,3443,3377,125.6,-15.9,134,749,0.00,2.38,0.00,0.000,2308,0.000,0.073,2204,3386,3410,3444,3377,0,0,0,0,0,0,15.09,14.76,15.09
$GC,892,-0.85,-146.0,2204,3386,3443,3377,147.8,-12.9,163,899,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1979,3410,3444,3377,0,0,0,0,0,0,14.94,14.84,14.95
$GC,964,-0.85,-146.0,2203,1977,3445,3376,150.2,-0.2,176,971,0.00,2.42,0.00,0.000,2308,0.000,0.069,2204,3392,3410,3445,3376,0,0,0,0,0,0,15.10,14.62,15.10
$STATE,1077,end dive,NO_VERTICAL_VELOCITY
$STATE,1077,begin apogee
$GC,1083,-0.19,0.0,2203,1994,3445,3375,150.1,0.0,198,1197,1.02,0.00,107.88,1.099,10246,0.093,0.000,2428,1992,2811,2849,2774,0,0,0,0,0,0,14.73,14.51,14.00
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,0.85,146.0,2428,1993,2849,2774,150.0,0.0,218,1323,1.50,2.47,109.80,1.083,10756,0.080,0.069,2750,584,2214,2255,2174,0,0,0,0,0,0,14.49,14.35,13.90
$GC,1516,0.95,227.0,2752,584,2247,2173,133.1,6.3,276,1588,0.12,2.33,62.53,1.079,11270,0.121,0.044,2805,1999,1884,1929,1839,0,0,0,0,0,0,14.62,14.61,14.02
$GC,1651,0.99,253.4,2805,1999,1925,1838,123.6,8.8,300,1681,0.00,2.38,21.80,1.025,8452,0.000,0.068,2805,3387,1778,1826,1730,0,0,0,0,0,0,14.83,14.54,13.99
$GC,1693,0.99,253.4,2805,3387,1825,1728,119.8,10.1,307,1700,0.00,2.35,0.00,0.000,5126,0.000,0.043,2811,1977,1776,1825,1728,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1763,1.07,323.2,2811,1977,1823,1727,114.6,6.8,320,1828,0.00,2.42,55.90,1.054,10756,0.000,0.075,2811,593,1493,1548,1439,0,0,0,0,0,0,14.89,14.47,14.01
$GC,1866,1.11,353.5,2811,593,1545,1439,106.8,8.6,338,1898,0.08,2.30,25.25,1.018,11270,0.181,0.040,2860,1996,1370,1424,1316,0,0,0,0,0,0,14.50,14.53,13.98
$GC,1959,1.11,353.5,2860,1995,1423,1312,98.2,11.3,355,1966,0.00,2.45,0.00,0.000,4612,0.000,0.073,2866,583,1367,1422,1312,0,0,0,0,0,0,14.85,14.59,14.85
$GC,1982,1.11,353.5,2865,583,1422,1312,94.7,14.8,359,1990,0.08,2.30,0.00,0.000,5126,0.266,0.043,2849,1980,1367,1422,1312,0,0,0,0,0,0,14.50,14.64,14.66
$GC,2053,1.11,353.5,2849,1981,1421,1310,85.4,13.6,372,2058,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1981,1366,1421,1311,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2120,1.11,353.5,2849,1981,1420,1311,76.1,12.9,385,2127,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1981,1365,1420,1310,0,0,0,0,0,0,14.98,14.98,14.98
$GC,2189,1.11,353.5,2849,1980,1420,1310,68.1,11.6,398,2195,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1981,1365,1420,1310,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2256,1.11,353.5,2849,1981,1419,1310,59.9,11.8,411,2262,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1981,1364,1419,1310,0,0,0,0,0,0,15.02,15.02,15.03
$GC,2324,1.11,353.5,2849,1980,1419,1310,52.4,11.3,424,2330,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1981,1364,1419,1310,0,0,0,0,0,0,15.05,15.04,15.04
$GC,2392,1.11,353.5,2849,1981,1418,1315,44.5,11.4,437,2398,0.00,0.00,0.00,0.000,4102,0.000,0.000,2849,1981,1364,1419,1310,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2461,1.11,353.5,2849,1981,1419,1310,36.6,12.5,450,2467,0.00,0.00,0.00,0.000,4102,0.000,0.000,2850,1981,1364,1419,1310,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2528,1.11,353.5,2849,1981,1418,1310,27.5,15.0,463,2535,0.00,2.40,0.00,0.000,4356,0.000,0.068,2849,3384,1363,1418,1309,0,0,0,0,0,0,15.09,14.78,15.09
$GC,2577,1.11,353.5,2849,3384,1417,1309,21.5,11.1,472,2584,0.00,2.30,0.00,0.000,5126,0.000,0.044,2849,1988,1363,1418,1309,0,0,0,0,0,0,14.87,14.74,14.88
$GC,2646,1.13,371.5,2849,1988,1418,1309,15.2,9.2,485,2665,0.00,2.40,10.32,0.813,10756,0.000,0.075,2849,591,1296,1351,1242,0,0,0,0,0,0,15.08,14.72,14.30
$GC,2692,1.15,387.6,2849,591,1351,1239,10.8,9.2,493,2707,0.00,2.30,9.40,0.767,11270,0.000,0.043,2849,1993,1232,1287,1177,0,0,0,0,0,0,14.88,14.78,14.26
$GC,2769,1.16,394.2,2849,1993,1286,1175,4.8,9.7,507,2782,0.00,2.40,3.50,0.510,10500,0.000,0.067,2849,3392,1204,1260,1148,0,0,0,0,0,0,15.04,14.76,14.22
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,2.1,1.023150
$STATE,2799,end surface coast,CONTROL_FINISHED_OK
$STATE,2799,begin surface
$SM_CCo,2823,80.55,0.773,0,0,638,532.78
$SM_GC,0.68,12.85,2.35,80.55,0.074,0.044,0.773,143,1994,638,-7.27,1.33,532.78,0,0,0,0,0,0,14.83,14.82,14.21
$IRIDIUM_FIX,-2835.91,3233.18,310319,023416
$TT8_MAMPS,0.018725,0.95123
$HUMID,56.02
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$SC_FREEKB,3912320
$24V_AH,13.89,90.498
$10V_AH,13.54,0.000
$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,28.200,56.700,406.375,80.550,0.000,22.197,16.436,393.172,2.000,0.000,21.081,1101.255,409.926,593.962,1328.878,112.954,0.000,1089.271,0.000,776.064,0.000,14.929,0.000
$DEVICE_MAMPS,302.175,80.325,1098.540,772.650,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2846.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.667,0.000,0.000,0.000
$MEM,339612
$DATA_FILE_SIZE,16800,512
$CAP_FILE_SIZE,98060,0
$CFSIZE,1023623168,1018445824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.175,191.58,1
$GPS,310319,043749,-2847.709,3219.958,24,0.8,27,-23.6,0.5,12.6,12,9.0