version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 23
start: 3 31 119 5 46 12
data:
$ID,573
$MISSION,30
$DIVE,23
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,310319,053555,-2847.9541,3219.6274,31,0.8,37,-23.6,0.7,27.4,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-64.5
$GPS2,310319,054547,-2848.0161,3219.5940,15,0.8,16,-23.6,0.5,170.8,11,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2844.112,3208.111
$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,314.8,20000,-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,19,-0.85,-146.0,73,2004,635,613,0.0,0.0,0,108,0.00,0.00,-86.20,0.000,16386,0.000,0.000,72,2006,3024,3025,3023,0,0,0,0,0,0,14.99,28.83,15.00
$GC,111,-0.85,-146.0,73,2005,3019,3024,3.4,-8.0,15,137,12.52,2.35,-6.45,0.000,18692,0.302,0.083,2196,3386,3409,3441,3377,0,0,0,0,0,0,14.46,13.90,14.67
$GC,345,-0.85,-146.0,2196,3387,3442,3377,56.7,-17.2,60,352,0.08,2.33,0.00,0.000,3078,0.285,0.040,2211,1980,3410,3443,3377,0,0,0,0,0,0,14.56,14.75,14.77
$GC,415,-0.85,-146.0,2211,1979,3443,3377,67.0,-14.4,73,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1979,3410,3443,3377,0,0,0,0,0,0,15.09,15.08,15.08
$GC,484,-0.85,-146.0,2211,1979,3443,3377,76.9,-14.4,86,490,0.00,2.40,0.00,0.000,2308,0.000,0.067,2211,3385,3410,3443,3377,0,0,0,0,0,0,15.09,14.64,15.09
$GC,563,-0.85,-146.0,2209,3385,3443,3376,89.2,-15.6,101,571,0.00,2.28,0.00,0.000,3078,0.000,0.040,2210,1981,3410,3443,3377,0,0,0,0,0,0,14.94,14.83,14.95
$GC,634,-0.85,-146.0,2210,1980,3444,3377,99.7,-15.5,114,643,0.00,2.35,0.00,0.000,2564,0.000,0.066,2210,582,3409,3442,3376,0,0,0,0,0,0,15.10,14.65,15.11
$GC,690,-0.85,-146.0,2210,581,3443,3376,108.7,-15.8,124,697,0.00,2.33,0.00,0.000,3078,0.000,0.047,2210,1995,3409,3443,3376,0,0,0,0,0,0,14.89,14.79,14.90
$STATE,705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,705,begin apogee
$GC,709,-0.19,0.0,2210,1995,3444,3376,110.7,-14.8,126,822,1.08,0.00,105.90,1.034,10246,0.175,0.000,2421,1996,2812,2848,2776,0,0,0,0,0,0,14.62,14.52,14.04
$STATE,824,end apogee,CONTROL_FINISHED_OK
$STATE,824,begin climb
$GC,826,0.85,146.0,2421,1996,2849,2776,116.3,0.0,145,945,1.55,2.50,109.62,1.024,10756,0.109,0.067,2749,583,2215,2255,2175,0,0,0,0,0,0,14.51,14.42,13.93
$GC,998,0.90,186.0,2749,583,2249,2175,108.5,8.1,174,1036,0.05,2.35,31.73,1.001,11270,0.249,0.044,2792,1990,2055,2094,2016,0,0,0,0,0,0,14.50,14.60,14.00
$GC,1098,0.92,201.3,2792,1990,2090,2007,100.2,9.3,192,1117,0.00,0.00,12.77,0.941,12294,0.000,0.000,2792,1990,1989,2032,1947,0,0,0,0,0,0,14.87,14.61,14.04
$GC,1179,0.94,214.1,2792,1990,2029,1945,93.6,9.4,207,1197,0.00,2.40,11.00,0.929,8708,0.000,0.067,2795,583,1939,1981,1897,0,0,0,0,0,0,14.90,14.52,14.08
$GC,1214,1.00,263.4,2794,583,1980,1897,90.8,7.7,213,1262,0.00,2.30,39.03,1.010,11270,0.000,0.041,2795,1989,1737,1787,1687,0,0,0,0,0,0,14.78,14.70,14.07
$GC,1324,1.00,263.4,2794,1989,1783,1684,80.5,10.0,233,1330,0.00,0.00,0.00,0.000,2054,0.000,0.000,2794,1989,1733,1783,1684,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1391,1.01,269.8,2795,1989,1781,1683,73.9,9.7,246,1405,0.00,2.38,6.00,0.821,10756,0.000,0.070,2795,587,1712,1761,1664,0,0,0,0,0,0,14.95,14.66,14.10
$GC,1417,1.01,272.5,2794,587,1760,1662,71.4,9.9,250,1426,0.00,2.30,4.00,0.685,11270,0.000,0.041,2795,1989,1699,1749,1650,0,0,0,0,0,0,14.79,14.71,14.08
$GC,1488,1.01,272.5,2794,1989,1748,1649,64.4,10.0,263,1495,0.00,2.38,0.00,0.000,2308,0.000,0.067,2795,3386,1698,1748,1649,0,0,0,0,0,0,14.98,14.72,14.99
$GC,1522,1.01,272.5,2794,3386,1747,1648,60.9,10.6,269,1529,0.00,2.33,0.00,0.000,3078,0.000,0.044,2795,1983,1698,1748,1648,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1592,1.02,282.4,2794,1984,1747,1648,54.2,9.5,282,1606,0.00,2.42,9.10,0.886,10756,0.000,0.073,2795,580,1659,1710,1608,0,0,0,0,0,0,15.02,14.70,14.19
$GC,1634,1.06,311.0,2795,580,1709,1609,50.5,8.7,289,1665,0.05,2.30,23.48,0.959,11270,0.256,0.041,2840,1990,1544,1597,1492,0,0,0,0,0,0,14.70,14.80,14.18
$GC,1727,1.06,311.0,2839,1990,1595,1490,40.3,10.8,306,1733,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1990,1542,1595,1490,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1796,1.06,311.0,2840,1994,1594,1490,33.1,10.7,319,1801,0.00,0.00,0.00,0.000,4102,0.000,0.000,2841,1990,1541,1593,1490,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1863,1.08,327.0,2840,1990,1593,1489,25.8,9.2,332,1883,0.00,2.35,11.00,0.868,12548,0.000,0.067,2841,3395,1476,1529,1424,0,0,0,0,0,0,15.04,14.76,14.20
$GC,1946,1.12,362.6,2840,3395,1528,1424,19.8,8.3,347,1977,0.00,2.33,22.00,0.869,11270,0.000,0.042,2842,1983,1332,1388,1277,0,0,0,0,0,0,14.82,14.73,14.24
$GC,2039,1.14,380.6,2841,1979,1387,1275,11.8,9.2,364,2058,0.00,2.35,10.32,0.755,10756,0.000,0.074,2842,586,1260,1315,1205,0,0,0,0,0,0,15.00,14.71,14.23
$GC,2070,1.14,380.6,2841,585,1315,1205,8.3,10.4,369,2077,0.00,2.30,0.00,0.000,3078,0.000,0.043,2842,1994,1259,1315,1204,0,0,0,0,0,0,14.85,14.77,14.86
$STATE,2138,end climb,SURFACE_DEPTH_REACHED
$STATE,2138,begin surface coast
$FINISH,0.2,1.023273
$STATE,2170,end surface coast,CONTROL_FINISHED_OK
$STATE,2170,begin surface
$SM_CCo,2190,86.05,0.750,0,0,638,532.78
$SM_GC,0.67,12.62,0.00,86.05,0.052,0.000,0.750,123,1997,638,-7.31,0.28,532.78,0,0,0,0,0,0,14.81,15.04,14.22
$IRIDIUM_FIX,-2835.91,3220.92,310319,044222
$TT8_MAMPS,0.019474,0.870338
$HUMID,54.44
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,110.7,10.3
$SC_FREEKB,3911296
$24V_AH,13.90,90.911
$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,27.950,47.000,395.950,86.050,0.000,25.180,42.901,346.224,1.000,0.000,16.491,822.960,290.118,566.885,1100.612,101.903,0.000,972.799,0.000,589.821,0.000,8.673,0.000
$DEVICE_MAMPS,302.175,83.385,1034.280,750.465,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2211.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.202,0.000,0.000,0.000
$MEM,339612
$DATA_FILE_SIZE,13429,388
$CAP_FILE_SIZE,81751,0
$CFSIZE,1023623168,1018281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153,200.69,1
$GPS,310319,062511,-2848.074,3219.282,18,0.8,26,-23.6,0.7,185.3,11,9.8