version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 26
start: 3 31 119 8 20 30
data:
$ID,573
$MISSION,30
$DIVE,26
$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,270
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,310319,080750,-2848.6504,3219.0796,14,0.9,18,-23.6,0.9,161.9,9,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-61.8
$GPS2,310319,082006,-2848.8909,3219.0659,19,0.9,21,-23.6,0.4,209.6,9,8.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2850.789,3231.203
$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,123.7,20000,-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,-146.0,73,1997,629,619,0.0,0.0,0,109,0.00,0.00,-86.65,0.000,16386,0.000,0.000,73,1998,3031,3030,3032,0,0,0,0,0,0,15.02,28.83,15.03
$GC,112,-0.85,-146.0,72,1998,3030,3033,3.3,-7.7,15,138,12.48,2.35,-6.68,0.000,18948,0.301,0.079,2207,579,3409,3442,3376,0,0,0,0,0,0,14.49,13.93,14.68
$GC,180,-0.85,-146.0,2206,578,3443,3376,24.0,-22.9,27,187,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1991,3409,3443,3376,0,0,0,0,0,0,14.81,14.72,14.83
$GC,250,-0.85,-146.0,2203,1991,3443,3376,37.7,-17.8,40,256,0.00,2.38,0.00,0.000,2564,0.000,0.062,2204,576,3409,3443,3376,0,0,0,0,0,0,15.07,14.69,15.07
$GC,288,-0.85,-146.0,2203,575,3443,3376,44.3,-17.6,47,294,0.00,2.30,0.00,0.000,3078,0.000,0.045,2204,1991,3409,3443,3375,0,0,0,0,0,0,14.94,14.84,14.95
$GC,357,-0.85,-146.0,2203,1991,3444,3376,54.4,-15.9,60,364,0.00,2.35,0.00,0.000,2308,0.000,0.070,2203,3386,3409,3443,3376,0,0,0,0,0,0,15.09,14.79,15.09
$GC,437,-0.85,-146.0,2203,3386,3443,3376,66.4,-15.3,75,443,0.00,2.30,0.00,0.000,3078,0.000,0.038,2204,1976,3410,3444,3376,0,0,0,0,0,0,14.96,14.87,14.97
$GC,505,-0.85,-146.0,2203,1975,3443,3376,77.2,-16.5,88,511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1975,3410,3444,3376,0,0,0,0,0,0,15.11,15.11,15.11
$GC,573,-0.85,-146.0,2203,1975,3444,3376,89.2,-17.8,101,580,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1975,3410,3444,3376,0,0,0,0,0,0,15.12,15.13,15.12
$GC,642,-0.85,-146.0,2203,1974,3444,3376,99.0,-14.2,114,649,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3390,3410,3444,3376,0,0,0,0,0,0,15.13,14.82,15.13
$GC,793,-0.85,-146.0,2202,3390,3443,3376,120.0,-13.3,143,801,0.00,2.30,0.00,0.000,3078,0.000,0.038,2204,1981,3410,3444,3376,0,0,0,0,0,0,14.98,14.88,15.00
$GC,864,-0.85,-146.0,2202,1980,3444,3375,129.0,-12.6,156,870,0.00,2.38,0.00,0.000,2308,0.000,0.067,2204,3385,3409,3444,3375,0,0,0,0,0,0,15.12,14.70,15.13
$GC,882,-0.85,-146.0,2204,3384,3444,3375,131.4,-12.4,159,888,0.00,2.28,0.00,0.000,3078,0.000,0.037,2203,1984,3409,3444,3374,0,0,0,0,0,0,14.99,14.90,15.00
$GC,951,-0.85,-146.0,2203,1984,3444,3374,136.9,-0.2,172,958,0.00,2.38,0.00,0.000,2564,0.000,0.070,2203,579,3409,3445,3374,0,0,0,0,0,0,15.14,14.81,15.13
$STATE,1104,end dive,NO_VERTICAL_VELOCITY
$STATE,1104,begin apogee
$GC,1111,-0.19,0.0,2203,1989,3444,3374,136.9,0.0,202,1225,1.02,0.00,106.62,1.076,10246,0.086,0.000,2431,1989,2811,2849,2774,0,0,0,0,0,0,14.66,14.56,14.06
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1228,0.85,146.0,2431,1989,2849,2774,137.2,0.0,222,1346,1.48,2.47,108.88,1.058,11012,0.073,0.065,2754,583,2216,2258,2175,0,0,0,0,0,0,14.55,14.42,13.97
$GC,1539,0.88,163.1,2754,579,2248,2175,123.6,9.2,279,1559,0.00,2.30,14.35,0.992,11270,0.000,0.043,2754,1988,2145,2183,2108,0,0,0,0,0,0,14.76,14.67,14.14
$GC,1621,0.91,194.8,2754,1989,2181,2105,116.8,8.5,294,1652,0.00,2.42,25.40,1.036,10500,0.000,0.068,2754,3384,2016,2060,1973,0,0,0,0,0,0,14.99,14.66,14.12
$GC,1680,0.95,223.5,2754,3385,2058,1972,112.0,8.7,304,1712,0.08,2.33,23.27,1.021,11270,0.178,0.042,2808,1978,1900,1944,1856,0,0,0,0,0,0,14.69,14.70,14.07
$GC,1773,0.95,223.5,2807,1978,1940,1853,101.2,11.7,321,1780,0.00,2.38,0.00,0.000,4612,0.000,0.071,2811,588,1896,1939,1854,0,0,0,0,0,0,14.92,14.58,14.92
$GC,1817,0.95,223.5,2810,588,1938,1853,96.2,12.3,329,1824,0.08,2.30,0.00,0.000,5126,0.268,0.043,2795,1990,1895,1938,1853,0,0,0,0,0,0,14.60,14.76,14.78
$GC,1887,0.95,224.7,2795,1991,1938,1853,89.2,9.9,342,1894,0.00,2.38,0.00,0.000,260,0.000,0.067,2795,3391,1895,1937,1853,0,0,0,0,0,0,15.00,14.74,15.01
$GC,2006,1.01,273.5,2795,3392,1937,1852,77.9,7.7,365,2054,0.00,2.30,39.30,1.021,11270,0.000,0.042,2796,1992,1694,1746,1643,0,0,0,0,0,0,14.92,14.81,14.19
$GC,2116,1.01,273.5,2796,1993,1743,1640,68.0,11.1,385,2122,0.00,2.40,0.00,0.000,2564,0.000,0.073,2797,586,1691,1743,1640,0,0,0,0,0,0,14.96,14.69,14.96
$GC,2175,1.01,273.5,2797,585,1741,1640,61.8,11.2,396,2181,0.00,2.30,0.00,0.000,3078,0.000,0.043,2797,1985,1690,1740,1640,0,0,0,0,0,0,14.83,14.73,14.83
$GC,2245,1.01,273.5,2796,1985,1739,1639,54.2,11.3,409,2251,0.00,2.38,0.00,0.000,2308,0.000,0.067,2797,3386,1688,1739,1638,0,0,0,0,0,0,15.03,14.71,15.03
$GC,2288,1.01,273.5,2797,3386,1739,1638,48.7,12.7,417,2295,0.00,2.30,0.00,0.000,3078,0.000,0.044,2797,1988,1688,1739,1638,0,0,0,0,0,0,14.89,14.81,14.89
$GC,2357,1.01,273.5,2797,1988,1739,1639,41.5,10.4,430,2364,0.00,2.38,0.00,0.000,2564,0.000,0.073,2796,583,1688,1739,1637,0,0,0,0,0,0,15.06,14.76,15.06
$GC,2452,1.04,299.8,2797,583,1738,1638,32.1,8.8,448,2482,0.00,2.30,20.98,0.939,11270,0.000,0.042,2797,1993,1587,1641,1534,0,0,0,0,0,0,14.95,14.85,14.27
$GC,2544,1.09,333.8,2796,1993,1638,1532,23.6,8.4,465,2575,0.08,2.40,21.75,0.921,10756,0.182,0.073,2859,583,1450,1503,1397,0,0,0,0,0,0,14.81,14.71,14.22
$GC,2632,1.09,333.8,2859,583,1501,1397,14.8,10.9,481,2639,0.08,2.30,0.00,0.000,5126,0.259,0.042,2841,1992,1448,1501,1396,0,0,0,0,0,0,14.64,14.78,14.81
$GC,2702,1.09,333.8,2841,1992,1500,1395,7.8,10.8,494,2709,0.00,2.40,0.00,0.000,4612,0.000,0.070,2845,587,1447,1500,1395,0,0,0,0,0,0,15.03,14.74,15.03
$STATE,2748,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,2.0,1.023103
$STATE,2756,end surface coast,CONTROL_FINISHED_OK
$STATE,2756,begin surface
$SM_CCo,2779,111.62,0.772,0,0,640,532.78
$SM_GC,0.65,12.77,2.33,111.62,0.072,0.044,0.772,149,1979,640,-7.27,-1.36,532.78,0,0,0,0,0,0,14.81,14.84,14.21
$IRIDIUM_FIX,-2838.37,3110.49,310319,081034
$TT8_MAMPS,0.019474,0.944489
$HUMID,56.73
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$SC_FREEKB,3909760
$24V_AH,13.93,91.516
$10V_AH,13.51,0.000
$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,28.050,70.425,360.550,111.625,0.000,48.111,99.430,338.282,1.500,0.000,23.030,1108.206,469.945,585.622,1363.618,113.399,0.000,1067.394,0.000,765.594,0.000,11.773,0.000
$DEVICE_MAMPS,300.645,78.795,1075.590,771.885,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.330,0.000,0.000,0.000
$MEM,339580
$DATA_FILE_SIZE,16778,504
$CAP_FILE_SIZE,98693,0
$CFSIZE,1023623168,1017937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,190.83,1
$GPS,310319,090937,-2849.249,3219.296,15,0.8,19,-23.6,0.7,187.6,10,9.8