version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 32
start: 3 31 119 22 37 55
data:
$ID,573
$MISSION,30
$DIVE,32
$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,542.59473
$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,29
$R_STBD_OVSHOOT,35
$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,4
$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
$GPS1,310319,222228,-2851.4324,3217.9951,16,0.8,22,-23.7,0.8,169.1,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-62.2
$GPS2,310319,223731,-2851.7791,3217.8096,17,0.8,27,-23.7,0.8,207.9,10,5.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2845.869,3207.499
$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,326.9,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,72,1984,580,583,0.0,0.0,0,109,0.00,0.00,-87.10,0.000,16386,0.000,0.000,73,1984,2994,3007,2982,0,0,0,0,0,0,14.90,28.83,14.90
$GC,112,-0.85,-146.0,72,1984,3006,2982,3.3,-8.7,15,139,12.68,2.45,-6.93,0.000,18948,0.306,0.086,2205,575,3410,3443,3377,0,0,0,0,0,0,14.36,13.32,14.56
$GC,160,-0.85,-146.0,2205,575,3445,3377,20.6,-28.9,23,167,0.00,2.38,0.00,0.000,3078,0.000,0.046,2204,1998,3411,3445,3377,0,0,0,0,0,0,14.71,14.59,14.73
$GC,229,-0.85,-146.0,2203,1998,3445,3377,34.2,-19.8,36,236,0.00,2.40,0.00,0.000,2308,0.000,0.074,2204,3386,3411,3445,3377,0,0,0,0,0,0,14.95,14.51,14.96
$GC,333,-0.85,-146.0,2203,3386,3445,3377,52.8,-16.5,56,340,0.00,2.33,0.00,0.000,3078,0.000,0.041,2204,1983,3411,3446,3377,0,0,0,0,0,0,14.84,14.73,14.85
$GC,402,-0.85,-146.0,2203,1983,3446,3377,63.9,-16.4,69,409,0.00,2.45,0.00,0.000,2308,0.000,0.070,2204,3391,3411,3446,3377,0,0,0,0,0,0,15.00,14.69,15.02
$GC,466,-0.85,-146.0,2203,3392,3445,3377,74.3,-13.7,81,474,0.00,2.35,0.00,0.000,3078,0.000,0.039,2203,1978,3411,3446,3377,0,0,0,0,0,0,14.79,14.69,14.81
$GC,537,-0.85,-146.0,2203,1978,3446,3377,84.9,-15.0,94,543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1979,3414,3451,3377,0,0,0,0,0,0,15.02,15.02,15.02
$GC,604,-0.85,-146.0,2203,1978,3446,3376,95.2,-15.4,107,611,0.00,2.45,0.00,0.000,2308,0.000,0.070,2204,3391,3411,3446,3377,0,0,0,0,0,0,15.02,14.55,15.02
$GC,689,-0.85,-146.0,2203,3392,3446,3377,107.8,-13.9,123,696,0.00,2.33,0.00,0.000,3078,0.000,0.041,2204,1975,3411,3446,3377,0,0,0,0,0,0,14.87,14.76,14.87
$GC,760,-0.85,-146.0,2203,1974,3446,3377,117.5,-12.9,136,766,0.00,2.45,0.00,0.000,2308,0.000,0.070,2203,3387,3411,3446,3377,0,0,0,0,0,0,15.04,14.59,15.04
$GC,863,-0.85,-146.0,2203,3387,3446,3377,130.8,-12.0,156,870,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1991,3411,3446,3377,0,0,0,0,0,0,14.89,14.78,14.90
$GC,933,-0.85,-146.0,2203,1990,3446,3377,139.3,-12.0,169,939,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1990,3411,3446,3377,0,0,0,0,0,0,15.05,15.06,15.06
$STATE,964,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,964,begin apogee
$GC,968,-0.19,0.0,2203,1991,3446,3377,143.2,-12.6,175,1084,1.12,0.00,109.20,1.083,10246,0.175,0.000,2422,1989,2811,2849,2774,0,0,0,0,0,0,14.54,14.45,13.93
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1087,0.85,146.0,2422,1988,2850,2774,147.1,0.0,195,1204,1.55,0.00,111.03,1.073,10758,0.093,0.000,2746,1988,2215,2257,2174,0,0,0,0,0,0,14.43,14.33,13.83
$GC,1268,0.88,165.5,2746,1988,2252,2173,137.6,9.1,226,1292,0.00,0.00,16.20,0.999,10246,0.000,0.000,2747,1988,2136,2177,2096,0,0,0,0,0,0,14.72,14.30,13.87
$GC,1354,0.91,193.5,2746,1988,2175,2095,130.0,8.7,242,1384,0.08,0.00,23.52,1.022,10246,0.181,0.000,2794,1988,2021,2064,1978,0,0,0,0,0,0,14.50,14.37,13.93
$GC,1446,0.91,193.5,2794,1988,2062,1976,120.6,10.4,259,1453,0.00,2.42,0.00,0.000,4356,0.000,0.064,2794,3389,2018,2061,1976,0,0,0,0,0,0,14.82,14.57,14.82
$GC,1500,0.91,193.5,2794,3388,2061,1976,115.1,10.0,269,1508,0.00,2.35,0.00,0.000,5126,0.000,0.043,2796,1981,2017,2061,1974,0,0,0,0,0,0,14.74,14.63,14.76
$GC,1571,0.92,196.2,2796,1981,2060,1975,108.1,9.9,282,1578,0.00,2.42,0.00,0.000,4356,0.000,0.065,2796,3389,2017,2060,1975,0,0,0,0,0,0,14.91,14.64,14.92
$GC,1590,0.92,196.2,2796,3389,2060,1975,105.9,10.9,285,1598,0.00,2.35,0.00,0.000,5126,0.000,0.044,2797,1981,2017,2060,1975,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1661,0.92,196.2,2797,1980,2060,1975,98.8,10.0,298,1667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1980,2017,2059,1975,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1728,0.94,215.0,2797,1980,2059,1975,92.3,9.1,311,1753,0.00,2.42,18.02,0.998,12548,0.000,0.063,2797,3396,1933,1976,1890,0,0,0,0,0,0,14.98,14.57,14.13
$GC,1785,0.94,215.0,2797,3396,1975,1889,86.7,11.3,321,1793,0.00,2.35,0.00,0.000,5126,0.000,0.044,2797,1985,1931,1975,1888,0,0,0,0,0,0,14.80,14.70,14.81
$GC,1858,0.95,225.4,2797,1985,1975,1887,79.3,9.5,334,1876,0.00,2.42,9.32,0.920,8708,0.000,0.075,2797,592,1892,1936,1848,0,0,0,0,0,0,14.95,14.61,14.10
$GC,1888,0.98,251.1,2797,591,1935,1856,75.9,8.8,339,1918,0.00,2.30,21.88,0.991,11270,0.000,0.043,2797,1983,1787,1835,1740,0,0,0,0,0,0,14.77,14.67,14.07
$GC,1981,1.01,274.0,2797,1984,1832,1738,67.7,8.9,356,2006,0.00,2.47,19.33,0.976,10500,0.000,0.066,2796,3401,1693,1745,1641,0,0,0,0,0,0,14.90,14.59,14.03
$GC,2039,1.01,274.0,2797,3402,1744,1640,61.7,10.7,366,2046,0.00,2.38,0.00,0.000,3078,0.000,0.044,2797,1984,1691,1744,1639,0,0,0,0,0,0,14.73,14.61,14.74
$GC,2108,1.03,289.0,2797,1985,1744,1638,54.8,9.3,379,2128,0.00,2.47,13.15,0.936,10500,0.000,0.065,2797,3394,1632,1685,1579,0,0,0,0,0,0,14.91,14.64,14.06
$GC,2145,1.08,331.5,2796,3394,1684,1578,51.6,8.0,385,2188,0.10,2.35,34.95,0.985,11270,0.145,0.044,2845,1988,1459,1514,1404,0,0,0,0,0,0,14.68,14.66,14.03
$GC,2250,1.08,331.5,2844,1987,1512,1403,40.2,12.1,404,2257,0.00,2.45,0.00,0.000,4612,0.000,0.077,2845,580,1457,1511,1403,0,0,0,0,0,0,14.85,14.57,14.85
$GC,2294,1.08,331.5,2845,580,1510,1403,34.4,12.0,412,2301,0.00,2.35,0.00,0.000,5126,0.000,0.042,2845,1992,1456,1510,1403,0,0,0,0,0,0,14.72,14.62,14.73
$GC,2363,1.08,331.5,2844,1992,1509,1402,27.4,11.3,425,2369,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1992,1455,1509,1402,0,0,0,0,0,0,14.93,14.94,14.94
$GC,2432,1.13,371.9,2845,1992,1509,1401,21.4,8.1,438,2464,0.00,2.40,25.08,0.906,10500,0.000,0.064,2845,3389,1294,1352,1237,0,0,0,0,0,0,14.96,14.56,14.16
$GC,2546,1.18,413.7,2845,3390,1350,1234,13.1,8.1,459,2577,0.00,2.35,24.92,0.842,11270,0.000,0.044,2845,1982,1124,1180,1069,0,0,0,0,0,0,14.80,14.71,14.12
$GC,2639,1.18,413.7,2845,1982,1180,1062,5.8,10.1,476,2645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2845,1982,1121,1180,1062,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FINISH,0.3,1.023133
$STATE,2696,end surface coast,CONTROL_FINISHED_OK
$STATE,2696,begin surface
$SM_CCo,2718,74.80,0.770,0,0,598,542.59
$SM_GC,0.53,12.62,0.00,74.80,0.050,0.000,0.770,140,1981,598,-7.27,-0.20,542.59,0,0,0,0,0,0,14.71,14.96,14.14
$IRIDIUM_FIX,-2840.83,3216.76,310319,202514
$TT8_MAMPS,0.019474,0.935501
$HUMID,55.71
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,100.5,57.3
$SC_FREEKB,3906592
$24V_AH,13.32,93.443
$10V_AH,13.45,0.000
$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,28.150,62.150,426.600,74.800,0.000,24.208,42.987,581.835,0.750,0.000,28.333,1046.653,373.926,609.311,1528.147,136.794,0.000,1100.572,0.000,736.359,0.000,7.222,0.000
$DEVICE_MAMPS,306.000,85.680,1083.240,769.590,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2776.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.887,0.000,0.000,0.000
$MEM,339576
$DATA_FILE_SIZE,16787,487
$CAP_FILE_SIZE,102693,0
$CFSIZE,1023623168,1017020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.305,216.38,1
$GPS,310319,232534,-2851.941,3217.164,24,1.0,29,-23.7,1.3,204.8,8,9.4