version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 33
start: 3 31 119 23 36 21
data:
$ID,573
$MISSION,30
$DIVE,33
$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,36
$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
$GPS1,310319,232534,-2851.9409,3217.1636,24,1.0,29,-23.7,1.3,204.8,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-60.8
$GPS2,310319,233556,-2852.1970,3217.0525,18,0.7,22,-23.7,0.6,202.4,11,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2845.792,3207.134
$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,330.1,20000,-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,-146.0,72,1980,578,582,0.0,0.0,0,109,0.00,0.00,-86.88,0.000,16386,0.000,0.000,72,1980,2993,3006,2981,0,0,0,0,0,0,14.94,28.83,14.95
$GC,112,-0.85,-146.0,72,1980,3006,2982,3.4,-8.6,15,138,12.62,2.47,-7.12,0.000,18692,0.306,0.086,2203,3392,3412,3446,3379,0,0,0,0,0,0,14.42,13.35,14.60
$GC,185,-0.85,-146.0,2202,3392,3447,3379,25.1,-19.1,28,192,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,1983,3413,3447,3379,0,0,0,0,0,0,14.79,14.71,14.81
$GC,255,-0.85,-146.0,2203,1983,3447,3379,38.5,-18.9,41,262,0.00,2.45,0.00,0.000,2308,0.000,0.067,2200,3398,3413,3447,3379,0,0,0,0,0,0,15.00,14.66,15.00
$GC,335,-0.85,-146.0,2200,3399,3447,3378,51.8,-16.8,56,342,0.00,2.33,0.00,0.000,3078,0.000,0.040,2200,1983,3413,3447,3379,0,0,0,0,0,0,14.82,14.70,14.83
$GC,405,-0.85,-146.0,2200,1983,3447,3379,63.4,-15.5,69,412,0.00,2.45,0.00,0.000,2308,0.000,0.069,2197,3397,3413,3447,3379,0,0,0,0,0,0,15.03,14.64,15.03
$GC,485,-0.85,-146.0,2197,3398,3447,3379,75.6,-16.0,84,492,0.05,2.33,0.00,0.000,3078,0.339,0.039,2208,1986,3413,3448,3379,0,0,0,0,0,0,14.52,14.68,14.74
$GC,555,-0.85,-146.0,2208,1986,3448,3379,86.4,-16.5,97,563,0.00,2.42,0.00,0.000,2308,0.000,0.068,2204,3389,3413,3448,3379,0,0,0,0,0,0,15.07,14.70,15.07
$GC,585,-0.85,-146.0,2203,3390,3448,3379,91.3,-15.7,102,592,0.00,2.30,0.00,0.000,3078,0.000,0.038,2204,1988,3413,3448,3379,0,0,0,0,0,0,14.85,14.74,14.86
$GC,658,-0.85,-146.0,2203,1987,3448,3379,101.9,-15.0,115,664,0.00,2.42,0.00,0.000,2308,0.000,0.070,2205,3396,3413,3448,3379,0,0,0,0,0,0,15.07,14.75,15.07
$STATE,685,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,685,begin apogee
$GC,691,-0.19,0.0,2204,1981,3448,3379,105.6,-13.2,120,806,1.12,0.00,107.88,1.019,10246,0.172,0.000,2420,1979,2812,2848,2776,0,0,0,0,0,0,14.54,14.46,13.98
$STATE,807,end apogee,CONTROL_FINISHED_OK
$STATE,807,begin climb
$GC,809,0.85,146.0,2423,1979,2848,2775,111.7,0.0,139,929,1.55,2.50,109.28,1.011,10756,0.107,0.070,2749,573,2215,2255,2176,0,0,0,0,0,0,14.46,14.37,13.91
$GC,956,0.91,190.6,2748,573,2251,2176,104.8,7.9,163,999,0.05,2.38,35.47,0.985,11270,0.252,0.041,2790,1993,2032,2075,1989,0,0,0,0,0,0,14.41,14.50,13.95
$GC,1062,0.91,190.6,2788,1993,2072,1987,94.6,10.4,182,1069,0.00,2.40,0.00,0.000,4356,0.000,0.064,2790,3386,2029,2071,1987,0,0,0,0,0,0,14.79,14.54,14.80
$GC,1115,0.91,190.6,2789,3386,2070,1986,88.8,11.4,192,1122,0.00,2.35,0.00,0.000,5126,0.000,0.044,2790,1982,2028,2070,1986,0,0,0,0,0,0,14.70,14.61,14.71
$GC,1185,0.93,208.0,2790,1982,2069,1986,81.6,9.2,205,1204,0.00,0.00,14.10,0.929,8198,0.000,0.000,2790,1982,1962,2007,1918,0,0,0,0,0,0,14.91,14.66,14.11
$GC,1266,0.93,208.0,2790,1982,2005,1916,73.4,10.6,220,1273,0.00,2.38,0.00,0.000,516,0.000,0.072,2790,584,1960,2004,1916,0,0,0,0,0,0,14.92,14.66,14.93
$GC,1290,0.93,208.0,2790,585,2004,1916,70.9,10.2,224,1296,0.00,2.30,0.00,0.000,1030,0.000,0.042,2790,1986,1960,2004,1916,0,0,0,0,0,0,14.71,14.64,14.72
$GC,1359,0.95,222.4,2790,1987,2004,1916,64.4,9.3,237,1379,0.00,2.38,12.45,0.908,10500,0.000,0.063,2790,3394,1904,1948,1861,0,0,0,0,0,0,14.97,14.57,14.12
$GC,1406,0.95,224.4,2790,3397,1947,1859,59.7,9.9,245,1414,0.00,2.33,0.00,0.000,3078,0.000,0.042,2790,1981,1902,1947,1858,0,0,0,0,0,0,14.81,14.68,14.83
$GC,1477,0.98,249.0,2790,1981,1947,1858,53.5,8.9,258,1507,0.00,2.40,22.02,0.942,10500,0.000,0.063,2791,3396,1795,1841,1749,0,0,0,0,0,0,14.98,14.62,14.15
$GC,1529,0.98,249.0,2790,3399,1841,1748,48.5,10.0,267,1536,0.00,2.33,0.00,0.000,3078,0.000,0.043,2790,1997,1794,1841,1748,0,0,0,0,0,0,14.72,14.67,14.73
$GC,1599,1.00,261.1,2790,1991,1840,1746,42.2,9.4,280,1618,0.00,2.45,10.88,0.882,10756,0.000,0.073,2791,577,1746,1795,1698,0,0,0,0,0,0,14.95,14.60,14.14
$GC,1625,1.00,261.9,2790,577,1794,1698,39.5,9.9,284,1632,0.00,2.33,0.00,0.000,3078,0.000,0.042,2791,1988,1746,1794,1698,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1694,1.00,265.6,2791,1988,1794,1696,32.8,9.8,297,1702,0.00,0.00,4.88,0.734,10246,0.000,0.000,2790,1988,1729,1779,1680,0,0,0,0,0,0,14.97,14.72,14.12
$GC,1766,1.09,337.7,2790,1988,1778,1679,27.4,6.7,310,1825,0.10,2.42,48.60,0.925,10500,0.146,0.066,2852,3384,1434,1489,1379,0,0,0,0,0,0,14.77,14.54,14.13
$GC,1939,1.09,337.7,2852,3385,1485,1377,10.5,11.7,342,1945,0.00,2.33,0.00,0.000,5126,0.000,0.044,2852,1981,1430,1485,1375,0,0,0,0,0,0,14.81,14.71,14.82
$GC,2008,1.14,373.9,2852,1979,1485,1376,4.2,8.3,355,2021,0.00,0.00,10.93,0.710,8194,0.000,0.000,2852,1978,1348,1403,1293,0,0,0,0,0,0,14.96,28.83,14.97
$STATE,2022,end climb,SURFACE_DEPTH_REACHED
$STATE,2022,begin surface coast
$FINISH,0.0,1.023142
$STATE,2049,end surface coast,CONTROL_FINISHED_OK
$STATE,2049,begin surface
$SM_CCo,2069,103.47,0.758,0,0,598,542.59
$SM_GC,0.50,12.68,0.00,103.47,0.047,0.000,0.758,123,1977,598,-7.32,-0.28,542.59,0,0,0,0,0,0,14.76,14.98,14.12
$IRIDIUM_FIX,-2840.83,3130.32,310319,222612
$TT8_MAMPS,0.019474,0.852362
$HUMID,54.01
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,100.5,19.7
$SC_FREEKB,3906080
$24V_AH,13.35,93.634
$10V_AH,13.48,0.000
$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,28.175,57.125,376.475,103.475,0.000,26.447,46.705,360.791,0.750,0.000,23.149,773.534,266.129,573.649,1088.912,105.878,0.000,960.753,0.000,549.092,0.000,7.135,0.000
$DEVICE_MAMPS,338.895,85.680,1018.980,758.115,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.421,0.000,0.000,0.000
$MEM,339612
$DATA_FILE_SIZE,13438,362
$CAP_FILE_SIZE,80092,0
$CFSIZE,1023623168,1016971264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,819.55,0x236098,1,24
$CURRENT,0.417,213.65,1
$GPS,010419,001336,-2852.449,3216.528,22,0.8,25,-23.7,1.2,208.3,11,9.2