version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 36
start: 4 1 119 2 6 31
data:
$ID,573
$MISSION,30
$DIVE,36
$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,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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,010419,015711,-2853.8098,3215.7395,15,1.0,17,-23.7,0.7,164.7,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-61.4
$GPS2,010419,020607,-2854.0640,3215.6858,16,0.8,19,-23.7,1.3,201.0,11,9.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.160,3226.571
$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,141.9,20000,-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,-146.0,72,2001,582,581,0.0,0.0,0,114,0.00,0.00,-91.05,0.000,16386,0.000,0.000,72,2002,3146,3147,3145,0,0,0,0,0,0,15.00,28.83,15.01
$GC,117,-0.85,-146.0,72,2002,3149,3145,3.8,-9.8,16,143,12.57,2.40,-4.15,0.000,18948,0.308,0.079,2204,575,3410,3441,3380,0,0,0,0,0,0,14.47,13.44,14.66
$GC,235,-0.85,-146.0,2204,575,3442,3379,39.1,-15.8,38,242,0.00,2.30,0.00,0.000,3078,0.000,0.045,2204,1981,3410,3442,3378,0,0,0,0,0,0,14.86,14.76,14.87
$GC,304,-0.85,-146.0,2204,1980,3443,3380,50.9,-15.7,51,310,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1981,3411,3443,3379,0,0,0,0,0,0,15.07,15.07,15.07
$GC,372,-0.85,-146.0,2204,1981,3443,3380,61.4,-14.4,64,379,0.00,2.38,0.00,0.000,2308,0.000,0.068,2204,3385,3411,3443,3379,0,0,0,0,0,0,15.09,14.78,15.09
$GC,420,-0.85,-146.0,2203,3385,3443,3379,68.3,-14.8,73,428,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1972,3411,3444,3379,0,0,0,0,0,0,14.83,14.75,14.85
$GC,491,-0.85,-146.0,2203,1971,3444,3379,78.3,-13.5,86,498,0.00,2.42,0.00,0.000,2308,0.000,0.066,2203,3383,3411,3444,3378,0,0,0,0,0,0,15.09,14.80,15.09
$GC,535,-0.85,-146.0,2203,3383,3444,3378,84.7,-14.5,94,542,0.00,2.30,0.00,0.000,3078,0.000,0.037,2208,1983,3411,3444,3378,0,0,0,0,0,0,14.90,14.81,14.92
$GC,604,-0.85,-146.0,2202,1986,3444,3378,94.9,-14.3,107,611,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3391,3411,3444,3378,0,0,0,0,0,0,15.10,14.70,15.10
$GC,624,-0.85,-146.0,2203,3392,3444,3378,97.6,-14.8,110,630,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1982,3412,3446,3378,0,0,0,0,0,0,14.97,14.87,14.98
$GC,694,-0.85,-146.0,2203,1981,3445,3378,107.3,-13.7,123,700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1981,3411,3444,3378,0,0,0,0,0,0,15.10,15.11,15.10
$STATE,705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,705,begin apogee
$GC,709,-0.19,0.0,2204,1981,3445,3378,108.9,-13.7,125,825,1.10,0.00,105.35,1.017,10246,0.172,0.000,2421,1980,2811,2847,2776,0,0,0,0,0,0,14.65,14.52,14.04
$STATE,827,end apogee,CONTROL_FINISHED_OK
$STATE,827,begin climb
$GC,828,0.85,146.0,2421,1980,2847,2776,113.4,0.0,145,947,1.55,2.40,106.82,1.002,11012,0.105,0.067,2746,584,2214,2254,2175,0,0,0,0,0,0,14.52,14.36,13.98
$GC,1009,0.92,200.0,2746,584,2248,2174,103.5,7.5,176,1058,0.08,2.30,41.25,0.981,11270,0.179,0.040,2792,1988,1995,2038,1952,0,0,0,0,0,0,14.52,14.57,13.99
$GC,1120,0.92,200.0,2792,1988,2032,1949,92.9,10.6,196,1126,0.00,2.42,0.00,0.000,4612,0.000,0.069,2793,581,1991,2033,1949,0,0,0,0,0,0,14.86,14.58,14.86
$GC,1159,0.92,200.0,2793,580,2031,1949,88.8,10.9,203,1166,0.00,2.30,0.00,0.000,5126,0.000,0.041,2793,1985,1990,2031,1949,0,0,0,0,0,0,14.70,14.62,14.71
$GC,1228,0.92,202.3,2793,1985,2031,1949,82.0,9.9,216,1235,0.00,2.38,0.00,0.000,4356,0.000,0.066,2793,3389,1989,2031,1948,0,0,0,0,0,0,14.97,14.71,14.97
$GC,1328,0.92,202.3,2793,3389,2030,1947,71.2,10.5,235,1334,0.00,2.30,0.00,0.000,5126,0.000,0.043,2792,1982,1988,2031,1946,0,0,0,0,0,0,14.89,14.79,14.90
$GC,1397,0.96,232.1,2793,1983,2030,1946,64.8,8.6,248,1428,0.00,2.40,24.85,0.936,10756,0.000,0.071,2794,591,1864,1908,1820,0,0,0,0,0,0,15.04,14.72,14.22
$GC,1461,0.97,243.4,2793,591,1905,1819,59.0,9.5,259,1480,0.00,2.28,10.07,0.883,11270,0.000,0.041,2793,1988,1818,1864,1773,0,0,0,0,0,0,14.85,14.78,14.15
$GC,1542,0.98,249.2,2792,1988,1862,1771,51.5,9.7,274,1556,0.00,2.38,5.50,0.775,10500,0.000,0.063,2793,3385,1796,1843,1750,0,0,0,0,0,0,15.00,14.71,14.14
$GC,1598,0.98,249.2,2793,3386,1841,1749,45.6,10.3,284,1605,0.00,2.30,0.00,0.000,3078,0.000,0.042,2794,1985,1792,1836,1749,0,0,0,0,0,0,14.88,14.78,14.89
$GC,1668,1.04,292.5,2793,1985,1841,1748,39.8,8.0,297,1710,0.00,2.38,34.65,0.928,10756,0.000,0.070,2794,587,1618,1672,1565,0,0,0,0,0,0,15.03,14.59,14.17
$GC,1792,1.07,324.9,2794,587,1667,1565,29.4,8.5,320,1823,0.10,2.30,24.95,0.920,11270,0.145,0.041,2849,1997,1487,1540,1434,0,0,0,0,0,0,14.76,14.77,14.18
$GC,1886,1.14,374.0,2848,1997,1535,1431,20.6,7.7,337,1923,0.00,0.00,29.88,0.865,10246,0.000,0.000,2850,1997,1287,1343,1231,0,0,0,0,0,0,14.96,14.49,14.12
$GC,1985,1.18,409.4,2849,1997,1347,1227,13.5,8.4,355,2015,0.00,2.45,20.65,0.802,10756,0.000,0.070,2850,590,1141,1197,1085,0,0,0,0,0,0,14.94,14.63,14.15
$GC,2054,1.21,433.2,2849,589,1198,1082,7.5,8.9,367,2073,0.00,2.28,13.15,0.737,11270,0.000,0.037,2850,1993,1045,1100,991,0,0,0,0,0,0,14.73,14.64,14.19
$STATE,2114,end climb,SURFACE_DEPTH_REACHED
$STATE,2114,begin surface coast
$FINISH,-0.0,1.023162
$STATE,2141,end surface coast,CONTROL_FINISHED_OK
$STATE,2141,begin surface
$SM_CCo,2162,62.40,0.731,0,0,598,542.59
$SM_GC,0.60,12.62,0.00,62.40,0.050,0.000,0.731,129,1993,598,-7.32,0.17,542.59,0,0,0,0,0,0,14.74,15.00,14.21
$IRIDIUM_FIX,-2840.83,3214.68,010419,010728
$TT8_MAMPS,0.018725,0.922768
$HUMID,54.13
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,100.4,22.4
$SC_FREEKB,3904544
$24V_AH,13.44,94.200
$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,28.025,51.650,417.125,62.400,0.000,22.799,18.959,310.586,0.750,0.000,20.150,796.444,273.035,561.805,1041.971,101.221,0.000,970.999,0.000,581.303,0.000,7.137,0.000
$DEVICE_MAMPS,307.530,78.795,1016.685,730.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2179.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.402,0.000,0.000,0.000
$MEM,339576
$DATA_FILE_SIZE,13444,383
$CAP_FILE_SIZE,79171,0
$CFSIZE,1023623168,1016676352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.386,206.63,1
$GPS,010419,024453,-2854.609,3215.710,16,1.0,41,-23.7,0.8,209.6,10,9.6