version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 227
start: 4 14 119 21 40 34
data:
$ID,573
$MISSION,30
$DIVE,227
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,335
$T_MISSION,345
$T_ABORT,360
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,280
$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,0
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,57
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,140419,213143,-3055.9211,3027.6665,16,0.8,19,-25.7,1.5,189.8,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-59.3
$GPS2,140419,214008,-3056.2937,3027.5024,21,0.8,25,-25.7,1.2,184.4,10,9.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3054.418,3015.107
$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,305.7,20000,-15.6,-9.950,-18.64,2991
$D_GRID,1000
$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,21,-0.82,-194.6,95,2034,573,582,0.0,0.0,0,122,0.00,0.00,-98.25,0.000,16386,0.000,0.000,81,2032,3288,3307,3269,0,0,0,0,0,0,15.00,28.83,15.00
$GC,125,-0.82,-194.6,80,2032,3307,3270,4.2,-11.8,18,150,12.82,2.45,-5.03,0.000,18948,0.318,0.085,2217,600,3608,3671,3546,0,0,0,0,0,0,14.37,13.70,14.73
$GC,172,-0.82,-194.6,2217,600,3673,3547,22.4,-25.1,26,179,0.00,2.30,0.00,0.000,3078,0.000,0.046,2217,1993,3609,3673,3546,0,0,0,0,0,0,14.88,14.77,14.89
$GC,242,-0.82,-194.6,2217,1993,3675,3547,32.9,-15.3,39,249,0.00,2.45,0.00,0.000,2308,0.000,0.071,2216,3414,3611,3675,3547,0,0,0,0,0,0,15.03,14.71,15.03
$GC,481,-0.82,-194.6,2216,3415,3677,3546,60.1,-11.9,86,488,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2007,3611,3677,3546,0,0,0,0,0,0,14.92,14.83,14.95
$GC,551,-0.82,-194.6,2216,2007,3677,3546,68.3,-11.2,99,558,0.00,2.47,0.00,0.000,2308,0.000,0.070,2216,3423,3611,3677,3546,0,0,0,0,0,0,15.08,14.76,15.08
$GC,650,-0.82,-194.6,2216,3418,3677,3546,78.0,-9.2,118,657,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2007,3612,3678,3546,0,0,0,0,0,0,14.88,14.79,14.89
$GC,720,-0.82,-194.6,2216,2007,3678,3546,84.8,-10.3,131,726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3612,3678,3546,0,0,0,0,0,0,15.09,15.09,15.09
$GC,791,-0.82,-194.6,2216,2007,3678,3546,92.3,-10.3,144,798,0.00,2.47,0.00,0.000,2308,0.000,0.070,2216,3420,3612,3678,3546,0,0,0,0,0,0,15.09,14.77,15.09
$GC,871,-0.82,-194.6,2216,3420,3678,3546,101.6,-11.4,159,878,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2011,3612,3679,3546,0,0,0,0,0,0,14.95,14.86,14.97
$GC,941,-0.82,-194.6,2215,2011,3679,3546,109.2,-10.5,172,947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2011,3612,3679,3546,0,0,0,0,0,0,15.09,15.09,15.10
$GC,1009,-0.82,-194.6,2216,2011,3679,3546,116.2,-10.0,185,1016,0.00,2.45,0.00,0.000,2308,0.000,0.071,2216,3418,3612,3678,3546,0,0,0,0,0,0,15.10,14.64,15.10
$GC,1058,-0.82,-194.6,2216,3418,3679,3546,121.1,-9.7,194,1065,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2006,3612,3679,3546,0,0,0,0,0,0,14.83,14.79,14.84
$GC,1129,-0.82,-194.6,2216,2002,3679,3546,129.0,-12.3,207,1135,0.00,2.38,0.00,0.000,2564,0.000,0.064,2216,603,3613,3680,3546,0,0,0,0,0,0,15.11,14.66,15.11
$STATE,1140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1140,begin apogee
$GC,1147,-0.19,0.0,2216,1976,3678,3545,130.8,-11.8,209,1302,1.05,0.00,146.93,1.011,10246,0.160,0.000,2425,1978,2810,2858,2763,0,0,0,0,0,0,14.62,14.43,13.82
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1306,0.82,194.6,2425,1978,2857,2763,133.4,0.0,237,1467,1.45,2.53,148.77,1.005,11012,0.083,0.073,2736,567,2015,2062,1969,0,0,0,0,0,0,14.45,14.37,13.81
$GC,1515,0.87,232.9,2735,567,2058,1968,122.7,8.6,274,1556,0.05,2.33,30.65,0.975,11270,0.252,0.041,2775,1970,1862,1910,1815,0,0,0,0,0,0,14.49,14.59,13.83
$GC,1618,0.87,232.9,2774,1970,1905,1812,111.2,11.7,293,1625,0.00,2.42,0.00,0.000,4356,0.000,0.067,2774,3359,1857,1904,1811,0,0,0,0,0,0,14.87,14.60,14.88
$GC,1647,0.87,232.9,2774,3359,1904,1811,107.8,12.1,298,1654,0.00,2.38,0.00,0.000,5126,0.000,0.044,2776,1955,1857,1904,1811,0,0,0,0,0,0,14.67,14.57,14.69
$GC,1716,0.87,232.9,2776,1955,1903,1811,100.0,11.7,311,1722,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1955,1857,1903,1811,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1784,0.87,232.9,2776,1955,1902,1811,92.1,11.6,324,1790,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1955,1857,1903,1811,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1852,0.87,232.9,2776,1955,1902,1810,84.5,10.5,337,1859,0.00,2.45,0.00,0.000,4356,0.000,0.066,2776,3356,1856,1903,1810,0,0,0,0,0,0,15.01,14.68,15.02
$GC,1876,0.87,232.9,2776,3356,1902,1810,81.8,11.6,341,1883,0.00,2.33,0.00,0.000,5126,0.000,0.045,2777,1964,1856,1902,1810,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1946,0.87,232.9,2777,1964,1901,1810,74.7,10.5,354,1952,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1964,1856,1902,1810,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2015,0.93,283.6,2778,1964,1901,1810,68.1,8.2,367,2066,0.00,2.50,41.40,0.955,10500,0.000,0.067,2778,3359,1654,1707,1601,0,0,0,0,0,0,15.06,14.56,14.02
$GC,2133,0.98,326.2,2777,3357,1703,1598,59.0,8.5,389,2173,0.00,2.35,35.30,0.949,11270,0.000,0.044,2777,1964,1483,1539,1428,0,0,0,0,0,0,14.81,14.68,13.95
$GC,2236,1.00,342.3,2777,1964,1533,1425,49.8,9.4,408,2255,0.05,0.00,14.45,0.900,10246,0.256,0.000,2818,1964,1415,1471,1360,0,0,0,0,0,0,14.61,14.59,13.95
$GC,2316,1.00,342.3,2817,1965,1467,1356,40.9,11.6,423,2323,0.00,2.45,0.00,0.000,4356,0.000,0.067,2821,3355,1412,1466,1358,0,0,0,0,0,0,14.92,14.54,14.92
$GC,2396,1.00,342.3,2818,3356,1465,1358,31.9,11.5,438,2403,0.00,2.35,0.00,0.000,5126,0.000,0.048,2819,1967,1411,1465,1358,0,0,0,0,0,0,14.74,14.70,14.76
$GC,2467,1.01,352.9,2818,1966,1466,1358,24.6,9.6,451,2480,0.00,2.42,6.43,0.770,12548,0.000,0.063,2819,3356,1372,1427,1318,0,0,0,0,0,0,15.02,14.48,13.97
$GC,2613,1.01,354.0,2819,3356,1424,1318,8.9,9.9,479,2619,0.00,2.35,0.00,0.000,5126,0.000,0.044,2819,1956,1370,1423,1318,0,0,0,0,0,0,14.83,14.71,14.85
$GC,2683,1.14,456.2,2819,1956,1424,1317,3.9,6.4,492,2702,0.08,0.00,15.88,0.729,10754,0.184,0.000,2869,1954,1248,1304,1193,0,0,0,0,0,0,14.69,28.83,14.72
$STATE,2703,end climb,SURFACE_DEPTH_REACHED
$STATE,2703,begin surface coast
$FINISH,0.2,1.023526
$STATE,2749,end surface coast,CONTROL_FINISHED_OK
$STATE,2749,begin surface
$SM_CCo,2771,88.22,0.734,0,0,599,542.59
$SM_GC,0.52,12.73,0.05,88.22,0.052,0.184,0.734,132,2024,599,-7.31,-1.47,542.59,0,0,0,0,0,0,14.78,14.81,14.06
$IRIDIUM_FIX,-3045.00,3028.95,140419,203546
$TT8_MAMPS,0.020223,0.852362
$HUMID,56.89
$INTERNAL_PRESSURE,9.23828
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,90.1,54.2
$SC_FREEKB,3804928
$24V_AH,13.70,143.628
$10V_AH,13.12,0.000
$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,28.225,57.475,439.800,88.225,0.000,23.888,18.555,248.984,1.000,0.000,25.722,1004.013,438.391,615.380,1175.434,143.373,0.000,1115.802,0.000,764.968,0.000,8.773,0.000
$DEVICE_MAMPS,318.240,184.365,1010.565,733.635,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.786,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16787,504
$CAP_FILE_SIZE,94063,0
$CFSIZE,1023623168,990183424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140419,222932,-3056.721,3027.046,19,0.9,41,-25.7,1.4,180.3,9,4.6