version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 280
start: 4 20 119 11 34 15
data:
$ID,573
$MISSION,30
$DIVE,280
$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,260
$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,32
$R_STBD_OVSHOOT,46
$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,3
$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
$GPS1,200419,112107,-3211.2073,2910.6321,24,0.9,26,-26.7,0.9,255.3,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-61.2
$GPS2,200419,113349,-3211.5166,2910.0859,25,0.8,28,-26.7,0.7,181.5,9,9.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3213.392,2857.515
$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,286.7,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.82,-194.6,73,2031,589,587,0.0,0.0,0,117,0.00,0.00,-92.57,0.000,16386,0.000,0.000,72,2030,3144,3148,3141,0,0,0,0,0,0,14.95,28.83,14.95
$GC,121,-0.82,-194.6,72,2030,3149,3141,3.6,-9.6,17,151,13.05,2.53,-7.28,0.000,18948,0.317,0.089,2217,609,3610,3676,3544,0,0,0,0,0,0,14.26,12.95,14.64
$GC,244,-0.82,-194.6,2217,605,3678,3544,36.5,-20.6,40,251,0.00,2.35,0.00,0.000,3078,0.000,0.052,2217,1998,3611,3678,3544,0,0,0,0,0,0,14.64,14.54,14.65
$GC,315,-0.82,-194.6,2216,1998,3678,3544,45.1,-8.7,53,322,0.00,2.42,0.00,0.000,2564,0.000,0.069,2217,608,3611,3678,3544,0,0,0,0,0,0,15.00,14.57,15.01
$GC,525,-0.82,-194.6,2216,607,3678,3544,69.4,-11.6,94,532,0.00,2.35,0.00,0.000,3078,0.000,0.047,2217,2018,3611,3678,3544,0,0,0,0,0,0,14.71,14.60,14.73
$GC,595,-0.82,-194.6,2216,2018,3678,3544,77.3,-11.2,107,601,0.00,2.47,0.00,0.000,2308,0.000,0.076,2217,3414,3611,3678,3544,0,0,0,0,0,0,15.04,14.52,15.05
$GC,654,-0.82,-194.6,2216,3414,3679,3544,84.0,-11.5,118,661,0.00,2.33,0.00,0.000,3078,0.000,0.039,2216,2011,3611,3679,3544,0,0,0,0,0,0,14.82,14.78,14.80
$GC,726,-0.82,-194.6,2216,2011,3679,3544,93.2,-12.3,131,732,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3611,3679,3544,0,0,0,0,0,0,15.07,15.07,15.07
$GC,795,-0.82,-194.6,2216,2011,3679,3544,100.9,-10.8,144,801,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3416,3611,3679,3544,0,0,0,0,0,0,15.06,14.53,15.06
$GC,859,-0.82,-194.6,2216,3417,3679,3544,108.7,-12.4,156,865,0.00,2.35,0.00,0.000,3078,0.000,0.040,2216,2001,3612,3680,3544,0,0,0,0,0,0,14.90,14.76,14.91
$GC,929,-0.82,-194.6,2216,1999,3680,3544,118.2,-13.4,169,936,0.00,2.53,0.00,0.000,2308,0.000,0.073,2216,3419,3611,3680,3543,0,0,0,0,0,0,15.07,14.51,15.07
$STATE,1017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1018,begin apogee
$GC,1025,-0.19,0.0,2216,1970,3679,3543,129.2,-10.9,186,1180,1.02,0.00,145.38,1.023,10246,0.152,0.000,2421,1969,2812,2862,2763,0,0,0,0,0,0,14.42,14.21,13.73
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1184,0.82,194.6,2421,1969,2861,2763,139.6,0.0,214,1341,1.50,2.55,148.18,1.017,10756,0.099,0.075,2734,560,2016,2063,1970,0,0,0,0,0,0,14.40,14.33,13.73
$GC,1468,0.88,245.6,2733,560,2056,1970,125.4,8.2,266,1516,0.08,2.33,40.88,0.982,11270,0.181,0.041,2779,1971,1808,1858,1759,0,0,0,0,0,0,14.61,14.66,13.81
$GC,1578,0.91,271.3,2779,1971,1854,1760,116.2,9.1,286,1607,0.00,2.45,21.92,0.964,8452,0.000,0.068,2779,3355,1704,1756,1652,0,0,0,0,0,0,14.85,14.34,13.84
$GC,1641,0.92,278.5,2779,3355,1753,1651,110.1,9.7,297,1655,0.00,2.38,7.15,0.849,11270,0.000,0.044,2780,1957,1675,1728,1623,0,0,0,0,0,0,14.73,14.62,13.81
$GC,1718,0.96,308.7,2779,1957,1726,1622,103.5,8.9,311,1746,0.00,0.00,25.62,0.948,10246,0.000,0.000,2780,1957,1553,1608,1498,0,0,0,0,0,0,14.91,14.54,13.87
$GC,1808,1.00,341.1,2775,1957,1605,1497,95.4,8.8,328,1844,0.03,2.47,27.85,0.948,10756,0.448,0.077,2817,557,1420,1477,1364,0,0,0,0,0,0,14.59,14.33,13.81
$GC,1858,1.00,341.1,2817,557,1477,1363,90.4,10.1,336,1865,0.00,2.33,0.00,0.000,5126,0.000,0.041,2818,1961,1420,1477,1363,0,0,0,0,0,0,14.71,14.62,14.72
$GC,1928,1.00,341.1,2817,1961,1474,1363,82.8,10.3,349,1935,0.00,2.45,0.00,0.000,4356,0.000,0.069,2817,3358,1418,1474,1363,0,0,0,0,0,0,14.91,14.62,14.91
$GC,1957,1.00,341.1,2817,3359,1473,1362,79.8,10.4,354,1964,0.00,2.35,0.00,0.000,5126,0.000,0.044,2818,1962,1417,1473,1362,0,0,0,0,0,0,14.78,14.67,14.80
$GC,2027,1.00,341.1,2817,1962,1473,1362,72.2,10.8,367,2034,0.00,2.47,0.00,0.000,4612,0.000,0.079,2818,557,1417,1472,1362,0,0,0,0,0,0,14.95,14.64,14.96
$GC,2061,1.00,341.1,2817,557,1471,1362,68.5,10.4,373,2068,0.00,2.33,0.00,0.000,5126,0.000,0.040,2818,1964,1416,1471,1362,0,0,0,0,0,0,14.83,14.74,14.85
$GC,2131,1.00,341.1,2817,1964,1470,1362,60.9,11.2,386,2137,0.00,0.00,0.00,0.000,4102,0.000,0.000,2818,1964,1416,1471,1362,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2200,1.00,341.1,2817,1965,1470,1362,53.4,10.0,399,2206,0.00,2.42,0.00,0.000,4356,0.000,0.068,2818,3359,1416,1470,1362,0,0,0,0,0,0,15.02,14.59,15.02
$GC,2229,1.00,341.1,2817,3359,1470,1361,50.5,10.6,404,2235,0.00,2.33,0.00,0.000,5126,0.000,0.044,2818,1963,1416,1470,1362,0,0,0,0,0,0,14.84,14.76,14.84
$GC,2299,1.05,384.5,2818,1963,1470,1361,44.6,8.5,417,2339,0.00,0.00,35.40,0.933,10758,0.000,0.000,2818,1963,1246,1307,1185,0,0,0,0,0,0,15.07,14.62,13.94
$GC,2401,1.15,465.5,2817,1963,1303,1185,37.2,7.2,436,2481,0.08,2.55,67.62,0.936,10500,0.181,0.067,2871,3378,913,965,862,0,0,0,0,0,0,14.57,14.45,13.85
$GC,2529,1.18,485.0,2871,3378,964,858,26.2,9.3,459,2553,0.00,2.40,14.18,0.859,13318,0.000,0.044,2872,1962,834,877,791,0,0,0,0,0,0,14.59,14.49,13.84
$GC,2618,1.32,600.3,2872,1963,880,783,19.3,6.0,475,2664,0.08,2.47,38.90,0.842,10756,0.181,0.080,2921,563,600,573,627,0,0,0,0,0,0,14.60,14.31,13.87
$GC,2697,1.32,600.3,2921,562,572,622,10.7,11.1,489,2704,0.00,2.33,0.00,0.000,5126,0.000,0.041,2921,1966,596,571,621,0,0,0,0,0,0,14.72,14.63,14.74
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.0,1.023728
$STATE,2776,end surface coast,CONTROL_FINISHED_OK
$STATE,2776,begin surface
$SM_CCo,2858,0.00,0.000,0,0,590,545.05
$SM_GC,0.39,12.98,0.00,0.00,0.043,0.000,0.000,122,1968,590,-7.31,-1.27,545.05,0,0,0,0,0,0,14.69,14.96,14.78
$IRIDIUM_FIX,-3155.70,2912.18,200419,091103
$TT8_MAMPS,0.019474,0.908537
$HUMID,56.41
$INTERNAL_PRESSURE,9.16992
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,90.5,53.5
$SC_FREEKB,3774912
$24V_AH,12.95,161.662
$10V_AH,13.33,0.000
$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,28.800,62.875,573.075,0.000,0.000,23.002,39.385,400.529,1.000,0.000,29.382,955.616,465.919,619.135,1382.574,190.910,0.000,1140.959,0.000,762.480,0.000,8.766,0.000
$DEVICE_MAMPS,447.525,88.740,1022.805,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2874.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.293,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16813,504
$CAP_FILE_SIZE,96620,0
$CFSIZE,1023623168,981516288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,122333,-3212.393,2908.921,24,1.0,64,-26.7,1.2,252.4,7,3.0