version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 286
start: 4 20 119 16 16 38
data:
$ID,573
$MISSION,30
$DIVE,286
$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,180
$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,33
$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
$GPS1,200419,160819,-3218.5984,2902.7317,21,0.9,36,-26.8,0.6,241.2,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-60.8
$GPS2,200419,161613,-3218.9241,2902.3716,18,1.0,28,-26.8,2.8,233.4,9,9.6
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3229.723,2902.372
$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,206.8,20000,-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,21,-0.82,-194.6,72,1968,574,575,0.0,0.0,0,117,0.00,0.00,-93.05,0.000,16386,0.000,0.000,72,1968,3173,3184,3163,0,0,0,0,0,0,15.08,28.83,15.09
$GC,121,-0.82,-194.6,71,1968,3184,3164,3.8,-10.5,17,151,12.57,2.55,-6.85,0.000,18692,0.301,0.088,2210,3404,3609,3676,3542,0,0,0,0,0,0,14.45,13.15,14.65
$GC,209,-0.82,-194.6,2210,3404,3677,3541,29.0,-18.1,33,216,0.05,2.30,0.00,0.000,3078,0.331,0.040,2221,2004,3609,3677,3541,0,0,0,0,0,0,14.66,14.86,14.85
$GC,280,-0.82,-194.6,2220,2003,3677,3542,40.8,-15.4,46,286,0.00,2.38,0.00,0.000,2564,0.000,0.066,2221,604,3609,3678,3541,0,0,0,0,0,0,15.11,14.71,15.11
$GC,454,-0.82,-194.6,2221,604,3678,3542,63.0,-11.9,80,461,0.00,2.30,0.00,0.000,3078,0.000,0.044,2221,2017,3609,3677,3542,0,0,0,0,0,0,14.87,14.76,14.88
$GC,524,-0.82,-194.6,2220,2017,3678,3542,71.8,-13.6,93,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2017,3609,3677,3541,0,0,0,0,0,0,15.14,15.15,15.16
$GC,596,-0.82,-194.6,2220,2017,3678,3546,81.0,-11.1,106,603,0.00,2.40,0.00,0.000,2308,0.000,0.073,2221,3416,3610,3678,3542,0,0,0,0,0,0,15.14,14.83,15.14
$GC,651,-0.82,-194.6,2220,3416,3678,3541,86.6,-9.3,116,657,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2011,3609,3678,3541,0,0,0,0,0,0,14.96,14.87,14.97
$GC,721,-0.82,-194.6,2220,2011,3678,3541,92.6,-8.0,129,727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3609,3678,3541,0,0,0,0,0,0,15.16,15.16,15.16
$GC,790,-0.82,-194.6,2220,2011,3678,3541,98.9,-8.5,142,796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3610,3678,3542,0,0,0,0,0,0,15.16,15.16,15.16
$GC,858,-0.82,-194.6,2220,2010,3678,3541,104.4,-7.1,155,865,0.00,2.35,0.00,0.000,2564,0.000,0.065,2221,611,3609,3678,3541,0,0,0,0,0,0,15.16,14.86,15.16
$GC,907,-0.82,-194.6,2220,611,3678,3541,110.5,-13.0,164,914,0.00,2.28,0.00,0.000,3078,0.000,0.044,2221,2012,3609,3678,3541,0,0,0,0,0,0,15.01,14.91,15.02
$STATE,945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,945,begin apogee
$GC,951,-0.19,0.0,2221,1942,3678,3541,115.5,-13.5,171,1101,1.00,0.00,144.15,0.978,10246,0.146,0.000,2424,1940,2811,2859,2763,0,0,0,0,0,0,14.58,14.50,13.87
$STATE,1103,end apogee,CONTROL_FINISHED_OK
$STATE,1103,begin climb
$GC,1105,0.82,194.6,2424,1941,2858,2762,124.2,0.0,198,1262,1.45,2.50,146.30,0.972,11012,0.094,0.065,2734,3359,2017,2062,1972,0,0,0,0,0,0,14.52,14.30,13.83
$GC,1290,0.83,206.2,2734,3359,2059,1971,116.2,9.6,230,1308,0.00,2.30,10.25,0.869,11270,0.000,0.041,2734,1978,1970,2016,1924,0,0,0,0,0,0,14.65,14.59,13.85
$GC,1372,0.86,230.1,2734,1978,2012,1922,109.5,9.1,245,1401,0.05,2.47,19.83,0.922,10756,0.252,0.073,2783,564,1872,1917,1827,0,0,0,0,0,0,14.67,14.57,13.97
$GC,1443,0.86,230.1,2781,565,1913,1826,102.1,11.9,258,1451,0.08,2.30,0.00,0.000,5126,0.253,0.040,2767,1973,1869,1913,1826,0,0,0,0,0,0,14.62,14.76,14.78
$GC,1515,0.90,260.8,2767,1973,1913,1825,95.4,8.9,271,1543,0.00,0.00,25.08,0.917,10246,0.000,0.000,2767,1973,1746,1796,1696,0,0,0,0,0,0,15.03,14.66,14.00
$GC,1605,0.98,323.2,2767,1973,1794,1695,87.9,7.8,288,1663,0.08,2.50,50.12,0.948,10756,0.178,0.072,2821,565,1494,1548,1440,0,0,0,0,0,0,14.78,14.57,13.97
$GC,1681,0.98,323.2,2820,565,1546,1440,79.8,11.5,301,1689,0.08,2.30,0.00,0.000,5126,0.252,0.039,2804,1965,1492,1546,1439,0,0,0,0,0,0,14.52,14.64,14.68
$GC,1752,0.98,323.2,2804,1965,1543,1437,72.2,10.6,314,1759,0.00,2.40,0.00,0.000,260,0.000,0.067,2804,3359,1489,1542,1437,0,0,0,0,0,0,14.99,14.71,14.99
$GC,1786,0.98,323.2,2804,3358,1541,1437,68.4,11.2,320,1793,0.00,2.33,0.00,0.000,1030,0.000,0.042,2804,1958,1489,1542,1436,0,0,0,0,0,0,14.77,14.69,14.79
$GC,1857,0.99,333.5,2804,1957,1541,1436,61.8,9.6,333,1875,0.00,2.42,9.25,0.836,8708,0.000,0.075,2804,565,1452,1506,1398,0,0,0,0,0,0,15.05,14.67,14.00
$GC,1908,1.00,345.6,2804,566,1505,1398,56.7,9.5,342,1926,0.00,2.28,11.25,0.863,11270,0.000,0.039,2804,1963,1402,1458,1347,0,0,0,0,0,0,14.91,14.83,14.02
$GC,1988,1.00,345.6,2804,1963,1457,1346,48.9,10.3,357,1994,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1963,1401,1456,1346,0,0,0,0,0,0,15.04,15.05,15.05
$GC,2057,1.10,425.5,2804,1963,1454,1345,43.1,7.2,370,2124,0.08,0.00,64.18,0.914,10758,0.182,0.000,2859,1964,1077,1134,1021,0,0,0,0,0,0,14.83,14.60,14.00
$GC,2189,1.18,490.9,2859,1964,1134,1015,31.9,7.7,394,2250,0.00,2.42,54.12,0.897,10500,0.000,0.065,2859,3357,808,849,767,0,0,0,0,0,0,14.96,14.36,13.92
$GC,2333,1.18,490.9,2859,3357,850,758,18.6,10.5,421,2340,0.00,2.33,0.00,0.000,3078,0.000,0.043,2860,1963,804,850,758,0,0,0,0,0,0,14.85,14.74,14.85
$GC,2404,1.24,537.3,2859,1963,851,755,12.4,8.4,434,2439,0.00,2.47,29.17,0.775,10756,0.000,0.076,2860,557,618,604,633,0,0,0,0,0,0,15.02,14.64,14.04
$GC,2487,1.32,599.2,2859,560,601,623,6.5,7.8,449,2495,0.15,2.30,2.00,0.130,11270,0.108,0.037,2924,1976,598,583,613,0,0,0,0,0,0,14.75,14.73,12.02
$STATE,2520,end climb,SURFACE_DEPTH_REACHED
$STATE,2520,begin surface coast
$FINISH,0.2,1.023538
$STATE,2547,end surface coast,CONTROL_FINISHED_OK
$STATE,2548,begin surface
$SM_CCo,2630,0.00,0.000,0,0,592,544.56
$SM_GC,0.69,12.77,0.00,0.00,0.041,0.000,0.000,147,1978,592,-7.26,-1.02,544.56,0,0,0,0,0,0,14.85,15.07,14.91
$IRIDIUM_FIX,-3203.33,2903.28,200419,152419
$TT8_MAMPS,0.018725,0.895055
$HUMID,56.41
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,80.4,49.4
$SC_FREEKB,3771840
$24V_AH,12.02,162.856
$10V_AH,13.58,0.000
$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,28.350,52.250,565.700,0.000,0.000,26.439,41.634,194.004,0.750,0.000,29.247,864.819,416.787,605.488,1073.720,154.575,0.000,1096.091,0.000,699.870,0.000,7.212,0.000
$DEVICE_MAMPS,331.245,143.820,977.670,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2593.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.381,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16768,460
$CAP_FILE_SIZE,87454,0
$CFSIZE,1023623168,980926464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,170136,-3220.149,2901.540,29,0.7,32,-26.8,1.2,192.6,12,9.2