version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 300
start: 4 21 119 10 20 32
data:
$ID,573
$MISSION,30
$DIVE,300
$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,37
$R_STBD_OVSHOOT,41
$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
$GPS1,210419,101142,-3243.1729,2838.4229,20,1.1,22,-27.1,1.7,245.9,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.7
$GPS2,210419,102006,-3243.3816,2838.0637,20,1.1,22,-27.1,2.2,227.1,8,9.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3254.181,2838.064
$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,207.1,20000,-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,-194.6,71,1970,546,599,0.0,0.0,0,117,0.00,0.00,-92.80,0.000,16386,0.000,0.000,72,1972,3127,3132,3122,0,0,0,0,0,0,15.08,28.83,15.09
$GC,122,-0.82,-194.6,71,1969,3132,3123,3.2,-7.7,17,146,12.60,0.00,-8.00,0.000,18694,0.300,0.000,2214,1973,3609,3675,3544,0,0,0,0,0,0,14.43,13.16,14.64
$GC,209,-0.82,-194.6,2214,1973,3678,3543,28.0,-21.4,33,216,0.00,2.47,0.00,0.000,2308,0.000,0.073,2210,3412,3610,3678,3543,0,0,0,0,0,0,15.11,14.65,15.11
$GC,253,-0.82,-194.6,2209,3412,3678,3543,37.0,-20.0,41,261,0.05,2.30,0.00,0.000,3078,0.335,0.038,2220,2003,3610,3678,3543,0,0,0,0,0,0,14.66,14.86,14.87
$GC,324,-0.82,-194.6,2220,2003,3678,3543,49.5,-17.2,54,331,0.00,2.35,0.00,0.000,2564,0.000,0.065,2221,614,3610,3678,3543,0,0,0,0,0,0,15.13,14.69,15.13
$GC,419,-0.82,-194.6,2220,614,3678,3543,65.0,-15.3,72,425,0.00,2.28,0.00,0.000,3078,0.000,0.044,2221,2014,3610,3678,3543,0,0,0,0,0,0,15.00,14.89,15.00
$GC,488,-0.82,-194.6,2220,2014,3678,3543,73.4,-10.8,85,495,0.00,2.38,0.00,0.000,2308,0.000,0.073,2221,3408,3610,3678,3543,0,0,0,0,0,0,15.15,14.81,15.15
$GC,528,-0.82,-194.6,2220,3408,3678,3543,76.9,-9.0,92,534,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2012,3610,3678,3543,0,0,0,0,0,0,15.00,14.91,15.02
$GC,599,-0.82,-194.6,2220,2012,3679,3543,83.8,-9.4,105,605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,2012,3611,3679,3543,0,0,0,0,0,0,15.14,15.15,15.15
$GC,672,-0.82,-194.6,2221,2012,3679,3543,90.9,-8.8,118,678,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3611,3679,3543,0,0,0,0,0,0,15.16,15.16,15.16
$GC,740,-0.82,-194.6,2220,2012,3679,3543,97.6,-8.9,131,746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3611,3679,3543,0,0,0,0,0,0,15.16,15.16,15.16
$GC,809,-0.82,-194.6,2220,2012,3679,3543,104.2,-8.8,144,815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3611,3679,3543,0,0,0,0,0,0,15.16,15.17,15.16
$GC,878,-0.82,-194.6,2220,2012,3679,3542,110.0,-9.0,157,884,0.00,2.38,0.00,0.000,2564,0.000,0.066,2221,602,3611,3679,3543,0,0,0,0,0,0,15.16,14.85,15.16
$GC,911,-0.82,-194.6,2220,601,3679,3543,113.4,-10.3,163,918,0.00,2.30,0.00,0.000,3078,0.000,0.039,2217,2016,3611,3679,3543,0,0,0,0,0,0,14.95,14.86,14.96
$STATE,923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,923,begin apogee
$GC,929,-0.19,0.0,2217,1939,3679,3543,114.8,-10.0,165,1079,1.02,0.00,144.75,0.963,10246,0.155,0.000,2424,1937,2811,2859,2763,0,0,0,0,0,0,14.69,14.53,13.88
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,0.82,194.6,2425,1937,2858,2763,120.0,0.0,192,1240,1.48,2.35,146.15,0.959,10756,0.093,0.068,2741,583,2017,2063,1972,0,0,0,0,0,0,14.53,14.32,13.83
$GC,1288,0.89,253.8,2740,583,2059,1972,108.2,7.9,228,1345,0.08,2.30,46.55,0.934,11270,0.179,0.041,2792,1977,1777,1826,1729,0,0,0,0,0,0,14.65,14.69,13.90
$GC,1410,0.89,253.8,2791,1977,1824,1727,95.2,10.9,250,1416,0.05,0.00,0.00,0.000,4102,0.325,0.000,2780,1979,1775,1823,1728,0,0,0,0,0,0,14.59,14.77,14.73
$GC,1480,0.93,287.2,2780,1979,1822,1727,88.9,8.8,263,1514,0.00,0.00,27.80,0.912,10246,0.000,0.000,2780,1979,1639,1693,1586,0,0,0,0,0,0,15.02,14.45,14.00
$GC,1576,1.00,339.7,2780,1979,1690,1584,80.6,8.1,281,1621,0.00,0.00,42.38,0.923,10246,0.000,0.000,2780,1978,1427,1485,1370,0,0,0,0,0,0,15.00,14.61,13.98
$GC,1684,1.08,410.2,2780,1979,1481,1368,72.0,7.5,301,1752,0.15,2.47,56.78,0.920,10756,0.108,0.073,2848,581,1139,1199,1079,0,0,0,0,0,0,14.76,14.55,13.93
$GC,1766,1.08,410.2,2848,581,1199,1079,63.9,10.2,315,1772,0.00,2.28,0.00,0.000,5126,0.000,0.039,2849,1962,1138,1199,1078,0,0,0,0,0,0,14.76,14.67,14.78
$GC,1836,1.14,453.1,2848,1963,1199,1077,57.8,8.5,328,1876,0.00,0.00,36.42,0.889,10502,0.000,0.000,2849,1962,963,1019,908,0,0,0,0,0,0,14.97,14.62,14.00
$GC,1939,1.21,512.3,2848,1962,1019,902,48.7,7.9,347,1996,0.00,2.45,50.17,0.887,10756,0.000,0.073,2849,587,721,745,698,0,0,0,0,0,0,14.97,14.56,13.99
$GC,2034,1.28,569.3,2848,586,746,688,41.6,8.0,364,2070,0.15,2.25,27.40,0.856,11270,0.103,0.036,2913,1974,598,593,604,0,0,0,0,0,0,14.64,14.62,13.98
$GC,2132,1.28,569.3,2913,1974,593,592,31.6,10.0,382,2138,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1974,592,593,592,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2200,1.28,569.3,2912,1975,593,585,23.7,11.3,395,2206,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1974,589,593,585,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2270,1.28,569.3,2912,1974,595,582,16.2,10.7,408,2276,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1974,588,594,582,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2338,1.28,569.3,2912,1974,594,581,8.3,11.6,421,2344,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1974,587,594,581,0,0,0,0,0,0,15.09,15.10,15.09
$STATE,2384,end climb,SURFACE_DEPTH_REACHED
$STATE,2384,begin surface coast
$FINISH,0.0,1.023476
$STATE,2411,end surface coast,CONTROL_FINISHED_OK
$STATE,2411,begin surface
$SM_CCo,2494,0.00,0.000,0,0,586,546.03
$SM_GC,0.71,12.85,0.00,0.00,0.049,0.000,0.000,129,1978,586,-7.30,-1.05,546.03,0,0,0,0,0,0,14.90,15.14,14.97
$IRIDIUM_FIX,-3228.84,2839.90,210419,091849
$TT8_MAMPS,0.019474,0.855358
$HUMID,57.12
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,90.5,38.9
$SC_FREEKB,3764640
$24V_AH,13.16,166.424
$10V_AH,13.05,0.000
$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,28.425,32.900,578.400,0.000,0.000,23.267,41.281,225.452,1.000,0.000,23.188,798.809,385.651,607.012,1053.951,162.682,0.000,1082.818,0.000,657.627,0.000,8.733,0.000
$DEVICE_MAMPS,335.070,142.290,963.135,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.549,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13490,435
$CAP_FILE_SIZE,82834,0
$CFSIZE,1023623168,979238912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,143.72,0x2131ca,0,24
$GPS,210419,110329,-3244.524,2836.978,44,0.9,47,-27.1,1.1,232.0,8,9.0