version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 304
start: 4 21 119 13 34 43
data:
$ID,573
$MISSION,30
$DIVE,304
$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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,210419,132658,-3248.0645,2832.6404,19,1.0,21,-27.2,1.5,220.1,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-61.1
$GPS2,210419,133418,-3248.2244,2832.2756,21,1.0,22,-27.2,2.2,239.2,8,8.5
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3259.023,2832.276
$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,207.2,20000,-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,-194.6,72,2019,589,577,0.0,0.0,0,117,0.00,0.00,-92.72,0.000,16386,0.000,0.000,72,2018,3198,3211,3186,0,0,0,0,0,0,15.10,28.83,15.11
$GC,121,-0.82,-194.6,72,2018,3211,3186,4.0,-10.8,17,146,12.52,2.42,-6.47,0.000,18692,0.301,0.089,2209,3397,3609,3675,3543,0,0,0,0,0,0,14.48,13.14,14.67
$GC,169,-0.82,-194.6,2208,3397,3677,3543,21.1,-23.8,25,176,0.05,2.28,0.00,0.000,3078,0.337,0.037,2221,2001,3610,3677,3543,0,0,0,0,0,0,14.67,14.90,14.88
$GC,240,-0.82,-194.6,2220,2001,3678,3542,34.9,-20.3,38,246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2001,3610,3677,3543,0,0,0,0,0,0,15.13,15.13,15.13
$GC,308,-0.82,-194.6,2220,2001,3678,3543,48.9,-19.5,51,314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2001,3610,3677,3543,0,0,0,0,0,0,15.15,15.15,15.15
$GC,376,-0.82,-194.6,2220,2001,3677,3543,60.5,-15.8,64,383,0.00,2.35,0.00,0.000,2564,0.000,0.064,2221,610,3610,3677,3543,0,0,0,0,0,0,15.16,14.85,15.16
$GC,452,-0.82,-194.6,2221,610,3677,3542,72.8,-15.4,78,459,0.00,2.28,0.00,0.000,3078,0.000,0.044,2219,2010,3610,3677,3543,0,0,0,0,0,0,15.02,14.92,15.02
$GC,524,-0.82,-194.6,2219,2010,3677,3543,82.4,-13.5,91,530,0.00,2.35,0.00,0.000,2564,0.000,0.063,2220,613,3610,3677,3543,0,0,0,0,0,0,15.18,14.77,15.18
$GC,568,-0.82,-194.6,2219,613,3678,3542,87.9,-12.5,99,574,0.00,2.28,0.00,0.000,3078,0.000,0.044,2219,2015,3610,3678,3542,0,0,0,0,0,0,15.02,14.92,15.03
$GC,637,-0.82,-194.6,2219,2015,3677,3542,95.3,-11.3,112,643,0.00,2.38,0.00,0.000,2308,0.000,0.073,2217,3411,3610,3678,3542,0,0,0,0,0,0,15.17,14.85,15.18
$GC,675,-0.82,-194.6,2217,3411,3678,3542,99.4,-10.1,119,682,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2011,3610,3678,3542,0,0,0,0,0,0,14.97,14.88,14.99
$GC,747,-0.82,-194.6,2217,2011,3678,3542,106.3,-10.2,132,754,0.00,2.35,0.00,0.000,2564,0.000,0.065,2217,607,3609,3678,3541,0,0,0,0,0,0,15.17,14.88,15.17
$GC,781,-0.82,-194.6,2217,607,3678,3542,110.5,-11.7,138,788,0.00,2.30,0.00,0.000,3078,0.000,0.044,2217,2013,3609,3678,3541,0,0,0,0,0,0,15.02,14.92,15.04
$STATE,824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,824,begin apogee
$GC,829,-0.19,0.0,2217,2013,3678,3542,115.2,-10.7,146,980,1.00,0.03,143.70,0.954,10246,0.153,0.280,2421,1950,2812,2860,2764,0,0,0,0,0,0,14.73,14.52,13.90
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,984,0.82,194.6,2421,1949,2859,2764,121.4,0.0,173,1141,1.48,2.33,145.45,0.948,10756,0.096,0.068,2736,580,2018,2063,1973,0,0,0,0,0,0,14.57,14.52,13.88
$GC,1184,0.91,266.8,2735,580,2059,1973,110.4,7.5,208,1247,0.12,2.28,56.90,0.926,11270,0.119,0.039,2798,1980,1723,1774,1673,0,0,0,0,0,0,14.72,14.71,13.95
$GC,1311,0.91,266.8,2798,1981,1769,1670,98.0,10.4,231,1317,0.08,0.00,0.00,0.000,4102,0.263,0.000,2779,1982,1719,1769,1669,0,0,0,0,0,0,14.59,14.76,14.70
$GC,1381,0.91,266.8,2779,1982,1768,1669,91.2,10.0,244,1388,0.00,2.40,0.00,0.000,2564,0.000,0.070,2779,581,1718,1767,1669,0,0,0,0,0,0,15.03,14.75,15.04
$GC,1415,0.91,266.8,2779,581,1766,1669,87.7,10.1,250,1421,0.00,2.22,0.00,0.000,1030,0.000,0.040,2779,1960,1717,1767,1668,0,0,0,0,0,0,14.80,14.73,14.83
$GC,1485,0.92,278.5,2779,1960,1766,1668,81.0,9.5,263,1504,0.00,2.40,10.12,0.791,10500,0.000,0.068,2779,3358,1675,1726,1624,0,0,0,0,0,0,15.09,14.71,14.00
$GC,1543,0.93,287.5,2779,3359,1724,1623,75.4,9.6,273,1562,0.00,2.25,8.82,0.823,11270,0.000,0.040,2779,1976,1638,1690,1587,0,0,0,0,0,0,14.95,14.84,14.02
$GC,1624,1.04,377.3,2778,1976,1688,1585,69.3,6.9,288,1704,0.08,2.47,71.60,0.913,10756,0.180,0.071,2836,565,1273,1333,1213,0,0,0,0,0,0,14.85,14.59,13.97
$GC,1782,1.14,460.1,2834,565,1332,1213,57.2,7.1,317,1855,0.00,2.28,66.93,0.897,11270,0.000,0.037,2835,1969,936,986,886,0,0,0,0,0,0,14.88,14.78,13.95
$GC,1919,1.21,514.6,2834,1969,986,877,46.2,8.1,342,1970,0.08,0.00,46.53,0.875,10758,0.180,0.000,2891,1969,714,717,712,0,0,0,0,0,0,14.75,14.54,13.97
$GC,2034,1.21,514.6,2891,1967,718,696,34.8,10.5,363,2040,0.00,2.38,0.00,0.000,4356,0.000,0.067,2892,3353,706,717,696,0,0,0,0,0,0,14.98,14.71,14.98
$GC,2098,1.21,514.6,2891,3353,718,691,28.0,10.9,375,2105,0.03,2.28,0.00,0.000,5126,0.498,0.041,2882,1970,704,718,691,0,0,0,0,0,0,14.63,14.82,14.85
$GC,2170,1.23,530.3,2881,1970,720,687,20.8,9.4,388,2184,0.00,2.45,9.00,0.734,8708,0.000,0.075,2882,564,649,655,643,0,0,0,0,0,0,15.07,14.70,14.08
$GC,2218,1.24,539.3,2881,563,655,635,15.9,9.6,396,2231,0.00,2.25,5.22,0.633,11270,0.000,0.037,2881,1962,612,615,609,0,0,0,0,0,0,14.95,14.85,14.09
$GC,2294,1.26,551.8,2881,1962,615,598,8.5,9.5,410,2302,0.00,2.38,1.40,0.138,10500,0.000,0.063,2881,3363,598,605,592,0,0,0,0,0,0,15.09,14.76,14.69
$GC,2319,1.26,551.8,2881,3364,605,588,5.9,10.5,414,2326,0.00,2.30,0.00,0.000,3078,0.000,0.042,2881,1961,596,606,587,0,0,0,0,0,0,14.83,14.73,14.85
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,0.3,1.023480
$STATE,2379,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2461,0.00,0.000,0,0,594,544.07
$SM_GC,0.80,12.52,0.00,0.00,0.041,0.000,0.000,121,1960,594,-7.30,-1.50,544.07,0,0,0,0,0,0,14.92,15.14,14.98
$IRIDIUM_FIX,-3231.39,2829.67,210419,124210
$TT8_MAMPS,0.019474,0.893557
$HUMID,56.22
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,80.2,49.7
$SC_FREEKB,3762592
$24V_AH,13.14,167.240
$10V_AH,13.11,0.000
$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,27.950,55.925,565.675,0.000,0.000,24.081,14.021,198.336,0.750,0.000,22.725,788.745,380.140,601.640,980.029,161.281,0.000,1072.025,0.000,647.724,0.000,7.204,0.000
$DEVICE_MAMPS,498.015,279.990,953.955,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2424.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.625,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13488,425
$CAP_FILE_SIZE,83746,0
$CFSIZE,1023623168,978845696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,141646,-3249.229,2830.990,21,0.9,26,-27.2,1.5,249.7,9,8.5