version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 305
start: 4 21 119 14 25 30
data:
$ID,573
$MISSION,30
$DIVE,305
$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,41
$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
$GPS1,210419,141646,-3249.2295,2830.9895,21,0.9,26,-27.2,1.5,249.7,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.0
$GPS2,210419,142504,-3249.4609,2830.5410,22,1.0,23,-27.2,1.6,238.7,8,8.5
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3300.260,2830.541
$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,-194.6,72,1961,603,577,0.0,0.0,0,117,0.00,0.00,-92.65,0.000,16386,0.000,0.000,72,1958,3184,3195,3173,0,0,0,0,0,0,15.10,28.83,15.11
$GC,122,-0.82,-194.6,72,1959,3195,3173,3.7,-9.7,17,146,12.52,0.00,-6.78,0.000,18950,0.300,0.000,2216,1959,3608,3675,3542,0,0,0,0,0,0,14.47,13.27,14.67
$GC,209,-0.82,-194.6,2215,1959,3677,3542,28.8,-19.1,33,214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,1959,3609,3677,3542,0,0,0,0,0,0,15.13,15.14,15.14
$GC,277,-0.82,-194.6,2215,1959,3677,3542,41.9,-21.0,46,283,0.00,2.50,0.00,0.000,2308,0.000,0.070,2209,3404,3609,3677,3542,0,0,0,0,0,0,15.14,14.83,15.15
$GC,296,-0.82,-194.6,2209,3404,3677,3542,45.8,-20.2,49,303,0.05,2.28,0.00,0.000,3078,0.333,0.038,2220,2012,3609,3677,3542,0,0,0,0,0,0,14.65,14.86,14.85
$GC,367,-0.82,-194.6,2220,2010,3678,3542,58.4,-17.0,62,373,0.00,2.38,0.00,0.000,2564,0.000,0.065,2221,605,3610,3678,3542,0,0,0,0,0,0,15.15,14.86,15.16
$GC,486,-0.82,-194.6,2220,604,3677,3542,75.6,-13.8,85,492,0.00,2.28,0.00,0.000,3078,0.000,0.043,2221,2004,3609,3678,3541,0,0,0,0,0,0,14.96,14.88,14.97
$GC,559,-0.82,-194.6,2220,2004,3677,3542,84.6,-12.0,98,566,0.00,2.42,0.00,0.000,2308,0.000,0.074,2221,3421,3610,3678,3542,0,0,0,0,0,0,15.17,14.72,15.17
$GC,664,-0.82,-194.6,2220,3421,3678,3542,95.1,-9.5,118,671,0.00,2.28,0.00,0.000,3078,0.000,0.036,2221,2013,3609,3678,3541,0,0,0,0,0,0,14.90,14.82,14.91
$GC,735,-0.82,-194.6,2220,2013,3678,3542,101.8,-9.2,131,742,0.00,2.35,0.00,0.000,2564,0.000,0.063,2220,611,3610,3678,3542,0,0,0,0,0,0,15.18,14.82,15.18
$GC,755,-0.82,-194.6,2220,611,3678,3541,103.6,-8.9,134,762,0.00,2.30,0.00,0.000,3078,0.000,0.044,2220,2031,3609,3678,3541,0,0,0,0,0,0,14.91,14.79,14.92
$GC,826,-0.82,-194.6,2220,2031,3678,3542,110.3,-9.6,147,833,0.00,2.35,0.00,0.000,2308,0.000,0.076,2220,3406,3609,3678,3541,0,0,0,0,0,0,15.19,14.85,15.19
$STATE,848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,849,begin apogee
$GC,856,-0.19,0.0,2220,1963,3678,3541,113.0,-10.6,151,1007,0.98,0.00,142.98,0.952,10246,0.135,0.000,2422,1961,2811,2859,2763,0,0,0,0,0,0,14.63,14.50,13.88
$STATE,1008,end apogee,CONTROL_FINISHED_OK
$STATE,1008,begin climb
$GC,1010,0.82,194.6,2423,1962,2859,2763,119.3,0.0,178,1168,1.45,2.40,145.38,0.946,10756,0.090,0.069,2736,556,2016,2061,1972,0,0,0,0,0,0,14.57,14.52,13.88
$GC,1210,0.87,234.9,2736,556,2057,1972,109.0,8.6,213,1251,0.05,2.30,31.90,0.913,11270,0.250,0.039,2784,1964,1853,1900,1806,0,0,0,0,0,0,14.61,14.72,13.94
$GC,1313,0.87,234.9,2784,1965,1896,1805,97.8,11.8,232,1320,0.05,2.38,0.00,0.000,4356,0.323,0.063,2772,3359,1849,1894,1804,0,0,0,0,0,0,14.56,14.71,14.69
$GC,1337,0.87,234.9,2772,3359,1889,1804,95.1,11.6,236,1344,0.00,2.30,0.00,0.000,5126,0.000,0.041,2772,1962,1849,1894,1804,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1408,0.91,270.2,2772,1961,1893,1804,88.9,8.7,249,1443,0.00,2.45,28.58,0.900,10756,0.000,0.071,2772,557,1709,1759,1659,0,0,0,0,0,0,15.05,14.71,14.03
$GC,1492,0.92,274.0,2772,557,1756,1656,81.0,9.8,264,1505,0.00,2.30,4.12,0.668,11270,0.000,0.039,2772,1971,1693,1741,1645,0,0,0,0,0,0,14.85,14.76,13.95
$GC,1568,0.98,322.4,2772,1971,1744,1644,74.5,8.3,278,1614,0.00,2.42,39.42,0.901,10500,0.000,0.067,2773,3359,1498,1553,1443,0,0,0,0,0,0,15.07,14.64,14.00
$GC,1642,1.06,389.2,2772,3359,1550,1443,69.0,7.7,291,1704,0.17,2.30,53.28,0.898,11270,0.093,0.040,2847,1964,1224,1286,1163,0,0,0,0,0,0,14.76,14.71,13.95
$GC,1769,1.11,427.8,2846,1964,1286,1163,58.5,8.6,314,1809,0.00,2.40,31.85,0.879,8708,0.000,0.072,2847,565,1068,1127,1010,0,0,0,0,0,0,14.97,14.59,14.02
$GC,1852,1.17,480.5,2846,565,1127,1009,51.6,8.1,329,1903,0.00,2.28,44.15,0.881,11270,0.000,0.037,2846,1967,852,900,804,0,0,0,0,0,0,14.81,14.71,13.99
$GC,1967,1.23,529.1,2846,1967,901,795,42.0,8.3,350,2018,0.08,2.42,41.75,0.864,10500,0.178,0.067,2887,3358,653,665,642,0,0,0,0,0,0,14.76,14.62,14.01
$GC,2090,1.23,529.1,2887,3357,665,631,30.5,10.3,373,2097,0.00,2.30,0.00,0.000,5126,0.000,0.040,2887,1958,647,665,630,0,0,0,0,0,0,14.81,14.79,14.81
$GC,2161,1.23,529.1,2886,1958,665,626,23.8,10.0,386,2167,0.00,2.40,0.00,0.000,4612,0.000,0.074,2887,558,645,665,626,0,0,0,0,0,0,15.06,14.66,15.06
$GC,2202,1.23,529.1,2887,558,665,624,19.6,10.4,393,2209,0.00,2.28,0.00,0.000,5126,0.000,0.035,2888,1976,645,666,624,0,0,0,0,0,0,14.90,14.82,14.92
$GC,2273,1.23,529.2,2887,1976,666,623,12.2,9.9,406,2279,0.00,2.33,0.00,0.000,4356,0.000,0.066,2888,3350,644,666,623,0,0,0,0,0,0,15.11,14.82,15.11
$GC,2302,1.23,529.2,2887,3350,665,622,9.0,12.1,411,2308,0.00,2.28,0.00,0.000,5126,0.000,0.041,2888,1967,644,666,622,0,0,0,0,0,0,14.92,14.82,14.94
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,0.3,1.023372
$STATE,2385,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,6.38,0.574,0,0,598,542.59
$SM_GC,0.56,12.48,0.00,6.38,0.041,0.000,0.574,137,1965,598,-7.27,-1.33,542.59,0,0,0,0,0,0,14.95,15.16,14.14
$IRIDIUM_FIX,-3233.95,2833.15,210419,132952
$TT8_MAMPS,0.019474,0.868091
$HUMID,56.57
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,80.4,47.3
$SC_FREEKB,3762080
$24V_AH,13.27,167.448
$10V_AH,13.10,0.000
$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,27.825,61.025,563.400,6.375,0.000,25.332,39.952,219.295,0.750,0.000,24.460,791.575,315.886,612.572,1036.735,169.199,0.000,1082.859,0.000,652.602,0.000,7.205,0.000
$DEVICE_MAMPS,332.775,75.735,951.660,573.750,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2433.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.898,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13504,427
$CAP_FILE_SIZE,84562,0
$CFSIZE,1023623168,978747392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,150645,-3250.457,2829.297,18,0.9,22,-27.2,1.9,243.5,10,9.9