version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 331
start: 4 22 119 9 9 12
data:
$ID,573
$MISSION,30
$DIVE,331
$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,250
$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,150
$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,51
$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,2
$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
$GPS1,220419,090103,-3315.8938,2753.4016,17,0.8,28,-27.4,1.1,211.9,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.9
$GPS2,220419,090846,-3316.0928,2752.9587,17,0.8,22,-27.4,1.2,240.2,11,10.0
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3325.445,2759.428
$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,177.4,20000,-13.8,-9.950,-17.02,3733
$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,-0.81,-243.3,72,1956,600,572,0.0,0.0,0,117,0.00,0.00,-92.60,0.000,16386,0.000,0.000,72,1956,3194,3211,3177,0,0,0,0,0,0,15.12,28.83,15.12
$GC,121,-0.81,-243.3,72,1956,3211,3177,3.8,-10.0,17,151,12.48,2.25,-9.55,0.000,18948,0.295,0.081,2218,610,3804,3927,3682,0,0,0,0,0,0,14.49,13.92,14.69
$GC,175,-0.81,-243.3,2218,610,3928,3682,22.1,-22.5,26,182,0.00,2.28,0.00,0.000,3078,0.000,0.047,2211,2001,3805,3928,3682,0,0,0,0,0,0,14.92,14.83,14.94
$GC,246,-0.81,-243.3,2213,2002,3928,3689,35.3,-19.6,39,253,0.03,0.00,0.00,0.000,2054,0.522,0.000,2221,2001,3805,3928,3682,0,0,0,0,0,0,14.75,14.95,14.92
$GC,315,-0.81,-243.3,2221,2001,3928,3682,48.6,-18.7,52,321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2001,3805,3928,3682,0,0,0,0,0,0,15.16,15.16,15.16
$GC,383,-0.81,-243.3,2221,2001,3928,3682,58.4,-12.4,65,390,0.00,2.33,0.00,0.000,2564,0.000,0.061,2221,604,3805,3928,3683,0,0,0,0,0,0,15.18,14.88,15.18
$GC,412,-0.81,-243.3,2221,604,3927,3682,62.3,-15.4,70,419,0.00,2.30,0.00,0.000,3078,0.000,0.044,2220,2022,3805,3928,3682,0,0,0,0,0,0,15.03,14.92,15.04
$GC,483,-0.81,-243.3,2220,2023,3928,3682,70.8,-12.6,83,490,0.00,2.38,0.00,0.000,2308,0.000,0.074,2221,3415,3805,3928,3682,0,0,0,0,0,0,15.16,14.85,15.16
$GC,512,-0.81,-243.3,2220,3415,3928,3682,74.8,-13.4,88,519,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2012,3804,3926,3682,0,0,0,0,0,0,15.04,14.95,15.04
$GC,586,-0.81,-243.3,2220,2011,3928,3682,82.6,-10.4,101,593,0.00,2.35,0.00,0.000,2564,0.000,0.062,2220,609,3805,3928,3682,0,0,0,0,0,0,15.19,14.88,15.19
$GC,645,-0.81,-243.3,2220,608,3928,3683,89.7,-12.4,112,652,0.00,2.28,0.00,0.000,3078,0.000,0.043,2220,2011,3805,3928,3682,0,0,0,0,0,0,14.97,14.87,14.98
$STATE,698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,698,begin apogee
$GC,704,-0.19,0.0,2221,1933,3928,3682,95.8,-11.2,122,886,0.98,0.00,176.73,0.921,10246,0.142,0.000,2422,1930,2812,2863,2762,0,0,0,0,0,0,14.75,14.58,13.95
$STATE,889,end apogee,CONTROL_FINISHED_OK
$STATE,889,begin climb
$GC,891,0.81,243.3,2423,1930,2861,2761,104.8,0.0,155,1083,1.45,2.33,180.52,0.913,10756,0.092,0.067,2735,587,1819,1870,1768,0,0,0,0,0,0,14.58,14.55,13.94
$GC,1101,0.95,351.5,2735,587,1866,1768,94.0,7.0,191,1197,0.17,2.25,83.88,0.899,11270,0.093,0.038,2811,1976,1379,1436,1323,0,0,0,0,0,0,14.69,14.69,13.97
$GC,1262,0.95,351.5,2811,1976,1433,1323,77.6,11.5,220,1269,0.08,2.35,0.00,0.000,4356,0.253,0.063,2790,3360,1377,1433,1322,0,0,0,0,0,0,14.64,14.62,14.73
$GC,1306,0.95,351.5,2789,3360,1432,1321,72.1,11.1,228,1313,0.00,2.25,0.00,0.000,1030,0.000,0.041,2790,1980,1377,1432,1322,0,0,0,0,0,0,14.80,14.70,14.81
$GC,1377,0.99,390.0,2789,1980,1432,1321,65.7,8.9,241,1417,0.00,2.42,30.80,0.866,10756,0.000,0.071,2790,574,1221,1283,1160,0,0,0,0,0,0,15.08,14.69,14.09
$GC,1455,1.09,467.6,2789,574,1284,1162,58.9,7.8,255,1530,0.12,2.22,63.78,0.873,11270,0.118,0.037,2853,1965,903,956,851,0,0,0,0,0,0,14.83,14.81,14.02
$GC,1593,1.12,497.7,2853,1965,951,846,43.5,9.1,280,1628,0.00,2.42,25.98,0.837,8708,0.000,0.070,2853,572,781,820,742,0,0,0,0,0,0,15.00,14.66,14.05
$GC,1666,1.22,574.4,2853,572,822,736,37.7,7.8,293,1712,0.00,2.25,39.58,0.844,11270,0.000,0.037,2853,1971,599,590,609,0,0,0,0,0,0,14.89,14.81,14.07
$GC,1775,1.27,616.9,2853,1971,589,593,29.0,8.8,313,1782,0.08,2.35,0.00,0.000,2308,0.179,0.063,2906,3354,591,589,593,0,0,0,0,0,0,14.71,14.74,14.73
$GC,1794,1.27,616.9,2906,3354,589,592,26.9,11.3,316,1801,0.00,2.28,0.00,0.000,5126,0.000,0.040,2907,1977,590,589,591,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1867,1.29,631.1,2906,1972,589,585,19.0,9.6,329,1873,0.00,2.40,0.00,0.000,4612,0.000,0.073,2907,560,587,589,585,0,0,0,0,0,0,15.08,14.68,15.09
$GC,1921,1.29,631.1,2906,560,589,583,12.7,11.2,339,1928,0.00,2.25,0.00,0.000,5126,0.000,0.036,2906,1967,586,589,583,0,0,0,0,0,0,14.97,14.89,14.99
$GC,1992,1.29,631.1,2906,1967,589,581,5.0,11.2,352,1998,0.00,2.35,0.00,0.000,4356,0.000,0.067,2907,3361,585,589,581,0,0,0,0,0,0,15.13,14.71,15.13
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,2.2,1.023476
$STATE,2014,end surface coast,CONTROL_FINISHED_OK
$STATE,2015,begin surface
$SM_CCo,2099,0.00,0.000,0,0,585,546.27
$SM_GC,0.73,12.57,2.25,0.00,0.041,0.042,0.000,146,2009,585,-7.27,1.07,546.27,0,0,0,0,0,0,14.91,14.92,14.98
$IRIDIUM_FIX,-3259.60,2721.15,220419,082032
$TT8_MAMPS,0.019474,0.877828
$HUMID,57.36
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,80.1,30.1
$SC_FREEKB,3748768
$24V_AH,13.92,172.517
$10V_AH,13.08,0.000
$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,27.950,50.875,601.250,0.000,0.000,24.949,47.573,183.098,0.750,0.000,23.102,610.079,292.272,620.709,894.754,154.418,0.000,1046.087,0.000,537.692,0.000,7.135,0.000
$DEVICE_MAMPS,522.495,141.525,921.060,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.253,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10151,356
$CAP_FILE_SIZE,70957,0
$CFSIZE,1023623168,976207872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,094516,-3316.720,2752.058,16,0.9,28,-27.4,0.8,269.5,10,9.5