version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 342
start: 4 22 119 17 23 47
data:
$ID,573
$MISSION,30
$DIVE,342
$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,280
$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,32
$R_STBD_OVSHOOT,49
$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
$GPS1,220419,171528,-3327.2695,2735.3994,21,0.8,27,-27.5,2.9,238.1,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-64.5
$GPS2,220419,172321,-3327.5942,2734.9248,17,0.9,23,-27.5,1.7,229.6,10,9.6
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3338.393,2734.925
$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,207.5,20000,-13.0,-9.950,-16.26,4178
$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,20,begin dive
$GC,22,-0.82,-272.5,71,1969,603,585,0.0,0.0,0,112,0.00,0.00,-86.95,0.000,16386,0.000,0.000,71,1969,3011,3024,2999,0,0,0,0,0,0,15.09,28.83,15.09
$GC,116,-0.82,-272.5,71,1969,3018,3007,3.2,-6.9,16,152,12.50,2.30,-15.32,0.000,18948,0.294,0.083,2217,604,3932,3992,3872,0,0,0,0,0,0,14.47,13.91,14.66
$GC,205,-0.82,-272.5,2216,604,3988,3876,25.4,-18.5,32,212,0.00,2.33,0.00,0.000,3078,0.000,0.046,2214,2007,3932,3988,3876,0,0,0,0,0,0,14.91,14.80,14.92
$GC,276,-0.82,-272.5,2214,2007,3989,3876,38.6,-17.8,45,283,0.00,2.40,0.00,0.000,2564,0.000,0.063,2214,598,3932,3989,3876,0,0,0,0,0,0,15.13,14.83,15.13
$GC,330,-0.82,-272.5,2214,597,3988,3876,46.3,-13.9,55,337,0.00,2.33,0.00,0.000,3078,0.000,0.044,2214,2018,3932,3988,3876,0,0,0,0,0,0,14.92,14.83,14.94
$GC,401,-0.82,-272.5,2213,2019,3988,3876,55.9,-14.1,68,408,0.00,2.38,0.00,0.000,2308,0.000,0.073,2214,3411,3932,3988,3876,0,0,0,0,0,0,15.18,14.85,15.14
$GC,465,-0.82,-272.5,2213,3411,3988,3876,64.0,-11.6,80,472,0.00,2.30,0.00,0.000,3078,0.000,0.036,2214,2005,3932,3988,3876,0,0,0,0,0,0,14.94,14.85,14.95
$GC,536,-0.82,-272.5,2214,2005,3987,3876,72.2,-11.6,93,543,0.00,2.38,0.00,0.000,2564,0.000,0.065,2214,610,3932,3988,3876,0,0,0,0,0,0,15.16,14.84,15.16
$GC,608,-0.82,-272.5,2214,610,3988,3876,81.1,-11.4,106,615,0.00,2.30,0.00,0.000,3078,0.000,0.044,2210,2015,3932,3988,3876,0,0,0,0,0,0,15.02,14.91,15.03
$STATE,620,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,620,begin apogee
$GC,626,-0.19,0.0,2214,1938,3988,3876,82.8,-11.2,108,837,1.02,0.00,198.57,0.913,10246,0.129,0.000,2426,1936,2811,2856,2767,0,0,0,0,0,0,14.62,14.35,13.90
$STATE,838,end apogee,CONTROL_FINISHED_OK
$STATE,838,begin climb
$GC,841,0.82,272.5,2426,1936,2856,2766,93.8,0.0,146,1059,1.45,2.35,203.18,0.910,10756,0.089,0.068,2739,590,1700,1753,1648,0,0,0,0,0,0,14.56,14.51,13.93
$GC,1077,0.82,272.5,2739,590,1750,1648,78.8,10.2,187,1083,0.00,2.25,0.00,0.000,3078,0.000,0.035,2739,1973,1698,1750,1646,0,0,0,0,0,0,14.67,14.59,14.68
$GC,1148,0.92,359.1,2739,1974,1748,1645,73.5,7.8,200,1228,0.10,2.45,68.43,0.891,10756,0.142,0.070,2804,583,1347,1406,1289,0,0,0,0,0,0,14.76,14.54,13.98
$GC,1255,0.92,359.1,2804,583,1403,1287,62.4,10.2,219,1263,0.08,2.25,0.00,0.000,5126,0.239,0.038,2787,1964,1345,1404,1286,0,0,0,0,0,0,14.59,14.72,14.75
$GC,1327,0.98,406.4,2786,1964,1402,1285,56.1,8.8,232,1372,0.00,0.00,37.85,0.876,10502,0.000,0.000,2787,1964,1155,1215,1096,0,0,0,0,0,0,15.01,14.57,14.02
$GC,1435,1.10,502.3,2786,1964,1215,1092,47.4,7.6,252,1521,0.12,0.00,78.95,0.881,10502,0.121,0.000,2862,1964,763,782,744,0,0,0,0,0,0,14.81,14.57,13.99
$GC,1584,1.13,525.9,2862,1964,784,732,31.8,9.4,279,1613,0.00,2.40,21.00,0.838,12804,0.000,0.073,2863,582,666,665,667,0,0,0,0,0,0,14.96,14.59,14.04
$STATE,1840,end climb,SURFACE_DEPTH_REACHED
$STATE,1840,begin surface coast
$FINISH,0.2,1.023500
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1868,begin surface
$SM_CCo,1892,8.23,0.607,0,0,598,542.59
$SM_GC,0.55,12.38,2.35,8.23,0.037,0.039,0.607,135,2020,598,-7.27,-1.47,542.59,0,0,0,0,0,0,14.92,14.85,14.13
$IRIDIUM_FIX,-3312.47,2736.25,220419,163749
$TT8_MAMPS,0.019474,0.899549
$HUMID,57.63
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,80.3,16.9
$SC_FREEKB,3743136
$24V_AH,13.90,174.783
$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,27.650,32.825,607.975,8.225,0.000,23.854,39.042,202.452,0.750,0.000,24.551,545.750,218.603,607.753,865.005,150.429,0.000,1003.105,0.000,509.310,0.000,7.122,0.000
$DEVICE_MAMPS,293.760,139.995,912.645,606.645,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.193,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10148,334
$CAP_FILE_SIZE,61883,0
$CFSIZE,1023623168,975142912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,175631,-3328.560,2733.764,19,0.8,23,-27.5,2.7,245.5,11,6.7