version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 347
start: 4 22 119 21 4 19
data:
$ID,573
$MISSION,30
$DIVE,347
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,220419,205539,-3334.3867,2727.0210,17,0.8,28,-27.6,3.1,240.5,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-58.3
$GPS2,220419,210353,-3334.7905,2726.5513,20,0.8,32,-27.6,2.8,221.5,10,10.0
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3345.590,2726.551
$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,207.6,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.82,-272.5,72,2009,607,574,0.0,0.0,0,118,0.00,0.00,-93.10,0.000,16386,0.000,0.000,72,2010,3211,3225,3198,0,0,0,0,0,0,15.07,28.83,15.09
$GC,122,-0.82,-272.5,72,2010,3225,3199,4.1,-11.9,17,153,12.55,2.40,-10.95,0.000,18948,0.295,0.083,2215,608,3931,3988,3875,0,0,0,0,0,0,14.41,13.88,14.62
$GC,182,-0.82,-272.5,2215,609,3986,3879,24.3,-21.0,27,189,0.00,2.33,0.00,0.000,3078,0.000,0.047,2213,2017,3932,3986,3879,0,0,0,0,0,0,14.95,14.83,14.97
$GC,253,-0.82,-272.5,2213,2016,3985,3879,38.6,-22.1,40,260,0.00,2.42,0.00,0.000,2564,0.000,0.066,2213,609,3932,3986,3879,0,0,0,0,0,0,15.09,14.80,15.10
$GC,292,-0.82,-272.5,2213,608,3985,3879,44.7,-13.5,47,299,0.00,2.30,0.00,0.000,3078,0.000,0.044,2213,2014,3931,3985,3878,0,0,0,0,0,0,15.00,14.86,14.97
$GC,362,-0.82,-272.5,2212,2014,3985,3879,52.7,-11.2,60,367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2014,3932,3985,3879,0,0,0,0,0,0,15.13,15.14,15.13
$GC,430,-0.82,-272.5,2212,2014,3985,3879,60.5,-11.0,73,436,0.00,2.40,0.00,0.000,2308,0.000,0.074,2210,3411,3932,3986,3879,0,0,0,0,0,0,15.14,14.68,15.14
$GC,479,-0.82,-272.5,2208,3411,3985,3879,66.3,-11.4,82,486,0.05,2.30,0.00,0.000,3078,0.303,0.037,2224,2002,3932,3985,3879,0,0,0,0,0,0,14.61,14.90,14.78
$GC,550,-0.82,-272.5,2223,2004,3985,3879,74.3,-12.1,95,556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2001,3932,3985,3879,0,0,0,0,0,0,15.15,15.16,15.16
$GC,622,-0.82,-272.5,2223,2004,3985,3879,81.8,-9.1,108,628,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2004,3932,3985,3879,0,0,0,0,0,0,15.15,15.15,15.15
$GC,690,-0.82,-272.5,2223,2004,3986,3879,88.9,-10.0,121,696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2004,3932,3985,3879,0,0,0,0,0,0,15.15,15.15,15.15
$GC,758,-0.82,-272.5,2223,2004,3986,3878,96.0,-10.0,134,764,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2004,3932,3985,3879,0,0,0,0,0,0,15.16,15.16,15.16
$GC,827,-0.82,-272.5,2222,2004,3985,3879,102.5,-9.6,147,833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2004,3932,3985,3879,0,0,0,0,0,0,15.16,15.15,15.16
$STATE,879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,879,begin apogee
$GC,884,-0.19,0.0,2224,2004,3986,3879,107.5,-9.6,157,1096,0.98,0.00,200.45,0.960,10246,0.135,0.000,2426,2001,2810,2856,2764,0,0,0,0,0,0,14.71,14.33,13.85
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1100,0.82,272.5,2426,2002,2855,2763,116.8,0.0,195,1318,1.45,2.42,204.12,0.957,10500,0.086,0.067,2737,3359,1699,1750,1648,0,0,0,0,0,0,14.54,14.47,13.84
$GC,1387,0.88,327.5,2737,3359,1745,1646,96.7,8.6,246,1439,0.08,2.33,43.95,0.936,11270,0.178,0.040,2792,1963,1472,1524,1420,0,0,0,0,0,0,14.68,14.67,13.94
$GC,1502,0.89,328.9,2792,1963,1526,1419,86.2,9.9,267,1509,0.08,2.42,0.00,0.000,4612,0.260,0.072,2772,564,1472,1526,1419,0,0,0,0,0,0,14.61,14.63,14.69
$GC,1547,0.96,391.2,2772,564,1526,1419,82.3,8.4,275,1604,0.00,2.30,50.53,0.947,11270,0.000,0.038,2772,1973,1216,1276,1156,0,0,0,0,0,0,14.82,14.73,13.98
$GC,1666,0.96,391.2,2771,1972,1276,1154,71.4,10.1,297,1672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2772,1972,1215,1276,1154,0,0,0,0,0,0,14.96,14.96,14.96
$GC,1734,0.96,391.2,2771,1972,1275,1154,64.7,10.3,310,1740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2772,1972,1214,1275,1154,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1803,0.97,399.6,2772,1972,1274,1153,57.5,9.7,323,1817,0.00,2.50,7.93,0.769,10756,0.000,0.073,2772,558,1183,1242,1124,0,0,0,0,0,0,15.06,14.70,13.97
$GC,1835,1.04,451.8,2771,558,1243,1119,54.9,8.7,328,1886,0.15,2.28,43.78,0.926,11270,0.106,0.037,2838,1970,969,1022,917,0,0,0,0,0,0,14.84,14.83,14.01
$GC,1949,1.04,451.8,2838,1970,1022,909,43.5,10.7,349,1956,0.05,2.38,0.00,0.000,4356,0.311,0.064,2825,3349,965,1022,908,0,0,0,0,0,0,14.60,14.71,14.72
$GC,1974,1.04,451.8,2825,3349,1022,907,41.0,10.1,353,1981,0.00,2.30,0.00,0.000,5126,0.000,0.042,2825,1963,964,1022,907,0,0,0,0,0,0,14.90,14.77,14.89
$GC,2045,1.08,490.9,2825,1963,1022,906,34.5,9.0,366,2086,0.00,2.42,32.80,0.900,10756,0.000,0.073,2825,559,807,847,768,0,0,0,0,0,0,15.05,14.45,13.99
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,0.1,1.023686
$STATE,2430,end surface coast,CONTROL_FINISHED_OK
$STATE,2430,begin surface
$SM_CCo,2455,28.83,0.709,0,0,598,542.59
$SM_GC,0.58,12.38,2.42,28.83,0.042,0.047,0.709,130,1998,598,-7.30,-1.39,542.59,0,0,0,0,0,0,14.88,14.88,14.17
$IRIDIUM_FIX,-3317.63,2729.38,220419,201353
$TT8_MAMPS,0.019474,0.878577
$HUMID,59.88
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,80.3,41.8
$SC_FREEKB,3740576
$24V_AH,13.84,175.856
$10V_AH,13.03,0.000
$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,27.750,37.925,583.550,28.825,0.000,25.981,42.446,205.367,0.750,0.000,32.899,798.691,340.551,635.661,1050.146,166.234,0.000,1110.533,0.000,667.307,0.000,8.570,0.000
$DEVICE_MAMPS,310.590,82.620,960.075,709.155,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2475.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.690,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13441,441
$CAP_FILE_SIZE,79230,0
$CFSIZE,1023623168,974635008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,214701,-3336.077,2725.230,24,0.9,38,-27.6,2.6,242.4,9,6.9