version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 348
start: 4 22 119 21 55 44
data:
$ID,573
$MISSION,30
$DIVE,348
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,220419,214701,-3336.0767,2725.2302,24,0.9,38,-27.6,2.6,242.4,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-61.5
$GPS2,220419,215519,-3336.4690,2724.7766,21,0.9,23,-27.6,2.2,228.6,9,9.1
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3347.268,2724.777
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.82,-272.5,72,2012,584,579,0.0,0.0,0,111,0.00,0.00,-86.70,0.000,16386,0.000,0.000,72,2012,2969,2979,2960,0,0,0,0,0,0,15.07,28.83,15.07
$GC,116,-0.82,-272.5,72,2012,2979,2961,3.2,-7.4,16,155,12.45,2.42,-16.12,0.000,18948,0.293,0.085,2218,617,3931,3987,3876,0,0,0,0,0,0,14.45,13.00,14.78
$GC,203,-0.82,-272.5,2218,617,3986,3878,24.8,-18.1,31,210,0.00,2.33,0.00,0.000,3078,0.000,0.047,2217,2022,3932,3986,3878,0,0,0,0,0,0,14.94,14.83,14.96
$GC,274,-0.82,-272.5,2216,2022,3986,3878,38.5,-19.5,44,281,0.00,2.42,0.00,0.000,2564,0.000,0.067,2217,608,3931,3985,3878,0,0,0,0,0,0,15.11,14.66,15.11
$GC,318,-0.82,-272.5,2216,608,3986,3878,44.9,-13.1,52,324,0.00,2.33,0.00,0.000,3078,0.000,0.045,2216,2024,3932,3986,3878,0,0,0,0,0,0,14.96,14.85,14.97
$GC,387,-0.82,-272.5,2216,2024,3985,3878,53.1,-12.1,65,393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2024,3932,3986,3878,0,0,0,0,0,0,15.13,15.13,15.13
$GC,455,-0.82,-272.5,2216,2024,3986,3878,61.3,-11.4,78,462,0.00,2.40,0.00,0.000,2308,0.000,0.074,2216,3411,3932,3986,3879,0,0,0,0,0,0,15.13,14.72,15.13
$GC,504,-0.82,-272.5,2216,3411,3985,3878,66.8,-11.1,87,511,0.00,2.30,0.00,0.000,3078,0.000,0.037,2216,2006,3932,3986,3878,0,0,0,0,0,0,14.82,14.73,14.84
$GC,574,-0.82,-272.5,2216,2007,3986,3878,74.8,-11.1,100,580,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3932,3986,3878,0,0,0,0,0,0,15.16,15.16,15.16
$GC,646,-0.82,-272.5,2216,2007,3986,3878,82.8,-12.3,113,653,0.00,2.45,0.00,0.000,2308,0.000,0.071,2217,3411,3931,3985,3878,0,0,0,0,0,0,15.14,14.80,15.14
$GC,667,-0.82,-272.5,2216,3411,3986,3879,85.2,-12.3,116,673,0.00,2.30,0.00,0.000,3078,0.000,0.037,2217,2011,3932,3985,3879,0,0,0,0,0,0,14.99,14.90,15.00
$GC,737,-0.82,-272.5,2216,2011,3986,3879,93.5,-11.7,129,743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3932,3986,3878,0,0,0,0,0,0,15.12,15.12,15.12
$STATE,804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,804,begin apogee
$GC,810,-0.19,0.0,2216,2012,3986,3876,102.5,-11.6,142,1017,1.00,0.00,199.18,0.956,10246,0.132,0.000,2424,2010,2812,2860,2765,0,0,0,0,0,0,14.58,14.50,13.88
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1021,0.82,272.5,2424,2009,2858,2764,115.9,0.0,179,1239,1.48,2.55,204.07,0.957,10756,0.086,0.072,2739,566,1700,1752,1648,0,0,0,0,0,0,14.52,14.46,13.83
$GC,1262,0.82,278.9,2738,565,1750,1646,100.6,9.8,221,1275,0.00,2.33,6.22,0.772,11270,0.000,0.040,2739,1971,1674,1727,1622,0,0,0,0,0,0,14.69,14.61,13.88
$GC,1339,0.90,338.5,2739,1972,1725,1620,93.9,8.5,235,1396,0.08,2.40,48.17,0.932,10500,0.177,0.067,2794,3357,1430,1486,1375,0,0,0,0,0,0,14.65,14.57,13.96
$GC,1410,0.90,338.5,2794,3358,1485,1375,86.5,10.4,247,1418,0.08,2.33,0.00,0.000,5126,0.262,0.041,2779,1964,1430,1485,1375,0,0,0,0,0,0,14.54,14.67,14.71
$GC,1482,0.90,338.5,2779,1963,1484,1374,78.9,10.0,260,1488,0.00,2.40,0.00,0.000,516,0.000,0.074,2779,563,1428,1483,1374,0,0,0,0,0,0,14.97,14.60,14.98
$GC,1521,0.90,343.9,2778,563,1482,1373,74.8,9.8,267,1534,0.00,2.30,5.40,0.744,9222,0.000,0.038,2779,1976,1409,1464,1354,0,0,0,0,0,0,14.75,14.69,13.90
$GC,1598,0.90,344.4,2778,1975,1462,1353,67.0,9.9,281,1604,0.00,2.38,0.00,0.000,260,0.000,0.066,2779,3365,1410,1467,1353,0,0,0,0,0,0,15.04,14.70,15.04
$GC,1627,0.90,344.4,2778,3365,1462,1353,63.9,10.6,286,1634,0.00,2.33,0.00,0.000,1030,0.000,0.041,2778,1963,1407,1462,1353,0,0,0,0,0,0,14.78,14.70,14.81
$GC,1698,0.95,382.7,2778,1962,1462,1353,57.6,9.0,299,1738,0.00,2.40,32.28,0.913,10756,0.000,0.075,2779,560,1251,1309,1193,0,0,0,0,0,0,15.08,14.62,14.07
$GC,1767,0.97,398.2,2779,560,1309,1192,51.5,9.6,311,1791,0.00,2.30,13.90,0.861,11270,0.000,0.038,2779,1966,1188,1247,1129,0,0,0,0,0,0,14.81,14.73,13.97
$GC,1855,1.18,567.0,2778,1965,1246,1125,44.8,5.8,327,1984,0.28,2.45,120.30,0.909,11012,0.076,0.070,2877,563,599,563,635,0,0,0,0,0,0,14.74,14.38,13.93
$GC,2012,1.27,645.4,2877,563,561,629,29.1,8.0,355,2019,0.00,2.30,0.00,0.000,3078,0.000,0.037,2877,1968,594,561,628,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2082,1.27,645.4,2877,1968,560,621,23.0,10.4,368,2089,0.00,2.40,0.00,0.000,2308,0.000,0.066,2877,3356,590,560,620,0,0,0,0,0,0,14.97,14.64,14.97
$GC,2132,1.34,699.1,2877,3356,560,616,17.9,8.6,377,2139,0.10,2.30,0.00,0.000,3078,0.142,0.039,2928,1963,588,560,616,0,0,0,0,0,0,14.68,14.69,14.76
$GC,2203,1.34,699.1,2924,1963,560,610,10.6,12.3,390,2210,0.00,2.40,0.00,0.000,4356,0.000,0.064,2925,3357,585,560,610,0,0,0,0,0,0,15.05,14.76,15.06
$GC,2238,1.35,709.5,2925,3356,560,609,6.4,9.7,396,2244,0.00,2.30,0.00,0.000,1030,0.000,0.041,2926,1964,584,560,609,0,0,0,0,0,0,14.85,14.76,14.88
$STATE,2269,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,-0.1,1.023577
$STATE,2292,end surface coast,CONTROL_FINISHED_OK
$STATE,2292,begin surface
$SM_CCo,2375,0.00,0.000,0,0,581,547.26
$SM_GC,0.72,12.82,0.00,0.00,0.045,0.000,0.000,143,1964,581,-7.27,-1.39,547.26,0,0,0,0,0,0,14.85,15.11,14.93
$IRIDIUM_FIX,-3320.21,2727.09,220419,205840
$TT8_MAMPS,0.019474,0.873334
$HUMID,59.88
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,80.5,36.9
$SC_FREEKB,3740064
$24V_AH,13.00,176.081
$10V_AH,13.48,0.000
$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,28.275,56.800,629.525,0.000,0.000,22.502,43.981,211.381,0.750,0.000,23.906,711.271,339.410,655.350,995.253,180.721,0.000,1130.531,0.000,615.574,0.000,7.176,0.000
$DEVICE_MAMPS,292.995,84.915,957.015,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.677,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13478,406
$CAP_FILE_SIZE,80556,0
$CFSIZE,1023623168,974536704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,116.58,0x213430,0,24
$GPS,220419,223621,-3337.849,2723.484,20,0.8,25,-27.6,2.2,219.9,11,9.0