version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 351
start: 4 23 119 0 14 45
data:
$ID,573
$MISSION,30
$DIVE,351
$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,33
$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
$GPS1,230419,000606,-3341.3301,2720.2327,25,0.9,29,-27.7,3.4,239.3,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-62.2
$GPS2,230419,001419,-3341.7107,2719.7820,17,0.9,20,-27.7,2.5,228.8,10,9.2
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3352.510,2719.782
$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,207.7,20000,-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,23,-0.82,-272.5,72,2029,593,574,0.0,0.0,0,113,0.00,0.00,-87.35,0.000,16386,0.000,0.000,72,2029,3009,3007,3011,0,0,0,0,0,0,15.07,28.83,15.07
$GC,117,-0.82,-272.5,72,2029,3008,3012,3.1,-7.1,16,153,12.57,2.42,-15.27,0.000,18948,0.295,0.085,2218,608,3927,3983,3871,0,0,0,0,0,0,14.41,13.87,14.60
$GC,191,-0.82,-272.5,2218,608,3980,3875,22.7,-17.8,29,198,0.00,2.30,0.00,0.000,3078,0.000,0.044,2214,2002,3928,3981,3875,0,0,0,0,0,0,14.94,14.84,14.95
$GC,262,-0.82,-272.5,2213,2002,3980,3874,35.6,-18.4,42,269,0.00,2.42,0.00,0.000,2308,0.000,0.073,2214,3412,3927,3980,3875,0,0,0,0,0,0,15.09,14.78,15.09
$GC,282,-0.82,-272.5,2213,3412,3980,3875,39.6,-18.9,45,288,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2010,3927,3980,3875,0,0,0,0,0,0,14.95,14.85,14.97
$GC,353,-0.82,-272.5,2214,2008,3980,3875,48.8,-11.3,58,359,0.00,2.38,0.00,0.000,2564,0.000,0.067,2214,609,3927,3980,3875,0,0,0,0,0,0,15.10,14.81,15.09
$GC,392,-0.82,-272.5,2214,609,3979,3873,53.8,-12.1,65,399,0.00,2.30,0.00,0.000,3078,0.000,0.043,2214,2014,3927,3980,3875,0,0,0,0,0,0,14.97,14.86,14.98
$GC,463,-0.82,-272.5,2214,2014,3980,3875,62.2,-12.1,78,469,0.00,2.42,0.00,0.000,2308,0.000,0.073,2214,3420,3927,3980,3875,0,0,0,0,0,0,15.11,14.80,15.11
$GC,507,-0.82,-272.5,2213,3421,3980,3875,67.8,-12.4,86,514,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2003,3927,3979,3875,0,0,0,0,0,0,14.98,14.88,15.00
$GC,578,-0.82,-272.5,2213,2003,3980,3875,76.5,-12.1,99,585,0.00,2.35,0.00,0.000,2564,0.000,0.065,2214,611,3927,3980,3875,0,0,0,0,0,0,15.12,14.83,15.13
$GC,592,-0.82,-272.5,2214,610,3980,3875,78.3,-12.3,101,598,0.00,2.30,0.00,0.000,3078,0.000,0.043,2214,2020,3927,3980,3875,0,0,0,0,0,0,14.98,14.88,15.00
$GC,664,-0.82,-272.5,2213,2019,3980,3875,86.5,-12.1,114,671,0.00,2.40,0.00,0.000,2308,0.000,0.073,2214,3410,3927,3980,3875,0,0,0,0,0,0,15.15,14.65,15.16
$GC,703,-0.82,-272.5,2214,3409,3980,3875,90.7,-10.0,121,710,0.00,2.28,0.00,0.000,3078,0.000,0.036,2214,2011,3927,3980,3875,0,0,0,0,0,0,15.00,14.90,15.01
$GC,774,-0.82,-272.5,2212,2011,3980,3875,97.8,-10.3,134,781,0.00,2.38,0.00,0.000,2564,0.000,0.065,2214,614,3927,3980,3875,0,0,0,0,0,0,15.14,14.69,15.14
$GC,839,-0.82,-272.5,2213,613,3980,3874,105.3,-10.5,146,845,0.00,2.28,0.00,0.000,3078,0.000,0.044,2214,2012,3928,3980,3876,0,0,0,0,0,0,14.99,14.89,15.01
$STATE,856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,856,begin apogee
$GC,861,-0.19,0.0,2214,2012,3980,3875,107.1,-8.8,149,1069,1.02,0.08,198.68,0.955,10246,0.133,0.148,2423,1944,2812,2858,2766,0,0,0,0,0,0,14.57,14.47,13.86
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1073,0.82,272.5,2424,1944,2857,2766,118.1,0.0,186,1292,1.48,2.35,205.38,0.953,10756,0.097,0.073,2736,581,1700,1752,1648,0,0,0,0,0,0,14.52,14.50,13.85
$GC,1340,0.99,417.1,2735,581,1747,1645,106.0,6.4,233,1464,0.25,2.28,113.70,0.938,11270,0.074,0.038,2826,1969,1110,1171,1050,0,0,0,0,0,0,14.69,14.66,13.89
$GC,1527,0.99,417.1,2825,1969,1171,1048,85.8,11.6,267,1534,0.05,2.40,0.00,0.000,4612,0.316,0.071,2813,583,1109,1171,1048,0,0,0,0,0,0,14.54,14.64,14.68
$GC,1562,1.02,436.1,2813,583,1167,1048,82.0,9.5,273,1586,0.00,2.25,16.77,0.881,9222,0.000,0.037,2813,1963,1033,1093,974,0,0,0,0,0,0,14.83,14.76,13.97
$GC,1649,1.02,436.1,2813,1963,1093,971,72.6,10.2,289,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1963,1032,1093,971,0,0,0,0,0,0,15.00,15.02,15.00
$GC,1717,1.11,508.3,2813,1963,1093,970,66.4,8.2,302,1784,0.05,0.00,60.72,0.916,10246,0.252,0.000,2857,1965,739,769,709,0,0,0,0,0,0,14.71,14.67,13.97
$GC,1849,1.11,508.3,2856,1965,769,699,50.0,11.6,326,1855,0.00,2.42,0.00,0.000,4612,0.000,0.074,2859,576,734,769,699,0,0,0,0,0,0,15.00,14.59,14.97
$GC,1893,1.15,541.2,2859,576,770,696,45.7,9.1,334,1928,0.00,2.25,29.83,0.887,9222,0.000,0.037,2859,1964,604,602,607,0,0,0,0,0,0,14.87,14.79,14.02
$GC,1991,1.20,582.8,2858,1964,600,594,36.6,8.9,352,1997,0.00,2.38,0.00,0.000,2308,0.000,0.065,2859,3359,596,600,593,0,0,0,0,0,0,15.00,14.71,15.00
$GC,2035,1.20,582.8,2858,3359,599,590,31.8,11.3,360,2042,0.00,2.30,0.00,0.000,3078,0.000,0.041,2859,1970,594,600,589,0,0,0,0,0,0,14.88,14.73,14.90
$GC,2106,1.20,582.8,2858,1970,600,586,23.9,11.0,373,2113,0.00,2.40,0.00,0.000,2564,0.000,0.073,2859,567,592,600,584,0,0,0,0,0,0,15.04,14.76,15.05
$STATE,2280,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,0.5,1.023609
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2386,0.00,0.000,0,0,589,545.05
$SM_GC,0.65,12.45,2.38,0.00,0.043,0.036,0.000,142,2008,589,-7.27,-1.27,545.05,0,0,0,0,0,0,14.88,14.91,14.96
$IRIDIUM_FIX,-3327.96,2721.39,220419,232551
$TT8_MAMPS,0.019474,0.912282
$HUMID,58.97
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,80.5,41.1
$SC_FREEKB,3738528
$24V_AH,13.85,176.739
$10V_AH,13.00,0.000
$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,27.875,56.350,625.075,0.000,0.000,25.825,52.540,201.760,0.750,0.000,21.044,721.267,351.277,641.077,1003.471,172.545,0.000,1111.052,0.000,623.748,0.000,7.188,0.000
$DEVICE_MAMPS,315.945,148.410,954.720,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2346.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.536,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13469,411
$CAP_FILE_SIZE,78003,0
$CFSIZE,1023623168,974241792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,005532,-3343.204,2718.456,19,0.9,24,-27.7,2.4,212.3,10,8.9