version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 352
start: 4 23 119 1 3 57
data:
$ID,573
$MISSION,30
$DIVE,352
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,230419,005532,-3343.2043,2718.4556,19,0.9,24,-27.7,2.4,212.3,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-63.3
$GPS2,230419,010331,-3343.5862,2717.9871,17,0.8,21,-27.7,2.4,228.2,11,9.0
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3354.385,2717.987
$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,22,-0.82,-272.5,72,2018,597,573,0.0,0.0,0,111,0.00,0.00,-86.57,0.000,16386,0.000,0.000,70,2018,2979,2992,2967,0,0,0,0,0,0,15.07,28.83,15.08
$GC,116,-0.82,-272.5,71,2018,2993,2967,3.1,-6.2,16,152,12.55,2.40,-15.85,0.000,18948,0.294,0.084,2218,610,3928,3985,3871,0,0,0,0,0,0,14.41,13.85,14.62
$GC,200,-0.82,-272.5,2217,611,3981,3876,25.6,-18.8,31,207,0.00,2.33,0.00,0.000,3078,0.000,0.043,2217,2019,3929,3981,3877,0,0,0,0,0,0,14.87,14.75,14.88
$GC,271,-0.82,-272.5,2217,2019,3981,3876,37.8,-19.8,44,278,0.00,2.42,0.00,0.000,2308,0.000,0.073,2217,3409,3928,3980,3876,0,0,0,0,0,0,15.11,14.77,15.11
$GC,296,-0.82,-272.5,2217,3410,3981,3877,43.5,-21.9,48,303,0.00,2.30,0.00,0.000,3078,0.000,0.040,2217,2015,3929,3982,3877,0,0,0,0,0,0,14.90,14.81,14.91
$GC,367,-0.82,-272.5,2217,2015,3981,3876,55.4,-14.4,61,373,0.00,2.38,0.00,0.000,2564,0.000,0.064,2217,615,3928,3981,3876,0,0,0,0,0,0,15.12,14.81,15.12
$GC,406,-0.82,-272.5,2217,614,3981,3877,60.5,-12.0,68,412,0.00,2.30,0.00,0.000,3078,0.000,0.043,2217,2019,3928,3981,3876,0,0,0,0,0,0,14.90,14.80,14.92
$GC,475,-0.82,-272.5,2217,2020,3981,3877,69.8,-13.9,81,482,0.00,2.40,0.00,0.000,2308,0.000,0.074,2217,3410,3929,3981,3877,0,0,0,0,0,0,15.14,14.66,15.14
$GC,509,-0.82,-272.5,2217,3409,3981,3877,74.4,-12.8,87,515,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2014,3929,3981,3877,0,0,0,0,0,0,14.99,14.90,15.00
$GC,583,-0.82,-272.5,2217,2014,3981,3877,82.7,-9.7,100,590,0.00,2.42,0.00,0.000,2308,0.000,0.070,2217,3416,3929,3981,3877,0,0,0,0,0,0,15.14,14.81,15.14
$GC,622,-0.82,-272.5,2216,3417,3980,3877,87.0,-10.2,107,629,0.00,2.30,0.00,0.000,3078,0.000,0.036,2217,2010,3929,3981,3877,0,0,0,0,0,0,14.99,14.90,15.00
$GC,694,-0.82,-272.5,2217,2009,3981,3877,95.8,-13.1,120,701,0.00,2.35,0.00,0.000,2564,0.000,0.064,2217,615,3929,3981,3877,0,0,0,0,0,0,15.14,14.67,15.15
$GC,713,-0.82,-272.5,2217,615,3981,3877,98.1,-11.6,123,720,0.00,2.30,0.00,0.000,3078,0.000,0.044,2217,2018,3929,3981,3877,0,0,0,0,0,0,14.99,14.88,15.00
$GC,785,-0.82,-272.5,2216,2018,3981,3877,104.8,-9.3,136,791,0.00,2.40,0.00,0.000,2308,0.000,0.069,2217,3415,3928,3981,3876,0,0,0,0,0,0,15.16,14.70,15.16
$GC,798,-0.82,-272.5,2217,3421,3981,3877,106.5,-10.2,138,805,0.00,2.30,0.00,0.000,3078,0.000,0.035,2217,2008,3929,3981,3877,0,0,0,0,0,0,15.00,14.91,15.02
$GC,870,-0.82,-272.5,2216,2006,3981,3876,112.3,-9.6,151,876,0.00,2.35,0.00,0.000,2564,0.000,0.062,2217,614,3929,3981,3877,0,0,0,0,0,0,15.14,14.70,15.15
$STATE,887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,887,begin apogee
$GC,895,-0.19,0.0,2217,1961,3981,3876,114.5,-10.2,154,1102,1.00,0.00,198.73,0.970,10246,0.132,0.000,2424,1962,2811,2857,2765,0,0,0,0,0,0,14.69,14.46,13.83
$STATE,1104,end apogee,CONTROL_FINISHED_OK
$STATE,1104,begin climb
$GC,1106,0.82,272.5,2424,1962,2857,2765,127.6,0.0,191,1325,1.45,2.45,205.40,0.963,10500,0.082,0.065,2738,3366,1700,1752,1648,0,0,0,0,0,0,14.52,14.47,13.86
$GC,1342,0.83,280.5,2738,3366,1749,1647,113.2,9.8,232,1355,0.00,2.35,7.80,0.811,11270,0.000,0.040,2742,1959,1667,1719,1616,0,0,0,0,0,0,14.64,14.54,13.89
$GC,1419,0.85,303.5,2742,1959,1717,1614,106.6,9.4,246,1448,0.00,2.42,19.65,0.910,10756,0.000,0.072,2742,570,1573,1626,1520,0,0,0,0,0,0,14.95,14.59,13.93
$GC,1511,0.94,372.4,2742,569,1624,1518,98.3,8.3,263,1574,0.12,2.30,55.25,0.939,11270,0.119,0.039,2806,1984,1292,1352,1233,0,0,0,0,0,0,14.69,14.77,13.93
$GC,1638,0.94,372.4,2806,1984,1352,1231,83.4,11.7,286,1645,0.05,0.00,0.00,0.000,4102,0.311,0.000,2795,1985,1291,1351,1231,0,0,0,0,0,0,14.55,14.69,14.65
$GC,1709,1.00,424.8,2795,1985,1351,1231,77.0,8.7,299,1754,0.00,0.00,42.60,0.924,10246,0.000,0.000,2796,1985,1079,1136,1022,0,0,0,0,0,0,15.02,14.63,14.00
$GC,1818,1.14,537.1,2796,1985,1136,1020,68.8,7.2,319,1919,0.15,0.00,95.65,0.922,10246,0.106,0.000,2869,1985,621,579,664,0,0,0,0,0,0,14.77,14.51,13.92
$GC,1983,1.18,564.5,2868,1985,575,652,52.1,9.3,349,1996,0.00,2.47,5.07,0.711,8708,0.000,0.075,2870,567,599,555,643,0,0,0,0,0,0,14.92,14.64,13.93
$GC,2029,1.19,575.5,2869,567,554,638,47.7,9.7,357,2035,0.00,2.28,0.00,0.000,1030,0.000,0.035,2870,1968,596,555,638,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2101,1.19,575.5,2869,1969,554,631,39.3,11.8,370,2107,0.00,2.38,0.00,0.000,260,0.000,0.067,2870,3356,593,555,631,0,0,0,0,0,0,15.02,14.65,15.02
$GC,2154,1.19,575.5,2869,3357,555,626,33.0,10.7,380,2161,0.00,2.30,0.00,0.000,1030,0.000,0.041,2872,1976,590,555,626,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2225,1.19,575.5,2869,1975,551,623,25.5,10.6,393,2232,0.00,2.45,0.00,0.000,516,0.000,0.073,2870,552,589,555,623,0,0,0,0,0,0,15.06,14.77,15.07
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,-0.1,1.023659
$STATE,2421,end surface coast,CONTROL_FINISHED_OK
$STATE,2421,begin surface
$SM_CCo,2506,0.00,0.000,0,0,584,546.52
$SM_GC,0.67,12.52,2.40,0.00,0.047,0.040,0.000,149,1995,584,-7.26,-1.53,546.52,0,0,0,0,0,0,14.88,14.90,14.96
$IRIDIUM_FIX,-3327.96,2719.09,230419,000910
$TT8_MAMPS,0.018725,0.864346
$HUMID,58.93
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,90.2,39.1
$SC_FREEKB,3738016
$24V_AH,13.83,176.968
$10V_AH,13.02,0.000
$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,27.850,61.250,630.150,0.000,0.000,23.622,25.012,211.449,1.250,0.000,21.781,771.438,371.790,650.410,1021.159,179.244,0.000,1135.473,0.000,651.517,0.000,11.545,0.000
$DEVICE_MAMPS,311.355,84.150,970.020,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2472.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.661,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13495,431
$CAP_FILE_SIZE,82604,0
$CFSIZE,1023623168,974127104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,014657,-3345.216,2716.521,31,1.0,37,-27.7,2.2,227.7,10,8.7