version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 354
start: 4 23 119 2 52 31
data:
$ID,573
$MISSION,30
$DIVE,354
$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,35
$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
$GPS1,230419,024300,-3347.4905,2714.2954,30,0.8,39,-27.8,2.2,210.5,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-57.9
$GPS2,230419,025203,-3347.9087,2713.7563,19,1.0,19,-27.8,2.0,214.3,10,9.6
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3358.708,2713.756
$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,207.8,20000,-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,19,begin dive
$GC,22,-0.82,-272.5,71,2018,590,576,0.0,0.0,0,117,0.00,0.00,-92.72,0.000,16386,0.000,0.000,73,2018,3141,3140,3142,0,0,0,0,0,0,15.06,28.83,15.07
$GC,122,-0.82,-272.5,72,2018,3142,3141,3.5,-9.6,17,153,12.62,2.45,-12.48,0.000,18948,0.300,0.085,2216,609,3930,3987,3873,0,0,0,0,0,0,14.39,13.00,14.60
$GC,196,-0.82,-272.5,2216,609,3984,3879,24.2,-17.3,30,203,0.00,2.33,0.00,0.000,3078,0.000,0.044,2214,2021,3931,3983,3879,0,0,0,0,0,0,14.94,14.83,14.97
$GC,267,-0.82,-272.5,2214,2021,3983,3879,38.2,-22.4,43,274,0.00,2.40,0.00,0.000,2308,0.000,0.073,2214,3416,3931,3983,3879,0,0,0,0,0,0,15.09,14.77,15.09
$GC,291,-0.82,-272.5,2214,3417,3983,3879,43.4,-19.8,47,297,0.00,2.33,0.00,0.000,3078,0.000,0.038,2214,2008,3933,3983,3883,0,0,0,0,0,0,14.96,14.84,14.97
$GC,362,-0.82,-272.5,2214,2008,3983,3879,56.3,-17.0,60,368,0.00,2.45,0.00,0.000,2308,0.000,0.070,2213,3411,3931,3983,3879,0,0,0,0,0,0,15.10,14.78,15.10
$GC,386,-0.82,-272.5,2213,3411,3983,3879,60.4,-15.2,64,392,0.00,2.30,0.00,0.000,3078,0.000,0.038,2214,2014,3930,3982,3879,0,0,0,0,0,0,14.97,14.85,14.98
$GC,455,-0.82,-272.5,2213,2014,3983,3879,69.0,-11.2,77,462,0.00,2.40,0.00,0.000,2564,0.000,0.067,2213,607,3931,3983,3879,0,0,0,0,0,0,15.13,14.75,15.13
$GC,514,-0.82,-272.5,2213,607,3983,3879,75.9,-11.9,88,521,0.00,2.30,0.00,0.000,3078,0.000,0.043,2213,2013,3931,3983,3879,0,0,0,0,0,0,14.84,14.74,14.85
$GC,585,-0.82,-272.5,2213,2013,3983,3878,84.4,-11.8,101,592,0.00,2.40,0.00,0.000,2308,0.000,0.072,2213,3409,3931,3983,3879,0,0,0,0,0,0,15.14,14.76,15.14
$GC,648,-0.82,-272.5,2213,3410,3986,3879,90.8,-9.9,112,654,0.00,2.30,0.00,0.000,3078,0.000,0.035,2213,2007,3931,3983,3879,0,0,0,0,0,0,15.00,14.91,15.02
$GC,717,-0.82,-272.5,2213,2007,3983,3879,98.4,-10.3,125,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2007,3931,3983,3879,0,0,0,0,0,0,15.15,15.15,15.15
$GC,791,-0.82,-272.5,2213,2007,3983,3879,106.1,-11.4,138,796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2006,3931,3983,3879,0,0,0,0,0,0,15.15,15.15,15.15
$GC,859,-0.82,-272.5,2213,2007,3983,3879,114.1,-11.1,151,866,0.00,2.45,0.00,0.000,2308,0.000,0.070,2213,3414,3931,3984,3879,0,0,0,0,0,0,15.15,14.68,15.16
$GC,888,-0.82,-272.5,2213,3414,3983,3879,117.2,-10.6,156,895,0.00,2.30,0.00,0.000,3078,0.000,0.036,2213,2004,3931,3983,3879,0,0,0,0,0,0,15.01,14.92,15.02
$GC,959,-0.82,-272.5,2213,2004,3983,3879,124.7,-10.8,169,965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2004,3931,3983,3879,0,0,0,0,0,0,15.14,15.16,15.16
$GC,1027,-0.82,-272.5,2213,2004,3983,3880,132.1,-10.8,182,1034,0.00,2.35,0.00,0.000,2564,0.000,0.064,2213,613,3931,3983,3879,0,0,0,0,0,0,15.16,14.84,15.17
$GC,1071,-0.82,-272.5,2213,613,3983,3879,137.1,-12.3,190,1078,0.00,2.30,0.00,0.000,3078,0.000,0.042,2213,2023,3931,3983,3879,0,0,0,0,0,0,14.99,14.88,15.01
$STATE,1113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1113,begin apogee
$GC,1120,-0.19,0.0,2213,1938,3983,3879,142.5,-12.3,198,1330,1.00,0.00,199.62,1.007,10246,0.134,0.000,2421,1935,2813,2861,2766,0,0,0,0,0,0,14.69,14.30,13.82
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1334,0.82,272.5,2421,1935,2861,2767,156.7,0.0,236,1552,1.48,0.00,205.68,1.002,10758,0.081,0.000,2741,1935,1700,1754,1646,0,0,0,0,0,0,14.54,14.31,13.83
$GC,1617,0.90,340.9,2741,1935,1750,1644,140.4,8.3,286,1680,0.08,2.47,54.70,0.981,10500,0.176,0.063,2797,3358,1422,1479,1365,0,0,0,0,0,0,14.61,14.33,13.86
$GC,1714,0.90,340.9,2799,3358,1476,1365,129.5,11.9,303,1721,0.08,2.28,0.00,0.000,5126,0.264,0.041,2782,1993,1420,1476,1364,0,0,0,0,0,0,14.54,14.69,14.71
$GC,1784,0.91,350.6,2782,1994,1476,1364,122.4,9.7,316,1802,0.00,2.50,9.05,0.862,8708,0.000,0.074,2782,560,1382,1438,1326,0,0,0,0,0,0,14.99,14.66,13.93
$GC,1846,0.91,350.6,2782,559,1438,1326,115.4,10.7,327,1853,0.00,2.30,0.00,0.000,1030,0.000,0.038,2782,1972,1381,1438,1325,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1918,0.94,376.2,2782,1972,1437,1326,108.4,9.3,340,1947,0.00,2.38,21.73,0.935,10500,0.000,0.064,2782,3361,1279,1340,1218,0,0,0,0,0,0,15.04,14.51,14.00
$GC,1976,0.95,382.6,2782,3362,1339,1218,103.1,9.8,350,1989,0.00,2.33,6.68,0.822,11270,0.000,0.041,2778,1960,1254,1314,1194,0,0,0,0,0,0,14.83,14.73,13.97
$GC,2053,1.05,465.5,2782,1960,1314,1193,96.4,7.9,364,2133,0.10,2.45,68.65,0.965,10756,0.141,0.075,2840,570,913,963,864,0,0,0,0,0,0,14.76,14.55,13.92
$GC,2180,1.05,465.5,2840,569,964,860,81.9,11.1,387,2187,0.00,2.28,0.00,0.000,5126,0.000,0.037,2841,1967,911,964,858,0,0,0,0,0,0,14.71,14.64,14.73
$GC,2251,1.05,465.5,2841,1967,963,855,74.5,10.9,400,2258,0.00,2.40,0.00,0.000,4356,0.000,0.066,2841,3354,909,964,855,0,0,0,0,0,0,15.01,14.71,15.01
$GC,2271,1.05,465.5,2840,3353,964,854,72.0,11.9,403,2277,0.00,2.33,0.00,0.000,5126,0.000,0.041,2840,1963,907,961,854,0,0,0,0,0,0,14.82,14.68,14.83
$GC,2341,1.05,465.5,2840,1963,964,854,65.0,10.1,416,2348,0.00,2.42,0.00,0.000,4612,0.000,0.076,2840,565,909,964,854,0,0,0,0,0,0,15.06,14.74,15.05
$GC,2396,1.12,517.4,2840,564,963,853,59.7,8.7,426,2447,0.00,2.28,44.17,0.928,11270,0.000,0.037,2840,1965,699,713,685,0,0,0,0,0,0,14.88,14.80,14.00
$GC,2511,1.13,528.7,2840,1965,717,674,50.0,9.7,447,2529,0.00,2.40,10.35,0.836,10500,0.000,0.067,2841,3360,655,669,641,0,0,0,0,0,0,15.00,14.71,14.00
$GC,2562,1.15,541.2,2840,3361,668,636,44.7,9.6,456,2581,0.00,2.33,12.23,0.849,11270,0.000,0.039,2841,1961,605,610,600,0,0,0,0,0,0,14.88,14.77,13.97
$GC,2644,1.15,541.2,2840,1960,609,590,36.9,10.8,471,2651,0.00,2.40,0.00,0.000,2564,0.000,0.072,2840,562,599,609,590,0,0,0,0,0,0,15.02,14.64,15.02
$STATE,2903,end climb,SURFACE_DEPTH_REACHED
$STATE,2903,begin surface coast
$FINISH,0.3,1.023607
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,3010,0.00,0.000,0,0,594,544.07
$SM_GC,0.70,12.35,2.40,0.00,0.042,0.045,0.000,138,1998,594,-7.27,-1.53,544.07,0,0,0,0,0,0,14.90,14.90,14.97
$IRIDIUM_FIX,-3330.55,2716.79,230419,015008
$TT8_MAMPS,0.018725,0.909286
$HUMID,59.41
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,100.4,56.6
$SC_FREEKB,3736992
$24V_AH,13.00,177.452
$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,27.700,71.050,632.850,0.000,0.000,41.210,40.737,233.989,1.500,0.000,20.478,978.789,472.966,682.042,1221.470,206.688,0.000,1239.446,0.000,796.086,0.000,13.156,0.000
$DEVICE_MAMPS,299.880,141.525,1006.740,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2983.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.626,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16786,526
$CAP_FILE_SIZE,98318,0
$CFSIZE,1023623168,973897728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,034355,-3349.915,2711.810,24,1.2,37,-27.8,2.0,235.5,8,9.0