version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 363
start: 4 23 119 15 28 44
data:
$ID,573
$MISSION,30
$DIVE,363
$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,300
$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,290
$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,41
$R_STBD_OVSHOOT,65
$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
$GPS1,230419,151720,-3411.2573,2638.8013,15,0.8,19,-27.9,2.2,221.1,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-57.9
$GPS2,230419,152816,-3411.8101,2637.9231,18,0.8,23,-28.0,2.8,224.4,11,9.6
$SPEED_LIMITS,0.172,0.351
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.117,2625.663
$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,318.0,20000,-12.5,-9.950,-15.82,4474
$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,-292.0,71,2046,593,577,0.0,0.0,0,117,0.00,0.00,-92.60,0.000,16386,0.000,0.000,72,2045,3153,3164,3142,0,0,0,0,0,0,15.00,28.83,15.01
$GC,122,-0.82,-292.0,72,2046,3164,3142,3.8,-10.6,17,157,12.80,2.45,-12.57,0.000,18948,0.302,0.079,2220,614,3965,4007,3924,0,0,0,0,0,0,14.31,13.04,14.50
$GC,305,-0.82,-292.0,2216,614,4007,3925,45.6,-17.4,52,312,0.00,2.28,0.00,0.000,3078,0.000,0.044,2216,1987,3965,4006,3924,0,0,0,0,0,0,14.83,14.73,14.85
$GC,376,-0.82,-292.0,2216,1987,4007,3925,57.0,-16.0,65,383,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3415,3965,4006,3925,0,0,0,0,0,0,15.05,14.71,15.06
$GC,472,-0.82,-292.0,2216,3415,4006,3925,70.5,-12.9,83,478,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2013,3965,4006,3925,0,0,0,0,0,0,14.92,14.82,14.93
$GC,542,-0.82,-292.0,2217,2012,4006,3925,80.0,-13.5,96,551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2013,3965,4006,3925,0,0,0,0,0,0,15.07,15.07,15.07
$GC,614,-0.82,-292.0,2216,2012,4006,3925,88.7,-11.3,109,620,0.00,2.47,0.00,0.000,2308,0.000,0.071,2216,3415,3965,4006,3925,0,0,0,0,0,0,15.10,14.56,15.10
$GC,680,-0.82,-292.0,2216,3416,4006,3925,95.4,-9.5,121,687,0.00,2.35,0.00,0.000,3078,0.000,0.037,2216,2007,3965,4006,3925,0,0,0,0,0,0,14.78,14.68,14.81
$GC,751,-0.82,-292.0,2216,2007,4006,3925,100.8,-6.8,134,757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3966,4007,3925,0,0,0,0,0,0,15.10,15.11,15.11
$GC,819,-0.82,-292.0,2216,2006,4006,3925,105.1,-6.5,147,826,0.00,2.50,0.00,0.000,2308,0.000,0.070,2216,3414,3965,4006,3925,0,0,0,0,0,0,15.11,14.59,15.11
$GC,915,-0.82,-292.0,2215,3414,4007,3925,113.1,-8.9,165,921,0.00,2.33,0.00,0.000,3078,0.000,0.036,2216,2012,3965,4006,3925,0,0,0,0,0,0,14.85,14.76,14.87
$GC,987,-0.82,-292.0,2216,2013,4006,3925,120.9,-10.6,178,993,0.00,2.47,0.00,0.000,2308,0.000,0.071,2216,3415,3965,4006,3925,0,0,0,0,0,0,15.11,14.75,15.11
$GC,1071,-0.82,-292.0,2216,3415,4006,3926,129.3,-9.1,194,1078,0.00,2.35,0.00,0.000,3078,0.000,0.036,2216,2005,3965,4006,3925,0,0,0,0,0,0,14.94,14.84,14.95
$GC,1143,-0.82,-292.0,2216,2005,4006,3925,136.0,-9.6,207,1149,0.00,2.47,0.00,0.000,2308,0.000,0.071,2219,3414,3965,4006,3925,0,0,0,0,0,0,15.10,14.74,15.10
$GC,1233,-0.82,-292.0,2216,3414,4006,3925,143.7,-8.9,224,1240,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2008,3966,4007,3925,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1304,-0.82,-292.0,2216,2007,4006,3925,149.6,-6.6,237,1311,0.00,2.50,0.00,0.000,2308,0.000,0.071,2216,3415,3965,4006,3925,0,0,0,0,0,0,15.11,14.59,15.11
$GC,1394,-0.82,-292.0,2215,3415,4006,3925,155.5,-5.8,254,1401,0.00,2.35,0.00,0.000,3078,0.000,0.037,2216,2007,3965,4006,3925,0,0,0,0,0,0,14.74,14.63,14.76
$STATE,1411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1412,begin apogee
$GC,1417,-0.19,0.0,2216,2007,4006,3925,157.0,-7.8,257,1639,1.02,0.00,210.48,1.052,10246,0.134,0.000,2425,2005,2811,2861,2762,0,0,0,0,0,0,14.59,14.21,13.73
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1643,0.82,292.0,2425,2005,2861,2762,171.8,0.0,297,1879,1.45,2.58,223.12,1.048,10756,0.079,0.080,2743,565,1620,1676,1565,0,0,0,0,0,0,14.47,14.43,13.76
$GC,1887,0.90,357.8,2742,564,1675,1565,153.1,8.4,339,1949,0.08,2.33,53.05,1.018,11270,0.177,0.037,2790,1974,1353,1413,1294,0,0,0,0,0,0,14.51,14.55,13.79
$GC,2014,0.95,393.8,2790,1974,1411,1294,140.4,9.1,362,2050,0.00,2.47,29.77,0.997,8452,0.000,0.067,2790,3351,1206,1272,1141,0,0,0,0,0,0,14.87,14.52,13.84
$GC,2108,0.95,393.8,2789,3351,1274,1142,130.0,13.1,379,2114,0.00,2.35,0.00,0.000,1030,0.000,0.047,2790,1966,1207,1274,1141,0,0,0,0,0,0,14.76,14.66,14.77
$GC,2179,0.95,393.8,2790,1964,1274,1141,121.5,13.5,392,2185,0.00,2.45,0.00,0.000,260,0.000,0.070,2790,3355,1207,1273,1141,0,0,0,0,0,0,14.96,14.55,14.97
$GC,2223,0.95,393.8,2790,3356,1273,1141,115.2,12.2,400,2230,0.00,2.33,0.00,0.000,1030,0.000,0.042,2790,1954,1207,1273,1141,0,0,0,0,0,0,14.84,14.74,14.85
$GC,2294,1.05,480.0,2789,1954,1272,1141,109.7,8.0,413,2380,0.08,2.50,73.25,1.011,10500,0.179,0.061,2840,3352,854,901,807,0,0,0,0,0,0,14.76,14.45,13.86
$GC,2403,1.05,480.0,2840,3352,900,804,91.0,17.7,432,2410,0.00,2.33,0.00,0.000,5126,0.000,0.044,2840,1974,852,902,803,0,0,0,0,0,0,14.73,14.62,14.73
$GC,2473,1.08,501.0,2840,1972,902,800,83.2,9.5,445,2498,0.00,2.53,19.00,0.946,12804,0.000,0.080,2840,563,768,805,731,0,0,0,0,0,0,14.93,14.61,13.88
$GC,2511,1.32,696.4,2840,562,805,729,80.8,5.5,451,2557,0.25,2.30,37.67,0.972,11270,0.078,0.037,2923,1967,598,586,611,0,0,0,0,0,0,14.71,14.67,13.86
$GC,2620,1.32,696.4,2922,1967,584,602,67.0,19.2,471,2627,0.00,2.42,0.00,0.000,4356,0.000,0.063,2923,3356,593,585,601,0,0,0,0,0,0,14.90,14.62,14.91
$GC,2645,1.32,696.4,2922,3356,584,599,62.3,19.9,475,2651,0.00,2.38,0.00,0.000,5126,0.000,0.046,2923,1958,592,585,599,0,0,0,0,0,0,14.74,14.62,14.76
$GC,2716,1.32,696.4,2923,1959,585,595,52.0,14.0,488,2722,0.00,2.45,0.00,0.000,4612,0.000,0.082,2923,564,588,582,595,0,0,0,0,0,0,14.99,14.65,14.99
$GC,2735,1.32,696.4,2923,564,585,594,49.3,13.0,491,2742,0.00,2.30,0.00,0.000,5126,0.000,0.037,2923,1965,589,585,594,0,0,0,0,0,0,14.80,14.71,14.81
$GC,2807,1.41,768.4,2923,1965,585,592,42.8,8.3,504,2813,0.00,2.42,0.00,0.000,2308,0.000,0.063,2923,3367,588,585,592,0,0,0,0,0,0,15.02,14.72,15.02
$GC,2866,1.43,787.4,2923,3367,585,590,37.4,9.5,515,2873,0.00,2.38,0.00,0.000,3078,0.000,0.045,2923,1958,587,585,589,0,0,0,0,0,0,14.89,14.77,14.91
$GC,2937,1.43,787.4,2923,1957,586,586,30.6,11.4,528,2943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2924,1957,586,586,586,0,0,0,0,0,0,15.03,15.04,15.04
$GC,3006,1.43,787.4,2922,1957,586,585,22.9,12.8,541,3011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2923,1957,585,586,585,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3077,1.47,818.7,2923,1957,586,584,15.7,9.2,554,3084,0.08,0.00,0.00,0.000,2054,0.182,0.000,2970,1957,585,586,584,0,0,0,0,0,0,14.74,14.80,14.78
$GC,3148,1.47,818.7,2971,1957,586,583,7.9,14.7,567,3154,0.00,2.42,0.00,0.000,4612,0.000,0.080,2971,562,584,586,583,0,0,0,0,0,0,15.07,14.72,15.08
$GC,3177,1.47,818.7,2971,562,586,582,3.5,14.0,572,3184,0.00,2.30,0.00,0.000,5126,0.000,0.037,2971,1982,584,586,582,0,0,0,0,0,0,14.95,14.85,14.96
$STATE,3189,end climb,SURFACE_DEPTH_REACHED
$STATE,3189,begin surface coast
$FINISH,-0.1,1.023889
$STATE,3211,end surface coast,CONTROL_FINISHED_OK
$STATE,3211,begin surface
$SM_CCo,3294,0.00,0.000,0,0,583,546.76
$SM_GC,0.67,13.18,0.00,0.00,0.057,0.000,0.000,149,1985,583,-7.27,-0.79,546.76,0,0,0,0,0,0,14.79,15.11,14.89
$IRIDIUM_FIX,-3356.48,2642.06,230419,141002
$TT8_MAMPS,0.019474,0.897302
$HUMID,61.14
$INTERNAL_PRESSURE,9.17968
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,120.4,51.5
$SC_FREEKB,3732384
$24V_AH,13.04,180.127
$10V_AH,13.43,0.000
$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,28.925,76.875,646.350,0.000,0.000,23.911,47.603,323.242,1.750,0.000,24.151,1089.176,521.689,708.756,1406.618,229.144,0.000,1315.883,0.000,877.446,0.000,13.404,0.000
$DEVICE_MAMPS,302.175,81.855,1051.875,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.559,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20122,578
$CAP_FILE_SIZE,107546,0
$CFSIZE,1023623168,972685312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,162459,-3413.110,2634.908,43,1.0,44,-28.0,1.5,224.0,9,8.5