version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 367
start: 4 23 119 19 31 2
data:
$ID,573
$MISSION,30
$DIVE,367
$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,350
$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,355
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,230419,192154,-3418.2542,2624.8020,17,1.1,19,-28.0,2.7,231.9,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-57.7
$GPS2,230419,193034,-3418.6970,2624.0840,16,0.8,17,-28.0,2.9,233.3,10,8.1
$SPEED_LIMITS,0.172,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.939,2622.947
$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,23.0,20000,-11.4,-9.950,-14.87,5214
$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,-0.84,-340.6,72,2026,584,575,0.0,0.0,0,117,0.00,0.00,-92.88,0.000,16386,0.000,0.000,72,2027,3166,3176,3156,0,0,0,0,0,0,15.03,28.83,15.04
$GC,122,-0.84,-340.6,71,2027,3176,3156,4.1,-11.9,17,153,12.62,2.47,-12.52,0.000,18692,0.299,0.093,2200,3415,3963,4008,3919,0,0,0,0,0,0,14.32,12.95,14.76
$GC,372,-0.84,-340.6,2199,3415,4002,3926,50.9,-18.0,65,379,0.08,2.33,0.00,0.000,3078,0.254,0.038,2217,2008,3964,4002,3926,0,0,0,0,0,0,14.65,14.83,14.84
$GC,443,-0.84,-340.6,2217,2008,4001,3926,61.8,-12.8,78,450,0.00,2.47,0.00,0.000,2308,0.000,0.071,2217,3415,3964,4002,3926,0,0,0,0,0,0,15.11,14.69,15.11
$GC,482,-0.84,-340.6,2217,3415,4002,3925,66.5,-10.1,85,489,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2008,3964,4002,3926,0,0,0,0,0,0,14.95,14.83,14.96
$GC,554,-0.84,-340.6,2216,2008,4002,3925,73.2,-9.5,98,560,0.00,2.47,0.00,0.000,2308,0.000,0.071,2217,3410,3963,4002,3925,0,0,0,0,0,0,15.11,14.61,15.11
$GC,639,-0.84,-340.6,2216,3410,4002,3925,81.0,-8.5,114,646,0.00,2.33,0.00,0.000,3078,0.000,0.036,2217,2010,3964,4002,3926,0,0,0,0,0,0,14.82,14.71,14.83
$GC,710,-0.84,-340.6,2216,2010,4002,3925,88.9,-12.8,127,717,0.00,2.47,0.00,0.000,2308,0.000,0.070,2217,3413,3964,4002,3926,0,0,0,0,0,0,15.12,14.71,15.12
$GC,790,-0.84,-340.6,2217,3413,4002,3925,99.4,-12.4,142,797,0.00,2.33,0.00,0.000,3078,0.000,0.034,2217,1998,3964,4002,3926,0,0,0,0,0,0,14.89,14.80,14.91
$GC,861,-0.84,-340.6,2217,1998,4002,3925,107.7,-10.8,155,868,0.00,2.50,0.00,0.000,2308,0.000,0.075,2217,3409,3963,4002,3925,0,0,0,0,0,0,15.14,14.76,15.12
$GC,887,-0.84,-340.6,2216,3409,4002,3926,110.6,-10.6,159,893,0.00,2.30,0.00,0.000,3078,0.000,0.036,2217,2012,3963,4002,3925,0,0,0,0,0,0,14.96,14.88,14.99
$GC,958,-0.84,-340.6,2216,2011,4002,3926,119.4,-12.9,172,964,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2010,3963,4002,3925,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1029,-0.84,-340.6,2216,2010,4002,3926,128.4,-9.0,185,1036,0.00,2.47,0.00,0.000,2308,0.000,0.071,2217,3419,3966,4002,3930,0,0,0,0,0,0,15.13,14.62,15.13
$GC,1076,-0.84,-340.6,2217,3419,4002,3926,132.9,-7.1,193,1082,0.00,2.33,0.00,0.000,3078,0.000,0.035,2217,2010,3964,4002,3926,0,0,0,0,0,0,14.94,14.80,14.96
$GC,1147,-0.84,-340.6,2217,2008,4002,3925,138.5,-8.3,206,1153,0.00,2.38,0.00,0.000,2564,0.000,0.060,2217,607,3964,4002,3926,0,0,0,0,0,0,15.11,14.80,15.12
$GC,1177,-0.84,-340.6,2216,607,4002,3926,140.5,-5.5,211,1183,0.00,2.30,0.00,0.000,3078,0.000,0.042,2217,2021,3964,4002,3926,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1248,-0.84,-340.6,2216,2021,4002,3926,145.0,-6.6,224,1255,0.00,2.40,0.00,0.000,2308,0.000,0.074,2217,3402,3963,4002,3925,0,0,0,0,0,0,15.12,14.76,15.12
$GC,1314,-0.84,-340.6,2216,3403,4002,3926,149.1,-4.9,236,1321,0.00,2.30,0.00,0.000,3078,0.000,0.035,2217,2004,3963,4002,3925,0,0,0,0,0,0,14.82,14.72,14.83
$GC,1386,-0.84,-340.6,2216,2002,4002,3925,154.7,-8.8,249,1393,0.00,2.50,0.00,0.000,2308,0.000,0.071,2217,3410,3965,4002,3929,0,0,0,0,0,0,15.13,14.76,15.16
$GC,1420,-0.84,-340.6,2216,3409,4002,3926,158.3,-11.0,255,1426,0.00,2.30,0.00,0.000,3078,0.000,0.036,2217,2018,3964,4002,3926,0,0,0,0,0,0,14.81,14.71,14.82
$GC,1491,-0.84,-340.6,2216,2018,4002,3926,167.9,-13.0,268,1497,0.00,2.45,0.00,0.000,2308,0.000,0.073,2216,3403,3963,4002,3925,0,0,0,0,0,0,15.13,14.76,15.13
$STATE,1542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1543,begin apogee
$GC,1551,-0.19,0.0,2217,1960,4002,3923,174.8,-13.4,278,1769,1.02,0.00,209.80,1.079,10246,0.149,0.000,2422,1959,2811,2861,2762,0,0,0,0,0,0,14.46,14.46,13.77
$STATE,1770,end apogee,CONTROL_FINISHED_OK
$STATE,1770,begin climb
$GC,1773,0.84,340.6,2422,1959,2861,2762,194.3,0.0,317,2047,1.50,2.53,262.85,1.078,11012,0.073,0.061,2750,3355,1423,1481,1365,0,0,0,0,0,0,14.51,14.44,13.72
$GC,2061,0.84,340.6,2750,3355,1481,1365,177.2,12.3,367,2068,0.00,2.38,0.00,0.000,3078,0.000,0.041,2750,1954,1423,1482,1364,0,0,0,0,0,0,14.66,14.56,14.68
$GC,2132,0.84,340.6,2750,1954,1479,1364,167.3,13.0,380,2139,0.00,2.45,0.00,0.000,2564,0.000,0.076,2750,558,1422,1479,1365,0,0,0,0,0,0,14.90,14.63,14.90
$GC,2171,0.84,340.6,2750,558,1478,1365,163.4,10.8,387,2178,0.00,2.30,0.00,0.000,3078,0.000,0.037,2750,1966,1421,1478,1364,0,0,0,0,0,0,14.83,14.74,14.85
$GC,2244,1.12,566.5,2750,1967,1478,1364,157.3,5.5,400,2422,0.32,2.50,169.50,1.041,10500,0.066,0.064,2858,3353,598,586,610,0,0,0,0,0,0,14.78,14.44,13.78
$GC,2477,1.12,566.5,2858,3354,585,601,120.2,12.9,442,2484,0.00,2.35,0.00,0.000,5126,0.000,0.044,2859,1967,592,585,600,0,0,0,0,0,0,14.75,14.64,14.76
$GC,2548,1.12,566.5,2858,1967,585,595,112.0,11.9,455,2555,0.00,2.47,0.00,0.000,4612,0.000,0.080,2859,558,590,585,595,0,0,0,0,0,0,14.96,14.57,14.96
$GC,2598,1.12,566.5,2859,557,586,593,105.9,10.9,464,2604,0.00,2.30,0.00,0.000,5126,0.000,0.037,2859,1970,589,586,593,0,0,0,0,0,0,14.77,14.75,14.78
$GC,2669,1.12,566.5,2859,1970,586,590,98.4,11.2,477,2675,0.00,2.40,0.00,0.000,4356,0.000,0.065,2859,3355,588,586,590,0,0,0,0,0,0,15.04,14.67,15.04
$GC,2698,1.12,566.5,2859,3355,586,589,94.7,11.0,482,2705,0.00,2.35,0.00,0.000,5126,0.000,0.044,2859,1958,586,586,587,0,0,0,0,0,0,14.77,14.66,14.78
$GC,2769,1.14,581.9,2859,1958,586,586,87.7,9.6,495,2775,0.00,0.00,0.00,0.000,4102,0.000,0.000,2859,1958,586,586,586,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2838,1.24,662.9,2859,1958,586,585,81.7,8.4,508,2844,0.00,0.00,0.00,0.000,2054,0.000,0.000,2859,1958,585,586,585,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2907,1.25,673.0,2858,1958,587,585,75.5,9.8,521,2913,0.05,0.00,0.00,0.000,2054,0.257,0.000,2902,1958,585,587,584,0,0,0,0,0,0,14.75,14.88,14.86
$GC,2978,1.25,673.0,2902,1958,587,584,67.1,12.0,534,2984,0.00,2.42,0.00,0.000,4356,0.000,0.063,2902,3355,585,587,583,0,0,0,0,0,0,15.10,14.64,15.10
$GC,3001,1.25,673.0,2902,3355,587,583,64.2,11.0,538,3008,0.00,2.33,0.00,0.000,5126,0.000,0.046,2905,1963,585,587,583,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3072,1.25,673.0,2902,1963,587,582,55.8,11.9,551,3079,0.00,2.42,0.00,0.000,4612,0.000,0.081,2903,564,584,586,582,0,0,0,0,0,0,15.09,14.82,15.09
$GC,3112,1.25,673.0,2902,564,586,582,51.4,11.1,558,3118,0.00,2.28,0.00,0.000,5126,0.000,0.037,2902,1965,584,587,582,0,0,0,0,0,0,14.95,14.86,15.00
$GC,3183,1.37,769.2,2902,1965,587,581,44.7,8.1,571,3190,0.00,2.42,0.00,0.000,2308,0.000,0.067,2902,3363,584,587,581,0,0,0,0,0,0,15.10,14.65,15.10
$GC,3237,1.57,929.9,2902,3363,586,581,40.4,6.8,581,3244,0.32,2.35,0.00,0.000,3078,0.073,0.045,3003,1959,584,587,581,0,0,0,0,0,0,14.88,14.83,14.94
$GC,3308,1.57,929.9,3003,1962,587,580,26.8,24.7,594,3315,0.00,2.45,0.00,0.000,4356,0.000,0.069,3003,3355,583,587,580,0,0,0,0,0,0,15.11,14.65,15.11
$GC,3347,1.57,929.9,3002,3355,587,580,19.1,17.4,601,3354,0.00,2.35,0.00,0.000,5126,0.000,0.048,3003,1957,583,587,580,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3418,1.57,929.9,3003,1957,587,580,7.1,14.3,614,3424,0.00,0.00,0.00,0.000,4102,0.000,0.000,3003,1957,583,587,580,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,3439,end climb,SURFACE_DEPTH_REACHED
$STATE,3439,begin surface coast
$FINISH,0.6,1.023838
$STATE,3456,end surface coast,CONTROL_FINISHED_OK
$STATE,3456,begin surface
$SM_CCo,3540,0.00,0.000,0,0,582,547.01
$SM_GC,0.54,13.25,0.05,0.00,0.050,0.190,0.000,144,2003,582,-7.26,-1.50,547.01,0,0,0,0,0,0,14.88,14.89,14.95
$IRIDIUM_FIX,-3401.68,2756.68,230419,182923
$TT8_MAMPS,0.019474,0.854609
$HUMID,61.26
$INTERNAL_PRESSURE,9.16992
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,130.5,59.2
$SC_FREEKB,3730336
$24V_AH,12.95,181.147
$10V_AH,13.45,0.000
$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,29.175,90.950,642.150,0.000,0.000,25.609,16.188,251.245,2.000,0.000,18.269,1192.807,578.527,716.029,1338.883,243.139,0.000,1358.137,0.000,932.156,0.000,16.414,0.000
$DEVICE_MAMPS,299.115,190.485,1078.650,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3512.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.805,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23454,621
$CAP_FILE_SIZE,114615,0
$CFSIZE,1023623168,972292096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,203104,-3419.542,2621.799,20,0.7,25,-28.0,2.4,262.6,12,10.0