version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 369
start: 4 23 119 23 14 58
data:
$ID,573
$MISSION,30
$DIVE,369
$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,320
$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,50
$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
$GPS1,230419,230002,-3420.0691,2618.2605,29,0.8,31,-28.0,2.9,216.6,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-59.2
$GPS2,230419,231432,-3420.7683,2617.1221,36,0.9,36,-28.0,2.8,223.4,10,7.4
$SPEED_LIMITS,0.172,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.496,2608.729
$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,348.0,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.84,-340.6,72,2027,574,597,0.0,0.0,0,118,0.00,0.00,-93.15,0.000,16386,0.000,0.000,72,2026,3099,3097,3102,0,0,0,0,0,0,14.95,28.83,14.95
$GC,123,-0.84,-340.6,71,2026,3097,3103,3.3,-8.3,17,159,12.85,2.47,-14.45,0.000,18692,0.300,0.092,2207,3403,3964,4005,3924,0,0,0,0,0,0,14.25,12.99,14.62
$GC,299,-0.84,-340.6,2207,3402,4002,3925,34.3,-13.2,50,306,0.00,2.35,0.00,0.000,3078,0.000,0.041,2207,2004,3964,4003,3925,0,0,0,0,0,0,14.72,14.69,14.72
$GC,370,-0.84,-340.6,2207,2004,4003,3925,43.6,-13.0,63,377,0.00,2.53,0.00,0.000,2308,0.000,0.074,2208,3403,3963,4002,3925,0,0,0,0,0,0,15.00,14.51,15.02
$GC,424,-0.84,-340.6,2207,3403,4003,3925,50.3,-12.0,73,431,0.00,2.33,0.00,0.000,3078,0.000,0.040,2207,2017,3964,4003,3925,0,0,0,0,0,0,14.61,14.50,14.63
$GC,495,-0.84,-340.6,2207,2018,4003,3925,59.1,-13.3,86,502,0.00,2.50,0.00,0.000,2308,0.000,0.073,2207,3402,3963,4002,3925,0,0,0,0,0,0,15.03,14.52,15.03
$GC,525,-0.84,-340.6,2207,3401,4002,3925,62.9,-12.7,91,532,0.00,2.35,0.00,0.000,3078,0.000,0.039,2207,2007,3964,4003,3925,0,0,0,0,0,0,14.66,14.52,14.68
$GC,596,-0.84,-340.6,2207,2007,4003,3926,71.9,-12.8,104,603,0.00,2.50,0.00,0.000,2308,0.000,0.073,2211,3401,3963,4002,3924,0,0,0,0,0,0,15.04,14.60,15.04
$GC,660,-0.84,-340.6,2206,3401,4003,3925,79.8,-12.0,116,669,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,2012,3963,4002,3925,0,0,0,0,0,0,14.64,14.54,14.65
$GC,733,-0.84,-340.6,2207,2013,4002,3925,87.7,-10.1,129,740,0.00,2.47,0.00,0.000,2308,0.000,0.073,2211,3405,3964,4003,3926,0,0,0,0,0,0,15.02,14.63,15.02
$GC,816,-0.84,-340.6,2206,3404,4003,3926,96.3,-9.8,144,823,0.00,2.35,0.00,0.000,3078,0.000,0.036,2207,2005,3964,4003,3925,0,0,0,0,0,0,14.81,14.66,14.84
$GC,887,-0.84,-340.6,2207,2005,4003,3925,103.5,-10.3,157,893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2005,3963,4002,3924,0,0,0,0,0,0,15.03,15.03,15.03
$GC,956,-0.84,-340.6,2206,2005,4003,3925,111.4,-11.8,170,962,0.00,2.50,0.00,0.000,2308,0.000,0.073,2207,3402,3962,4002,3923,0,0,0,0,0,0,15.04,14.55,15.05
$GC,980,-0.84,-340.6,2206,3402,4003,3925,114.3,-11.4,174,987,0.00,2.35,0.00,0.000,3078,0.000,0.037,2207,2004,3964,4003,3925,0,0,0,0,0,0,14.68,14.57,14.69
$GC,1051,-0.84,-340.6,2206,2003,4003,3925,121.6,-10.0,187,1058,0.00,2.50,0.00,0.000,2308,0.000,0.074,2207,3398,3964,4003,3926,0,0,0,0,0,0,15.07,14.59,15.07
$GC,1122,-0.84,-340.6,2206,3398,4003,3925,128.0,-9.0,200,1129,0.00,2.33,0.00,0.000,3078,0.000,0.036,2207,2001,3964,4003,3926,0,0,0,0,0,0,14.87,14.76,14.88
$STATE,1134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1134,begin apogee
$GC,1140,-0.19,0.0,2206,2000,4003,3925,129.7,-10.5,202,1356,1.10,0.00,209.38,1.024,10246,0.160,0.000,2423,1999,2811,2861,2762,0,0,0,0,0,0,14.45,14.33,13.68
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1360,0.84,340.6,2423,1998,2861,2762,141.2,0.0,241,1633,1.52,2.42,260.80,1.016,11012,0.090,0.064,2745,3356,1423,1482,1365,0,0,0,0,0,0,14.40,14.20,13.69
$GC,1692,0.84,340.6,2743,3356,1479,1365,113.1,10.5,300,1698,0.00,2.38,0.00,0.000,3078,0.000,0.041,2743,1960,1422,1480,1365,0,0,0,0,0,0,14.61,14.48,14.62
$GC,1763,0.88,372.6,2743,1960,1478,1365,106.8,9.3,313,1797,0.00,0.00,27.33,0.963,10758,0.000,0.000,2744,1960,1293,1358,1229,0,0,0,0,0,0,14.90,14.33,13.81
$GC,1861,0.92,407.5,2743,1960,1355,1229,98.0,9.3,331,1897,0.08,2.53,29.40,0.965,10500,0.181,0.064,2781,3359,1150,1215,1086,0,0,0,0,0,0,14.64,14.46,13.83
$GC,1945,1.05,513.3,2780,3359,1217,1086,90.7,7.9,346,2047,0.12,2.38,90.03,0.979,11270,0.123,0.041,2836,1949,718,748,688,0,0,0,0,0,0,14.65,14.62,13.73
$GC,2112,1.10,548.4,2836,1949,748,681,74.7,9.3,376,2146,0.00,2.42,26.25,0.939,10756,0.000,0.076,2836,570,599,604,595,0,0,0,0,0,0,14.84,14.47,13.78
$GC,2210,1.10,548.4,2835,570,605,586,65.1,10.6,394,2217,0.00,2.30,0.00,0.000,3078,0.000,0.039,2836,1965,594,603,586,0,0,0,0,0,0,14.75,14.66,14.76
$GC,2281,1.10,548.4,2836,1966,605,582,57.6,12.1,407,2288,0.00,2.42,0.00,0.000,2308,0.000,0.067,2836,3355,593,605,582,0,0,0,0,0,0,14.93,14.52,14.94
$GC,2310,1.10,548.4,2836,3355,605,582,53.7,11.4,412,2317,0.00,2.33,0.00,0.000,3078,0.000,0.041,2836,1977,591,604,579,0,0,0,0,0,0,14.81,14.70,14.82
$GC,2381,1.10,548.4,2836,1977,605,581,44.9,13.5,425,2388,0.00,2.45,0.00,0.000,2308,0.000,0.066,2836,3364,593,605,581,0,0,0,0,0,0,14.98,14.55,14.99
$GC,2453,1.10,548.4,2836,3364,604,578,34.8,13.7,438,2459,0.00,2.38,0.00,0.000,3078,0.000,0.041,2836,1960,592,605,579,0,0,0,0,0,0,14.82,14.69,14.85
$GC,2523,1.10,548.4,2836,1960,605,578,26.0,11.1,451,2530,0.00,2.47,0.00,0.000,2308,0.000,0.064,2836,3364,588,600,577,0,0,0,0,0,0,15.01,14.69,15.01
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.5,1.024133
$STATE,2743,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2829,0.00,0.000,0,0,588,545.54
$SM_GC,0.47,12.48,2.33,0.00,0.049,0.047,0.000,140,2007,588,-7.26,0.96,545.54,0,0,0,0,0,0,14.82,14.74,14.88
$IRIDIUM_FIX,-3404.29,2624.57,230419,203455
$TT8_MAMPS,0.019474,0.89131
$HUMID,61.26
$INTERNAL_PRESSURE,9.12109
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,90.4,54.2
$SC_FREEKB,3729248
$24V_AH,12.99,181.817
$10V_AH,13.31,0.000
$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,28.150,62.650,643.175,0.000,0.000,23.006,41.906,455.839,1.000,0.000,37.574,892.679,446.089,669.641,1434.455,243.655,0.000,1201.936,0.000,749.743,0.000,8.752,0.000
$DEVICE_MAMPS,299.880,91.800,1024.335,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.028,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16743,494
$CAP_FILE_SIZE,93147,0
$CFSIZE,1023623168,972029952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,000304,-3421.657,2615.097,19,0.9,20,-28.0,2.9,228.5,10,8.3