version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 379
start: 4 24 119 14 10 29
data:
$ID,573
$MISSION,30
$DIVE,379
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,6
$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,167
$T_MISSION,177
$T_ABORT,245
$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,350
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,240419,140001,-3425.4216,2552.3318,25,1.0,29,-27.9,1.5,233.2,8,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-64.8
$GPS2,240419,141004,-3425.6809,2551.7812,30,1.0,32,-27.9,2.0,259.8,8,9.5
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.408,2543.379
$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,347.9,20000,-20.9,-19.960,-22.72,2620
$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,-1.19,-340.6,72,2026,574,592,0.0,0.0,0,140,0.00,0.00,-113.82,0.000,16386,0.000,0.000,72,2027,3591,3635,3547,0,0,0,0,0,0,14.90,28.83,14.92
$GC,143,-1.19,-340.6,71,2027,3635,3547,6.2,-21.0,21,168,12.30,2.40,-5.47,0.000,18692,0.310,0.096,2088,3392,3964,4004,3924,0,0,0,0,0,0,14.13,13.57,14.29
$GC,301,-1.19,-340.6,2088,3393,4000,3930,42.2,-19.5,51,309,0.08,2.33,0.00,0.000,3078,0.285,0.041,2102,2003,3965,4000,3930,0,0,0,0,0,0,14.42,14.69,14.66
$GC,372,-1.19,-340.6,2101,2003,4000,3930,55.9,-20.3,64,379,0.00,2.42,0.00,0.000,2564,0.000,0.071,2100,606,3965,4000,3930,0,0,0,0,0,0,14.97,14.60,14.98
$GC,386,-1.19,-340.6,2102,606,4000,3930,59.1,-21.2,66,393,0.00,2.33,0.00,0.000,3078,0.000,0.046,2100,1992,3965,4000,3930,0,0,0,0,0,0,14.80,14.68,14.84
$GC,458,-1.19,-340.6,2101,1992,4000,3930,70.7,-16.0,79,464,0.00,2.50,0.00,0.000,2308,0.000,0.077,2101,3416,3964,4000,3929,0,0,0,0,0,0,14.98,14.60,14.99
$GC,673,-1.19,-340.6,2101,3417,4000,3927,108.1,-16.7,121,680,0.00,2.33,0.00,0.000,3078,0.000,0.038,2101,2010,3965,4000,3930,0,0,0,0,0,0,14.66,14.57,14.67
$GC,745,-1.19,-340.6,2101,2010,4000,3930,119.7,-16.2,134,751,0.00,0.00,0.00,0.000,2054,0.000,0.000,2101,2010,3965,4000,3930,0,0,0,0,0,0,15.01,15.01,15.01
$GC,815,-1.19,-340.6,2100,2010,4001,3931,131.4,-16.9,147,822,0.00,2.50,0.00,0.000,2308,0.000,0.073,2099,3419,3965,4001,3930,0,0,0,0,0,0,15.02,14.62,15.03
$GC,911,-1.19,-340.6,2098,3419,4001,3930,146.9,-16.0,165,918,0.00,2.35,0.00,0.000,3078,0.000,0.037,2099,2007,3965,4000,3930,0,0,0,0,0,0,14.83,14.76,14.85
$GC,982,-1.19,-340.6,2098,2006,4000,3930,158.4,-16.4,178,989,0.00,2.47,0.00,0.000,2308,0.000,0.072,2094,3414,3965,4001,3930,0,0,0,0,0,0,15.01,14.62,15.01
$GC,1027,-1.19,-340.6,2094,3414,4001,3930,166.4,-15.6,186,1034,0.00,2.33,0.00,0.000,3078,0.000,0.037,2095,2008,3965,4001,3930,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1099,-1.19,-340.6,2094,2008,4001,3930,178.0,-17.4,199,1105,0.00,0.00,0.00,0.000,2054,0.000,0.000,2095,2008,3965,4001,3930,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1169,-1.19,-340.6,2094,2008,4001,3930,190.1,-17.3,212,1176,0.00,2.47,0.00,0.000,2308,0.000,0.073,2094,3414,3965,4001,3930,0,0,0,0,0,0,15.02,14.51,15.02
$GC,1246,-1.19,-340.6,2094,3415,4001,3930,203.2,-15.9,226,1252,0.00,2.33,0.00,0.000,3078,0.000,0.037,2094,2010,3965,4001,3930,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1318,-1.19,-340.6,2094,2010,4000,3930,215.6,-17.9,239,1324,0.00,2.45,0.00,0.000,2308,0.000,0.072,2092,3420,3965,4001,3930,0,0,0,0,0,0,15.06,14.64,15.06
$GC,1354,-1.19,-340.6,2092,3421,4001,3930,222.6,-17.3,245,1360,0.00,2.33,0.00,0.000,3078,0.000,0.037,2092,2004,3965,4001,3930,0,0,0,0,0,0,14.84,14.72,14.86
$GC,1424,-1.19,-340.6,2092,2004,4001,3930,235.2,-18.3,258,1431,0.00,2.47,0.00,0.000,2308,0.000,0.073,2092,3424,3965,4001,3930,0,0,0,0,0,0,15.05,14.64,15.05
$GC,1465,-1.19,-340.6,2092,3424,4001,3930,242.3,-16.9,265,1471,0.00,2.33,0.00,0.000,3078,0.000,0.037,2092,2007,3965,4001,3930,0,0,0,0,0,0,14.87,14.75,14.88
$GC,1538,-1.19,-340.6,2092,2007,4001,3930,254.5,-17.5,278,1545,0.00,2.47,0.00,0.000,2308,0.000,0.073,2092,3421,3965,4001,3930,0,0,0,0,0,0,15.05,14.63,15.05
$GC,1581,-1.19,-340.6,2092,3421,4000,3930,262.4,-15.8,285,1588,0.00,2.33,0.00,0.000,3078,0.000,0.036,2092,2013,3965,4001,3930,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1652,-1.19,-340.6,2092,2012,4001,3930,274.5,-17.7,298,1659,0.00,2.45,0.00,0.000,2308,0.000,0.074,2088,3414,3965,4000,3930,0,0,0,0,0,0,15.04,14.62,15.04
$GC,1733,-1.19,-340.6,2087,3414,4000,3930,289.0,-17.4,313,1741,0.08,2.33,0.00,0.000,3078,0.276,0.038,2102,2005,3965,4000,3930,0,0,0,0,0,0,14.47,14.73,14.69
$STATE,1756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1756,begin apogee
$GC,1762,-0.19,0.0,2103,2005,4000,3930,293.8,-18.0,317,1987,1.70,0.00,219.98,1.338,10246,0.181,0.000,2422,2004,2811,2867,2755,0,0,0,0,0,0,14.40,14.26,13.45
$STATE,1989,end apogee,CONTROL_FINISHED_OK
$STATE,1989,begin climb
$GC,1992,1.19,340.6,2422,2004,2869,2754,303.7,0.0,340,2279,2.10,2.62,271.95,1.315,11012,0.092,0.082,2866,566,1424,1482,1367,0,0,0,0,0,0,14.32,14.19,13.48
$GC,2286,1.35,466.1,2865,565,1483,1365,276.1,15.0,379,2404,0.17,2.38,107.80,1.268,11270,0.116,0.041,2913,1985,911,971,851,0,0,0,0,0,0,14.38,14.38,13.50
$GC,2467,1.35,466.1,2913,1985,970,850,239.6,21.6,412,2473,0.00,2.38,0.00,0.000,2308,0.000,0.064,2913,3361,909,970,849,0,0,0,0,0,0,14.74,14.47,14.75
$GC,2491,1.35,466.1,2913,3361,970,849,234.0,23.2,416,2498,0.00,2.38,0.00,0.000,3078,0.000,0.050,2916,1969,909,970,849,0,0,0,0,0,0,14.64,14.52,14.66
$GC,2562,1.35,466.1,2915,1968,970,849,219.2,22.0,429,2569,0.00,2.47,0.00,0.000,2564,0.000,0.084,2919,562,909,969,849,0,0,0,0,0,0,14.85,14.54,14.85
$GC,2586,1.35,466.1,2918,562,970,848,213.4,21.2,433,2593,0.00,2.33,0.00,0.000,1030,0.000,0.038,2919,1977,910,971,849,0,0,0,0,0,0,14.73,14.63,14.74
$GC,2658,1.35,466.1,2918,1977,970,848,198.8,21.2,446,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1977,908,969,848,0,0,0,0,0,0,14.90,14.91,14.90
$GC,2726,1.35,466.1,2918,1977,970,847,183.9,21.4,459,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1977,909,970,848,0,0,0,0,0,0,14.93,14.94,14.95
$GC,2795,1.35,466.1,2919,1977,969,847,169.5,21.2,472,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1977,908,970,847,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2863,1.35,466.1,2918,1977,970,847,154.7,22.2,485,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1977,908,969,847,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2931,1.35,466.1,2918,1977,970,847,140.1,21.3,498,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1977,908,969,847,0,0,0,0,0,0,14.99,14.99,15.00
$GC,3000,1.35,466.1,2918,1977,969,847,125.6,21.2,511,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1977,908,969,847,0,0,0,0,0,0,14.98,14.99,14.99
$GC,3069,1.35,466.1,2918,1977,969,847,111.6,21.0,524,3075,0.00,2.33,0.00,0.000,260,0.000,0.065,2919,3352,906,966,847,0,0,0,0,0,0,15.01,14.51,15.01
$GC,3092,1.35,466.1,2919,3352,969,846,106.7,20.7,528,3099,0.00,2.33,0.00,0.000,1030,0.000,0.050,2919,1964,907,969,846,0,0,0,0,0,0,14.82,14.70,14.84
$GC,3163,1.47,565.2,2919,1964,969,846,94.2,16.1,541,3241,0.08,0.00,70.05,1.138,11014,0.184,0.000,2961,1964,599,574,624,0,0,0,0,0,0,14.71,14.40,13.67
$GC,3306,1.47,565.2,2962,1964,573,620,64.6,22.2,567,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1964,596,573,620,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3375,1.47,565.2,2961,1964,573,617,50.4,20.0,580,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1964,594,573,616,0,0,0,0,0,0,14.87,14.87,14.87
$GC,3443,1.47,565.2,2961,1964,575,613,36.5,20.8,593,3450,0.00,2.47,0.00,0.000,516,0.000,0.087,2964,560,593,573,613,0,0,0,0,0,0,14.90,14.39,14.91
$GC,3487,1.47,565.2,2963,560,573,612,27.4,20.2,601,3494,0.00,2.30,0.00,0.000,5126,0.000,0.037,2964,1958,592,573,612,0,0,0,0,0,0,14.77,14.68,14.79
$GC,3559,1.48,574.2,2963,1958,573,610,14.2,19.6,614,3565,0.00,2.40,0.00,0.000,260,0.000,0.067,2965,3360,591,573,609,0,0,0,0,0,0,14.94,14.47,14.95
$GC,3589,1.53,615.9,2964,3361,573,609,8.1,18.3,619,3595,0.00,2.35,0.00,0.000,3078,0.000,0.048,2964,1964,591,573,609,0,0,0,0,0,0,14.64,14.51,14.66
$STATE,3616,end climb,SURFACE_DEPTH_REACHED
$STATE,3616,begin surface coast
$FINISH,0.6,1.025476
$STATE,3632,end surface coast,CONTROL_FINISHED_OK
$STATE,3632,begin surface
$SM_CCo,3718,0.00,0.000,0,0,590,545.05
$SM_GC,0.44,13.43,0.05,0.00,0.057,0.197,0.000,138,2014,590,-7.26,-1.27,545.05,0,0,0,0,0,0,14.73,14.73,14.80
$IRIDIUM_FIX,-3412.10,2554.19,240419,124641
$TT8_MAMPS,0.019474,0.871836
$HUMID,64.41
$INTERNAL_PRESSURE,8.87694
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,260.4,48.0
$SC_FREEKB,3724128
$24V_AH,13.45,185.224
$10V_AH,12.44,0.000
$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,29.925,76.675,669.775,0.000,0.000,26.704,42.258,270.887,6.000,0.000,32.721,1254.554,596.555,768.524,1453.719,250.933,0.000,1424.514,0.000,969.978,0.000,37.961,0.000
$DEVICE_MAMPS,309.825,196.605,1337.985,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3689.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.792,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20113,627
$CAP_FILE_SIZE,119343,0
$CFSIZE,1023623168,970637312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1891.82,0x23609a,2,24
$GPS,240419,151322,-3425.272,2550.973,17,0.8,18,-27.8,0.6,227.6,11,8.3