version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 386
start: 4 24 119 20 54 16
data:
$ID,573
$MISSION,30
$DIVE,386
$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,2
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,240419,204739,-3423.9900,2546.9404,23,0.8,33,-27.8,0.4,239.2,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.3
$GPS2,240419,205349,-3424.0083,2546.8711,21,0.8,29,-27.8,0.4,200.9,11,9.6
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.736,2538.472
$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,347.8,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.19,-340.6,77,2035,584,587,0.0,0.0,0,147,0.00,0.00,-119.53,0.000,16386,0.000,0.000,73,2036,3728,3802,3655,0,0,0,0,0,0,15.00,28.83,15.00
$GC,150,-1.19,-340.6,72,2036,3803,3654,6.6,-22.5,22,174,12.25,2.40,-3.28,0.000,18692,0.313,0.092,2092,3394,3965,4002,3929,0,0,0,0,0,0,14.13,12.90,14.35
$GC,217,-1.19,-340.6,2091,3394,4001,3930,31.8,-20.7,34,224,0.03,2.33,0.00,0.000,3078,0.479,0.041,2099,2003,3965,4001,3930,0,0,0,0,0,0,14.51,14.73,14.72
$GC,289,-1.19,-340.6,2098,2002,4002,3931,45.9,-20.6,47,295,0.00,2.40,0.00,0.000,2564,0.000,0.073,2099,608,3966,4002,3930,0,0,0,0,0,0,15.00,14.66,15.00
$GC,313,-1.19,-340.6,2099,608,4001,3930,51.6,-22.2,51,320,0.00,2.30,0.00,0.000,3078,0.000,0.045,2095,1992,3966,4002,3930,0,0,0,0,0,0,14.86,14.75,14.88
$GC,384,-1.19,-340.6,2094,1992,4002,3930,64.2,-17.3,64,391,0.00,2.47,0.00,0.000,2308,0.000,0.076,2094,3414,3966,4002,3931,0,0,0,0,0,0,15.02,14.50,15.02
$GC,515,-1.19,-340.6,2094,3414,4002,3931,86.0,-16.4,89,522,0.00,2.33,0.00,0.000,3078,0.000,0.039,2094,2010,3966,4002,3930,0,0,0,0,0,0,14.73,14.63,14.75
$GC,586,-1.19,-340.6,2094,2010,4001,3931,97.3,-15.0,102,592,0.00,2.42,0.00,0.000,2564,0.000,0.071,2094,605,3966,4002,3931,0,0,0,0,0,0,15.04,14.62,15.04
$GC,615,-1.19,-340.6,2094,605,4000,3930,101.9,-15.5,107,622,0.00,2.35,0.00,0.000,3078,0.000,0.044,2093,2016,3966,4002,3931,0,0,0,0,0,0,14.80,14.67,14.81
$GC,690,-1.19,-340.6,2093,2017,4002,3931,113.7,-16.6,120,697,0.00,2.45,0.00,0.000,2308,0.000,0.076,2089,3418,3966,4002,3931,0,0,0,0,0,0,15.07,14.55,15.04
$GC,825,-1.19,-340.6,2089,3418,4002,3931,134.3,-15.4,146,832,0.05,2.33,0.00,0.000,3078,0.332,0.037,2098,2006,3966,4002,3931,0,0,0,0,0,0,14.39,14.62,14.61
$GC,897,-1.19,-340.6,2097,2006,4002,3931,145.2,-15.7,159,903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2099,2006,3966,4002,3931,0,0,0,0,0,0,15.04,15.04,15.04
$STATE,953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,953,begin apogee
$GC,959,-0.19,0.0,2099,2006,4002,3932,154.6,-15.9,170,1182,1.67,0.00,212.93,1.121,10246,0.172,0.000,2421,2004,2812,2862,2762,0,0,0,0,0,0,14.53,14.32,13.59
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1186,1.19,340.6,2421,2004,2862,2762,168.9,0.0,210,1465,2.08,2.38,265.50,1.112,11012,0.076,0.065,2862,3365,1423,1479,1368,0,0,0,0,0,0,14.40,14.26,13.61
$GC,1544,1.36,479.8,2862,3365,1476,1368,134.1,14.5,274,1669,0.20,2.35,115.95,1.070,11270,0.096,0.045,2926,1973,857,906,808,0,0,0,0,0,0,14.59,14.57,13.62
$GC,1732,1.43,533.0,2925,1972,906,805,100.9,17.9,308,1788,0.00,2.50,48.30,1.029,10756,0.000,0.083,2926,559,636,638,635,0,0,0,0,0,0,14.78,14.33,13.69
$GC,1822,1.51,598.5,2926,559,638,632,85.3,17.4,324,1841,0.12,2.35,9.50,0.868,11270,0.127,0.036,2974,1978,598,591,605,0,0,0,0,0,0,14.51,14.48,13.64
$GC,1905,1.51,598.6,2974,1978,591,600,69.9,20.0,339,1911,0.00,2.35,0.00,0.000,260,0.000,0.061,2974,3358,595,591,599,0,0,0,0,0,0,14.84,14.57,14.84
$GC,1939,1.53,614.7,2974,3358,591,598,63.1,19.3,345,1946,0.00,2.35,0.00,0.000,1030,0.000,0.047,2981,1964,595,592,598,0,0,0,0,0,0,14.73,14.62,14.75
$GC,2010,1.57,648.2,2981,1964,591,596,50.2,18.6,358,2017,0.00,2.45,0.00,0.000,2564,0.000,0.083,2981,560,593,591,595,0,0,0,0,0,0,14.91,14.60,14.91
$GC,2040,1.64,709.2,2981,560,592,595,44.8,17.6,363,2047,0.08,2.30,0.00,0.000,3078,0.188,0.035,3017,1970,593,592,595,0,0,0,0,0,0,14.64,14.72,14.76
$GC,2111,1.64,709.2,3017,1971,591,593,29.9,22.5,376,2118,0.00,2.38,0.00,0.000,260,0.000,0.062,3017,3362,592,591,594,0,0,0,0,0,0,14.97,14.52,14.97
$GC,2125,1.64,709.2,3017,3362,592,594,26.2,23.5,378,2132,0.00,2.35,0.00,0.000,5126,0.000,0.050,3022,1965,592,591,594,0,0,0,0,0,0,14.83,14.71,14.85
$GC,2196,1.64,709.2,3021,1964,592,592,10.2,22.6,391,2203,0.00,2.45,0.00,0.000,4612,0.000,0.084,3022,560,592,592,592,0,0,0,0,0,0,14.99,14.52,15.00
$GC,2216,1.64,709.2,3021,560,592,592,5.1,23.5,394,2222,0.00,2.28,0.00,0.000,5126,0.000,0.036,3022,1959,591,591,592,0,0,0,0,0,0,14.85,14.77,14.87
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,0.1,1.018093
$STATE,2239,end surface coast,CONTROL_FINISHED_OK
$STATE,2239,begin surface
$SM_CCo,2324,0.00,0.000,0,0,590,545.05
$SM_GC,0.52,13.52,0.05,0.00,0.050,0.190,0.000,130,2032,590,-7.30,-1.33,545.05,0,0,0,0,0,0,14.76,14.78,14.83
$IRIDIUM_FIX,-3412.10,2548.35,240419,200440
$TT8_MAMPS,0.019474,0.858354
$HUMID,59.60
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,110.5,58.8
$SC_FREEKB,3720544
$24V_AH,12.90,187.150
$10V_AH,12.46,0.000
$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,30.000,52.300,652.175,0.000,0.000,26.021,19.160,81.123,1.500,0.000,30.318,673.486,321.243,671.655,856.695,181.949,0.000,1141.458,0.000,608.755,0.000,11.876,0.000
$DEVICE_MAMPS,478.890,190.485,1120.725,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2286.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.655,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13463,398
$CAP_FILE_SIZE,75194,0
$CFSIZE,1023623168,969818112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,213357,-3423.754,2546.529,16,0.9,20,-27.8,0.0,79.1,9,9.6