version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 387
start: 4 24 119 21 42 46
data:
$ID,573
$MISSION,30
$DIVE,387
$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,31
$R_STBD_OVSHOOT,60
$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
$GPS1,240419,213357,-3423.7539,2546.5286,16,0.9,20,-27.8,0.0,79.1,9,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-63.0
$GPS2,240419,214219,-3423.7710,2546.4502,16,0.9,19,-27.8,0.0,0.0,9,9.8
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.498,2538.052
$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,-340.6,73,2040,589,585,0.0,0.0,0,147,0.00,0.00,-119.68,0.000,16386,0.000,0.000,72,2040,3719,3790,3648,0,0,0,0,0,0,14.99,28.83,15.00
$GC,150,-1.19,-340.6,72,2040,3791,3648,6.2,-19.5,22,175,12.23,2.38,-3.42,0.000,18692,0.311,0.093,2089,3383,3965,4002,3929,0,0,0,0,0,0,14.17,12.88,14.40
$GC,218,-1.19,-340.6,2089,3383,4001,3930,32.8,-21.4,34,225,0.05,2.30,0.00,0.000,3078,0.338,0.041,2099,2000,3965,4001,3930,0,0,0,0,0,0,14.50,14.72,14.72
$GC,290,-1.19,-340.6,2099,1999,4001,3930,47.1,-21.0,47,297,0.00,2.40,0.00,0.000,2564,0.000,0.071,2099,610,3965,4001,3930,0,0,0,0,0,0,15.01,14.57,15.01
$GC,309,-1.19,-340.6,2099,610,4001,3930,51.7,-21.7,50,316,0.00,2.30,0.00,0.000,3078,0.000,0.049,2097,1988,3965,4001,3930,0,0,0,0,0,0,14.68,14.57,14.69
$GC,380,-1.19,-340.6,2096,1988,4001,3930,65.8,-20.0,63,387,0.00,2.50,0.00,0.000,2308,0.000,0.076,2091,3419,3965,4001,3930,0,0,0,0,0,0,15.02,14.59,15.03
$GC,480,-1.19,-340.6,2091,3419,4001,3930,84.7,-17.3,82,488,0.05,2.35,0.00,0.000,3078,0.341,0.041,2100,2004,3965,4001,3930,0,0,0,0,0,0,14.45,14.66,14.68
$GC,552,-1.19,-340.6,2099,2004,4001,3930,97.4,-16.1,95,557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2100,2004,3966,4001,3931,0,0,0,0,0,0,15.03,15.04,15.04
$GC,622,-1.19,-340.6,2100,2004,4001,3931,109.0,-16.3,108,633,0.00,0.00,0.00,0.000,2054,0.000,0.000,2100,2004,3965,4001,3930,0,0,0,0,0,0,15.02,15.02,15.02
$GC,697,-1.19,-340.6,2100,2003,4001,3930,121.4,-15.4,121,704,0.00,2.47,0.00,0.000,2308,0.000,0.074,2100,3413,3965,4001,3930,0,0,0,0,0,0,15.02,14.67,15.03
$GC,788,-1.19,-340.6,2100,3412,4002,3931,135.4,-15.7,138,795,0.00,2.33,0.00,0.000,3078,0.000,0.041,2100,2011,3965,4001,3930,0,0,0,0,0,0,14.88,14.76,14.90
$GC,860,-1.19,-340.6,2100,2011,4001,3931,145.9,-15.4,151,866,0.00,2.42,0.00,0.000,2564,0.000,0.071,2100,611,3965,4001,3930,0,0,0,0,0,0,15.04,14.55,15.04
$GC,880,-1.19,-340.6,2100,611,4001,3931,149.1,-14.8,154,886,0.00,2.33,0.00,0.000,3078,0.000,0.045,2099,2015,3966,4002,3930,0,0,0,0,0,0,14.70,14.58,14.72
$STATE,912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,912,begin apogee
$GC,918,-0.19,0.0,2099,1942,4001,3931,154.4,-14.6,160,1141,1.65,0.00,213.32,1.116,10246,0.169,0.000,2426,1939,2811,2861,2762,0,0,0,0,0,0,14.54,14.33,13.59
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1145,1.19,340.6,2425,1940,2861,2762,167.1,0.0,200,1422,2.05,2.55,265.88,1.104,11012,0.083,0.066,2860,3362,1423,1478,1368,0,0,0,0,0,0,14.40,14.31,13.62
$GC,1432,1.23,374.4,2860,3362,1478,1368,137.0,18.6,249,1467,0.00,2.38,28.23,1.037,11270,0.000,0.047,2866,1979,1286,1346,1226,0,0,0,0,0,0,14.49,14.38,13.61
$GC,1531,1.31,436.6,2866,1979,1348,1226,118.9,17.5,267,1593,0.08,2.50,53.15,1.039,10756,0.184,0.083,2913,561,1032,1092,973,0,0,0,0,0,0,14.55,14.32,13.69
$GC,1602,1.31,436.6,2912,561,1093,973,104.2,21.0,279,1609,0.00,2.38,0.00,0.000,5126,0.000,0.040,2913,1971,1032,1092,973,0,0,0,0,0,0,14.60,14.52,14.62
$GC,1674,1.35,467.1,2913,1972,1093,970,90.9,18.8,292,1708,0.00,0.00,27.25,0.989,10246,0.000,0.000,2913,1972,906,963,850,0,0,0,0,0,0,14.82,14.25,13.73
$GC,1771,1.41,517.3,2913,1972,963,848,73.4,18.0,310,1823,0.00,2.42,44.47,1.004,10500,0.000,0.064,2913,3370,701,725,678,0,0,0,0,0,0,14.85,14.25,13.72
$GC,1837,1.48,573.7,2913,3370,724,675,61.8,17.7,321,1868,0.15,2.40,23.40,0.953,11270,0.116,0.048,2965,1964,600,600,601,0,0,0,0,0,0,14.54,14.52,13.71
$GC,1931,1.48,573.7,2965,1964,599,594,41.0,22.0,338,1938,0.00,2.47,0.00,0.000,516,0.000,0.083,2969,561,596,599,594,0,0,0,0,0,0,14.83,14.47,14.83
$GC,1956,1.48,573.7,2969,561,599,594,35.8,21.4,342,1963,0.00,2.35,0.00,0.000,5126,0.000,0.037,2969,1978,596,599,593,0,0,0,0,0,0,14.62,14.52,14.63
$GC,2027,1.48,577.3,2968,1978,599,590,22.1,19.8,355,2033,0.00,0.00,0.00,0.000,4102,0.000,0.000,2969,1978,594,599,590,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2098,1.53,614.8,2968,1977,599,587,8.6,18.5,368,2105,0.00,2.38,0.00,0.000,2308,0.000,0.062,2969,3362,593,599,587,0,0,0,0,0,0,14.95,14.65,14.95
$GC,2118,1.57,644.4,2968,3362,599,586,4.4,18.8,371,2124,0.00,2.38,0.00,0.000,3078,0.000,0.049,2971,1961,590,594,586,0,0,0,0,0,0,14.81,14.67,14.83
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,-0.3,1.025453
$STATE,2146,end surface coast,CONTROL_FINISHED_OK
$STATE,2146,begin surface
$SM_CCo,2231,0.00,0.000,0,0,591,544.80
$SM_GC,0.47,13.27,0.05,0.00,0.054,0.185,0.000,148,2030,591,-7.26,-1.39,544.80,0,0,0,0,0,0,14.72,14.75,14.81
$IRIDIUM_FIX,-3409.50,2547.21,240419,213724
$TT8_MAMPS,0.019474,0.899549
$HUMID,59.41
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,110.6,58.7
$SC_FREEKB,3720032
$24V_AH,12.88,187.399
$10V_AH,12.49,0.000
$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,29.525,48.100,655.700,0.000,0.000,47.416,36.767,104.226,1.500,0.000,20.591,627.812,357.005,675.800,878.195,203.614,0.000,1135.376,0.000,570.954,0.000,11.838,0.000
$DEVICE_MAMPS,341.190,185.130,1116.135,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.114,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13473,376
$CAP_FILE_SIZE,76174,0
$CFSIZE,1023623168,969621504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1252.70,0x23609a,1,24
$GPS,240419,222101,-3423.537,2546.156,19,0.8,27,-27.8,0.0,232.9,11,9.7