version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 388
start: 4 24 119 22 27 58
data:
$ID,573
$MISSION,30
$DIVE,388
$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,58
$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
$GPS1,240419,222101,-3423.5374,2546.1558,19,0.8,27,-27.8,0.0,232.9,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-62.5
$GPS2,240419,222731,-3423.5464,2546.0930,16,0.8,19,-27.8,0.9,283.3,11,8.7
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.274,2537.695
$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,-340.6,102,2030,595,581,0.0,0.0,0,147,0.00,0.00,-119.32,0.000,16386,0.000,0.000,87,2031,3687,3754,3621,0,0,0,0,0,0,15.00,28.83,15.00
$GC,150,-1.19,-340.6,87,2031,3755,3621,6.3,-22.4,22,175,12.12,2.42,-3.95,0.000,18948,0.313,0.078,2094,596,3965,4004,3926,0,0,0,0,0,0,14.13,12.90,14.35
$GC,187,-1.19,-340.6,2093,596,4004,3928,24.8,-39.6,28,195,0.08,2.35,0.00,0.000,3078,0.308,0.047,2102,1997,3964,4002,3927,0,0,0,0,0,0,14.47,14.73,14.73
$GC,259,-1.19,-340.6,2102,1997,4004,3928,39.1,-18.7,41,266,0.00,2.47,0.00,0.000,2308,0.000,0.076,2096,3413,3966,4004,3928,0,0,0,0,0,0,15.02,14.50,15.02
$GC,390,-1.19,-340.6,2095,3413,4002,3930,62.9,-17.5,66,397,0.00,2.33,0.00,0.000,3078,0.000,0.038,2096,2003,3966,4003,3930,0,0,0,0,0,0,14.71,14.58,14.73
$GC,461,-1.19,-340.6,2095,2003,4003,3930,75.4,-17.9,79,468,0.00,2.50,0.00,0.000,2308,0.000,0.073,2094,3424,3966,4002,3930,0,0,0,0,0,0,15.04,14.66,15.04
$GC,533,-1.19,-340.6,2094,3424,4003,3930,88.6,-17.3,92,540,0.00,2.33,0.00,0.000,3078,0.000,0.036,2094,2015,3966,4002,3930,0,0,0,0,0,0,14.88,14.77,14.89
$GC,607,-1.19,-340.6,2094,2014,4003,3930,100.7,-17.1,105,613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2094,2014,3966,4003,3930,0,0,0,0,0,0,15.05,15.05,15.05
$GC,679,-1.19,-340.6,2094,2014,4003,3930,112.6,-16.6,118,686,0.00,2.47,0.00,0.000,2308,0.000,0.073,2091,3423,3966,4003,3930,0,0,0,0,0,0,15.05,14.52,15.05
$GC,780,-1.19,-340.6,2091,3423,4003,3930,129.9,-16.7,137,788,0.05,2.33,0.00,0.000,3078,0.327,0.037,2101,2011,3966,4003,3930,0,0,0,0,0,0,14.45,14.64,14.68
$GC,852,-1.19,-340.6,2100,2011,4003,3930,141.7,-16.9,150,859,0.00,2.40,0.00,0.000,2564,0.000,0.067,2101,608,3967,4003,3931,0,0,0,0,0,0,15.04,14.70,15.04
$GC,887,-1.19,-340.6,2100,608,4003,3930,147.8,-17.0,156,894,0.00,2.35,0.00,0.000,3078,0.000,0.044,2100,2027,3966,4003,3930,0,0,0,0,0,0,14.88,14.76,14.90
$STATE,899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,899,begin apogee
$GC,905,-0.19,0.0,2101,1934,4002,3930,149.8,-15.4,158,1128,1.67,0.00,212.75,1.115,10246,0.168,0.000,2422,1932,2811,2860,2762,0,0,0,0,0,0,14.35,14.28,13.55
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1132,1.19,340.6,2423,1932,2860,2763,161.2,0.0,198,1411,2.08,2.53,266.08,1.097,11012,0.080,0.064,2864,3365,1423,1479,1368,0,0,0,0,0,0,14.40,14.31,13.64
$GC,1420,1.27,406.6,2864,3365,1478,1367,131.3,17.4,248,1483,0.05,2.35,54.08,1.052,11270,0.251,0.045,2896,1992,1154,1217,1092,0,0,0,0,0,0,14.35,14.44,13.65
$GC,1548,1.29,423.1,2896,1992,1218,1091,106.6,19.3,271,1572,0.00,2.53,15.40,0.981,10756,0.000,0.080,2905,557,1088,1149,1027,0,0,0,0,0,0,14.79,14.47,13.71
$GC,1585,1.29,423.1,2901,557,1149,1027,98.9,21.4,277,1591,0.00,2.35,0.00,0.000,1030,0.000,0.039,2905,1961,1088,1149,1028,0,0,0,0,0,0,14.66,14.58,14.67
$GC,1656,1.29,423.1,2904,1962,1150,1026,85.5,20.5,290,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1962,1088,1150,1027,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1724,1.34,463.9,2905,1962,1150,1026,72.9,18.4,303,1770,0.00,2.45,36.08,0.995,10500,0.000,0.064,2905,3364,921,979,863,0,0,0,0,0,0,14.92,14.50,13.76
$GC,1777,1.34,463.9,2904,3363,979,862,62.7,20.0,312,1784,0.00,2.38,0.00,0.000,3078,0.000,0.047,2906,1962,920,979,862,0,0,0,0,0,0,14.59,14.48,14.60
$GC,1848,1.38,490.3,2906,1962,978,861,49.9,18.9,325,1878,0.00,2.53,23.98,0.955,10756,0.000,0.081,2906,556,812,856,769,0,0,0,0,0,0,14.89,14.45,13.77
$GC,1896,1.47,566.1,2906,556,856,767,41.4,17.0,333,1953,0.15,2.35,48.10,0.975,11270,0.113,0.036,2961,1981,598,579,618,0,0,0,0,0,0,14.62,14.63,13.75
$GC,2020,1.48,571.1,2960,1981,577,612,17.2,19.8,355,2026,0.00,2.38,0.00,0.000,260,0.000,0.061,2961,3364,594,577,611,0,0,0,0,0,0,14.83,14.55,14.83
$GC,2049,1.48,573.4,2960,3364,576,610,11.6,19.9,360,2056,0.00,2.38,0.00,0.000,5126,0.000,0.044,2967,1962,593,577,610,0,0,0,0,0,0,14.73,14.61,14.74
$STATE,2096,end climb,SURFACE_DEPTH_REACHED
$STATE,2096,begin surface coast
$FINISH,-0.1,1.025454
$STATE,2114,end surface coast,CONTROL_FINISHED_OK
$STATE,2114,begin surface
$SM_CCo,2199,0.00,0.000,0,0,590,545.29
$SM_GC,0.50,13.27,0.05,0.00,0.049,0.181,0.000,141,2028,590,-7.27,-1.36,545.29,0,0,0,0,0,0,14.71,14.71,14.78
$IRIDIUM_FIX,-3409.50,2547.21,240419,213952
$TT8_MAMPS,0.019474,0.874083
$HUMID,59.37
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,110.5,53.8
$SC_FREEKB,3719520
$24V_AH,12.90,187.645
$10V_AH,12.50,0.000
$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,29.475,48.300,656.450,0.000,0.000,24.520,41.480,77.132,1.500,0.000,19.736,616.863,297.687,672.145,816.986,196.089,0.000,1121.446,0.000,564.780,0.000,13.365,0.000
$DEVICE_MAMPS,327.420,181.305,1115.370,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.573,0.000,0.000,0.000
$MEM,339548
$DATA_FILE_SIZE,13407,372
$CAP_FILE_SIZE,72428,0
$CFSIZE,1023623168,969424896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,230555,-3423.292,2545.895,29,1.0,41,-27.8,0.3,150.3,9,7.4