version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 391
start: 4 25 119 0 38 55
data:
$ID,573
$MISSION,30
$DIVE,391
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,250419,002947,-3422.8081,2545.4895,19,1.0,22,-27.7,0.5,322.4,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-65.0
$GPS2,250419,003829,-3422.7981,2545.4565,17,1.0,19,-27.7,0.5,246.4,9,8.9
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.525,2537.060
$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,347.7,20000,-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,20,begin dive
$GC,22,-1.19,-340.6,123,2018,594,582,0.0,0.0,0,146,0.00,0.00,-118.78,0.000,16386,0.000,0.000,118,2019,3725,3800,3651,0,0,0,0,0,0,15.00,28.83,15.01
$GC,149,-1.19,-340.6,117,2020,3802,3651,6.7,-22.7,22,174,11.82,2.42,-3.33,0.000,18948,0.309,0.082,2096,610,3963,4002,3925,0,0,0,0,0,0,14.30,12.92,14.50
$GC,208,-1.19,-340.6,2095,610,4002,3927,30.0,-21.9,32,215,0.00,2.35,0.00,0.000,3078,0.000,0.047,2094,2021,3964,4003,3926,0,0,0,0,0,0,14.85,14.73,14.87
$GC,280,-1.19,-340.6,2093,2021,4002,3926,43.7,-19.7,45,286,0.00,2.42,0.00,0.000,2308,0.000,0.076,2088,3413,3965,4003,3927,0,0,0,0,0,0,15.02,14.59,15.03
$GC,380,-1.19,-340.6,2092,3413,4002,3928,61.7,-17.0,64,387,0.08,2.33,0.00,0.000,3078,0.289,0.037,2102,2011,3964,4002,3927,0,0,0,0,0,0,14.46,14.69,14.69
$GC,452,-1.19,-340.6,2101,2011,4002,3927,75.0,-19.8,77,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2102,2011,3965,4002,3928,0,0,0,0,0,0,15.04,15.04,15.04
$GC,525,-1.19,-340.6,2102,2011,4003,3928,89.7,-19.2,90,531,0.00,2.45,0.00,0.000,2308,0.000,0.073,2099,3412,3965,4002,3928,0,0,0,0,0,0,15.04,14.62,15.05
$GC,635,-1.19,-340.6,2099,3412,4002,3928,108.7,-17.3,111,642,0.00,2.35,0.00,0.000,3078,0.000,0.037,2099,2005,3965,4002,3928,0,0,0,0,0,0,14.82,14.71,14.83
$STATE,688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,688,begin apogee
$GC,695,-0.19,0.0,2099,1944,4002,3928,117.9,-16.6,121,917,1.62,0.00,210.80,1.062,10246,0.166,0.000,2422,1942,2810,2859,2762,0,0,0,0,0,0,14.42,14.15,13.64
$STATE,919,end apogee,CONTROL_FINISHED_OK
$STATE,919,begin climb
$GC,921,1.19,340.6,2422,1942,2858,2762,132.0,0.0,161,1199,2.05,2.45,262.75,1.048,10756,0.080,0.078,2865,585,1423,1478,1368,0,0,0,0,0,0,14.43,14.31,13.64
$GC,1228,1.23,368.8,2866,585,1477,1367,99.6,18.9,214,1258,0.00,2.33,23.85,0.962,11270,0.000,0.038,2866,1973,1307,1366,1248,0,0,0,0,0,0,14.57,14.50,13.69
$GC,1322,1.28,414.0,2863,1973,1366,1249,82.6,18.2,231,1368,0.08,2.40,37.83,0.975,10500,0.179,0.063,2912,3362,1124,1184,1064,0,0,0,0,0,0,14.60,14.24,13.73
$GC,1392,1.31,437.0,2911,3362,1184,1064,69.3,19.1,243,1422,0.00,2.35,21.15,0.933,13318,0.000,0.045,2915,1980,1029,1088,971,0,0,0,0,0,0,14.57,14.47,13.76
$GC,1485,1.35,470.5,2915,1976,1088,969,51.6,18.6,260,1520,0.00,2.55,29.42,0.942,10756,0.000,0.080,2916,552,892,943,841,0,0,0,0,0,0,14.85,14.47,13.75
$GC,1559,1.44,540.5,2916,552,943,838,37.8,17.2,273,1629,0.08,2.35,61.45,0.948,11270,0.184,0.036,2959,1977,608,594,623,0,0,0,0,0,0,14.57,14.63,13.76
$GC,1692,1.45,554.0,2958,1977,592,615,12.7,19.4,297,1700,0.00,2.38,0.88,0.180,12548,0.000,0.063,2958,3353,598,584,612,0,0,0,0,0,0,14.83,14.50,14.40
$GC,1713,1.47,564.4,2958,3354,584,610,8.7,19.6,300,1720,0.00,2.38,0.00,0.000,1030,0.000,0.047,2960,1960,597,584,610,0,0,0,0,0,0,14.66,14.55,14.68
$STATE,1744,end climb,SURFACE_DEPTH_REACHED
$STATE,1744,begin surface coast
$FINISH,0.3,1.025492
$STATE,1761,end surface coast,CONTROL_FINISHED_OK
$STATE,1762,begin surface
$SM_CCo,1846,0.00,0.000,0,0,595,543.82
$SM_GC,0.48,13.25,0.00,0.00,0.050,0.000,0.000,140,1960,595,-7.28,-1.50,543.82,0,0,0,0,0,0,14.71,14.92,14.77
$IRIDIUM_FIX,-3409.50,2544.86,250419,003345
$TT8_MAMPS,0.018725,0.80143
$HUMID,58.34
$INTERNAL_PRESSURE,8.99413
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,80.2,52.7
$SC_FREEKB,3717984
$24V_AH,12.92,188.347
$10V_AH,12.54,0.000
$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,28.975,33.525,648.125,0.000,0.000,48.353,69.502,73.216,0.750,0.000,19.620,475.220,292.632,636.670,760.018,213.482,0.000,1032.184,0.000,472.556,0.000,7.208,0.000
$DEVICE_MAMPS,309.060,290.700,1061.820,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1805.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.538,0.000,0.000,0.000
$MEM,339508
$DATA_FILE_SIZE,10158,309
$CAP_FILE_SIZE,60215,0
$CFSIZE,1023623168,968851456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1137.63,0x23609a,1,24
$GPS,250419,011048,-3422.571,2545.417,16,0.9,30,-27.7,0.0,257.3,10,10.0