version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 393
start: 4 25 119 1 58 53
data:
$ID,573
$MISSION,30
$DIVE,393
$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,59
$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
$GPS1,250419,015107,-3422.3025,2545.2849,21,1.0,25,-27.7,0.3,256.5,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-63.5
$GPS2,250419,015826,-3422.2976,2545.2595,21,1.0,26,-27.7,0.7,36.2,9,9.4
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.025,2536.863
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.19,-340.6,115,2037,602,578,0.0,0.0,0,147,0.00,0.00,-119.40,0.000,16386,0.000,0.000,107,2038,3724,3798,3650,0,0,0,0,0,0,15.01,28.83,15.02
$GC,150,-1.19,-340.6,107,2038,3799,3650,6.5,-22.2,22,175,11.95,2.47,-3.35,0.000,18948,0.313,0.082,2095,610,3964,4003,3925,0,0,0,0,0,0,14.17,12.93,14.38
$GC,213,-1.19,-340.6,2094,609,4003,3925,30.7,-20.8,33,220,0.00,2.30,0.00,0.000,3078,0.000,0.047,2094,1988,3964,4003,3925,0,0,0,0,0,0,14.87,14.76,14.88
$GC,284,-1.19,-340.6,2094,1989,4003,3925,43.7,-19.0,46,291,0.00,2.47,0.00,0.000,2308,0.000,0.075,2093,3420,3964,4003,3925,0,0,0,0,0,0,15.02,14.52,15.02
$GC,367,-1.19,-340.6,2092,3417,4002,3926,57.2,-15.2,61,374,0.00,2.33,0.00,0.000,3078,0.000,0.037,2093,2013,3964,4002,3926,0,0,0,0,0,0,14.89,14.79,14.90
$GC,438,-1.19,-340.6,2092,2012,4002,3926,67.9,-15.7,74,444,0.00,0.00,0.00,0.000,2054,0.000,0.000,2097,2013,3963,4001,3925,0,0,0,0,0,0,15.02,15.02,15.03
$GC,507,-1.19,-340.6,2092,2013,4002,3925,79.4,-16.4,87,517,0.00,2.45,0.00,0.000,2308,0.000,0.073,2090,3415,3964,4002,3926,0,0,0,0,0,0,15.05,14.70,15.05
$GC,601,-1.19,-340.6,2090,3415,4002,3926,93.1,-13.0,104,608,0.05,2.33,0.00,0.000,3078,0.334,0.037,2099,2011,3964,4002,3926,0,0,0,0,0,0,14.50,14.72,14.71
$GC,673,-1.19,-340.6,2099,2011,4002,3926,102.8,-14.0,117,680,0.00,2.47,0.00,0.000,2308,0.000,0.073,2096,3427,3964,4002,3926,0,0,0,0,0,0,15.07,14.71,15.06
$STATE,700,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,700,begin apogee
$GC,709,-0.19,0.0,2096,1950,4002,3926,106.9,-12.4,122,931,1.70,0.00,211.10,1.047,10246,0.162,0.000,2425,1949,2811,2859,2763,0,0,0,0,0,0,14.55,14.35,13.64
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,935,1.19,340.6,2426,1949,2858,2763,119.1,0.0,162,1210,2.05,2.55,263.00,1.034,11012,0.088,0.063,2855,3372,1424,1479,1370,0,0,0,0,0,0,14.43,14.32,13.64
$GC,1219,1.35,466.7,2858,3372,1478,1368,91.1,15.0,211,1333,0.20,2.40,103.43,0.991,11270,0.092,0.044,2925,1963,908,964,852,0,0,0,0,0,0,14.50,14.46,13.69
$GC,1396,1.35,466.7,2924,1963,964,849,55.0,20.8,243,1403,0.00,2.47,0.00,0.000,4612,0.000,0.081,2926,559,906,964,849,0,0,0,0,0,0,14.81,14.47,14.81
$GC,1416,1.35,466.7,2926,563,964,849,51.1,20.4,246,1422,0.00,2.33,0.00,0.000,5126,0.000,0.036,2926,1974,906,964,849,0,0,0,0,0,0,14.58,14.52,14.61
$GC,1487,1.35,466.7,2925,1974,965,847,36.8,21.7,259,1494,0.00,2.40,0.00,0.000,4356,0.000,0.064,2926,3365,906,964,848,0,0,0,0,0,0,14.90,14.59,14.91
$GC,1506,1.35,466.7,2926,3365,964,847,32.3,21.8,262,1513,0.00,2.38,0.00,0.000,5126,0.000,0.047,2926,1960,905,964,847,0,0,0,0,0,0,14.73,14.62,14.74
$GC,1578,1.44,542.2,2926,1960,964,847,20.2,17.0,275,1635,0.00,0.00,49.80,0.868,10246,0.000,0.000,2926,1960,599,579,619,0,0,0,0,0,0,14.95,14.28,13.87
$STATE,1685,end climb,SURFACE_DEPTH_REACHED
$STATE,1685,begin surface coast
$FINISH,0.5,1.025529
$STATE,1702,end surface coast,CONTROL_FINISHED_OK
$STATE,1702,begin surface
$SM_CCo,1786,0.00,0.000,0,0,592,544.56
$SM_GC,0.43,13.05,0.05,0.00,0.045,0.181,0.000,147,2031,592,-7.26,-1.36,544.56,0,0,0,0,0,0,14.67,14.69,14.75
$IRIDIUM_FIX,-3406.89,2541.38,250419,011454
$TT8_MAMPS,0.019474,0.888314
$HUMID,58.26
$INTERNAL_PRESSURE,8.99413
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,18.3
$ALTIM_BOTTOM_PING,80.7,40.5
$SC_FREEKB,3716960
$24V_AH,12.93,188.798
$10V_AH,12.53,0.000
$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,29.000,33.875,627.325,0.000,0.000,24.017,41.480,81.454,0.750,0.000,28.587,454.414,224.255,624.437,705.609,227.590,0.000,1012.584,0.000,452.967,0.000,7.157,0.000
$DEVICE_MAMPS,333.540,180.540,1046.520,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.172,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,10158,298
$CAP_FILE_SIZE,56423,0
$CFSIZE,1023623168,968474624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,022934,-3422.011,2545.180,17,0.9,18,-27.7,0.0,334.4,9,7.2