version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 35
start: 4 1 119 1 14 29
data:
$ID,573
$MISSION,30
$DIVE,35
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,182
$T_ABORT,197
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,37
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,010419,010304,-2852.9561,3215.9768,19,0.8,30,-23.7,0.9,209.3,11,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-61.3
$GPS2,010419,011404,-2853.2605,3215.8562,29,0.8,30,-23.7,0.8,191.8,11,9.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2858.144,3226.866
$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,140.6,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,72,1976,580,581,0.0,0.0,0,109,0.00,0.00,-86.62,0.000,16386,0.000,0.000,72,1977,2972,2984,2960,0,0,0,0,0,0,15.00,28.83,15.00
$GC,112,-0.85,-146.0,72,1977,2983,2960,3.1,-7.6,15,138,12.55,2.40,-7.60,0.000,18948,0.305,0.083,2206,576,3409,3444,3375,0,0,0,0,0,0,14.46,13.36,14.64
$GC,236,-0.85,-146.0,2205,576,3445,3375,35.5,-15.7,38,243,0.00,2.33,0.00,0.000,3078,0.000,0.045,2204,1990,3410,3445,3375,0,0,0,0,0,0,14.90,14.81,14.92
$GC,305,-0.85,-146.0,2203,1990,3445,3375,46.9,-16.1,51,311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1990,3410,3446,3375,0,0,0,0,0,0,15.05,15.06,15.06
$GC,373,-0.85,-146.0,2203,1990,3445,3375,57.4,-15.9,64,380,0.00,2.38,0.00,0.000,2308,0.000,0.068,2204,3393,3410,3446,3375,0,0,0,0,0,0,15.07,14.78,15.08
$GC,407,-0.85,-146.0,2204,3394,3445,3375,62.6,-16.7,70,414,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1985,3410,3446,3375,0,0,0,0,0,0,14.95,14.85,14.96
$GC,475,-0.85,-146.0,2203,1985,3446,3375,72.0,-14.5,83,482,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3386,3410,3446,3375,0,0,0,0,0,0,15.08,14.73,15.08
$GC,503,-0.85,-146.0,2203,3386,3446,3376,75.9,-13.5,88,510,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,1986,3410,3446,3375,0,0,0,0,0,0,14.95,14.85,14.96
$GC,572,-0.85,-146.0,2204,1986,3446,3375,86.0,-15.4,101,580,0.00,2.40,0.00,0.000,2308,0.000,0.066,2204,3392,3410,3446,3375,0,0,0,0,0,0,15.10,14.79,15.10
$GC,602,-0.85,-146.0,2204,3392,3446,3376,90.2,-13.8,106,609,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1981,3408,3446,3371,0,0,0,0,0,0,14.95,14.85,14.97
$GC,671,-0.85,-146.0,2203,1980,3446,3375,99.2,-14.1,119,679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1981,3410,3446,3375,0,0,0,0,0,0,15.09,15.09,15.09
$GC,742,-0.85,-146.0,2203,1979,3447,3375,107.8,-11.3,132,748,0.00,2.35,0.00,0.000,2564,0.000,0.067,2204,585,3411,3447,3375,0,0,0,0,0,0,15.11,14.80,15.11
$GC,836,-0.85,-146.0,2203,584,3447,3374,107.7,0.2,150,842,0.00,2.30,0.00,0.000,3078,0.000,0.043,2204,1993,3410,3447,3374,0,0,0,0,0,0,14.90,14.82,14.92
$STATE,893,end dive,NO_VERTICAL_VELOCITY
$STATE,893,begin apogee
$GC,897,-0.19,0.0,2204,1993,3447,3373,107.7,0.0,161,1011,1.05,0.00,106.28,1.024,10246,0.097,0.000,2430,1995,2811,2849,2774,0,0,0,0,0,0,14.71,14.55,14.05
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1013,begin climb
$GC,1015,0.85,146.0,2431,1995,2849,2774,107.9,0.0,181,1133,1.48,2.45,108.43,1.009,11012,0.080,0.066,2750,586,2213,2253,2174,0,0,0,0,0,0,14.53,14.33,13.95
$GC,1396,0.94,211.2,2750,586,2245,2173,84.3,7.0,252,1456,0.10,2.30,49.58,0.986,11270,0.144,0.041,2804,1998,1949,1993,1906,0,0,0,0,0,0,14.73,14.74,14.10
$GC,1519,0.94,211.2,2803,1998,1989,1904,73.0,11.2,274,1526,0.00,2.35,0.00,0.000,4356,0.000,0.065,2804,3382,1945,1988,1903,0,0,0,0,0,0,14.90,14.66,14.91
$GC,1613,0.94,211.2,2804,3382,1987,1904,62.7,10.7,292,1619,0.00,2.30,0.00,0.000,5126,0.000,0.042,2805,1981,1946,1988,1904,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1682,0.94,211.2,2804,1980,1987,1903,55.5,10.1,305,1689,0.00,2.38,0.00,0.000,4612,0.000,0.071,2804,587,1944,1986,1903,0,0,0,0,0,0,15.01,14.73,15.01
$GC,1726,0.95,223.0,2804,586,1986,1903,51.3,9.4,313,1746,0.00,2.28,10.12,0.886,13318,0.000,0.041,2804,1984,1900,1944,1857,0,0,0,0,0,0,14.84,14.75,14.19
$GC,1807,0.97,236.0,2804,1984,1942,1857,43.7,9.4,328,1826,0.00,2.38,11.10,0.890,12548,0.000,0.063,2805,3392,1850,1896,1805,0,0,0,0,0,0,15.03,14.59,14.16
$GC,1864,0.97,242.6,2804,3392,1894,1804,38.5,9.7,338,1878,0.00,2.30,6.90,0.831,13318,0.000,0.042,2805,1995,1822,1868,1777,0,0,0,0,0,0,14.88,14.78,14.14
$GC,1940,1.00,262.7,2804,1995,1866,1774,31.4,9.1,352,1965,0.00,2.38,17.08,0.921,10756,0.000,0.071,2805,582,1739,1788,1691,0,0,0,0,0,0,15.01,14.71,14.16
$GC,2174,1.11,353.9,2804,583,1782,1690,17.4,5.8,397,2235,0.10,2.30,53.45,0.870,11270,0.143,0.041,2864,1996,1368,1422,1314,0,0,0,0,0,0,14.82,14.83,14.22
$GC,2299,1.11,353.9,2864,1996,1418,1310,7.2,10.3,419,2305,0.08,0.00,0.00,0.000,4102,0.262,0.000,2844,1997,1364,1419,1309,0,0,0,0,0,0,14.54,14.70,14.64
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,-0.1,1.023198
$STATE,2382,end surface coast,CONTROL_FINISHED_OK
$STATE,2382,begin surface
$SM_CCo,2403,104.75,0.756,0,0,599,542.59
$SM_GC,0.64,12.60,0.00,104.75,0.056,0.000,0.756,133,1997,599,-7.30,0.28,542.59,0,0,0,0,0,0,14.78,15.02,14.17
$IRIDIUM_FIX,-2840.83,3216.76,010419,001600
$TT8_MAMPS,0.019474,0.609686
$HUMID,53.74
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$SC_FREEKB,3905056
$24V_AH,13.36,94.013
$10V_AH,13.48,0.000
$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,27.950,46.825,362.925,104.750,0.000,62.507,56.806,290.505,0.500,0.000,30.812,933.294,411.003,558.451,1181.808,98.568,0.000,983.679,0.000,661.155,0.000,4.212,0.000
$DEVICE_MAMPS,305.235,82.620,1024.335,755.820,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2418.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.883,0.000,0.000,0.000
$MEM,339612
$DATA_FILE_SIZE,13476,435
$CAP_FILE_SIZE,82792,0
$CFSIZE,1023623168,1016758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.386,208.16,1
$GPS,010419,015711,-2853.810,3215.740,15,1.0,17,-23.7,0.7,164.7,10,9.3