version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 37
start: 4 1 119 2 54 11
data:
$ID,573
$MISSION,30
$DIVE,37
$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,39
$R_STBD_OVSHOOT,47
$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
$GPS1,010419,024453,-2854.6094,3215.7104,16,1.0,41,-23.7,0.8,209.6,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-59.2
$GPS2,010419,025347,-2854.8391,3215.6587,16,0.8,18,-23.7,1.9,212.7,11,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.679,3226.696
$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,140.3,20000,-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,-146.0,72,1999,580,581,0.0,0.0,0,115,0.00,0.00,-92.53,0.000,16386,0.000,0.000,73,1999,3181,3188,3174,0,0,0,0,0,0,15.01,28.83,15.01
$GC,117,-0.85,-146.0,73,1999,3189,3174,4.0,-11.6,16,143,12.55,2.40,-3.70,0.000,18948,0.304,0.084,2209,583,3410,3440,3380,0,0,0,0,0,0,14.50,13.41,14.81
$GC,265,-0.85,-146.0,2208,583,3441,3380,42.3,-15.8,44,272,0.00,2.30,0.00,0.000,3078,0.000,0.044,2204,1989,3411,3442,3380,0,0,0,0,0,0,14.88,14.78,14.89
$GC,335,-0.85,-146.0,2204,1988,3442,3379,52.7,-15.9,57,342,0.00,2.38,0.00,0.000,2308,0.000,0.068,2204,3389,3410,3442,3379,0,0,0,0,0,0,15.07,14.69,15.08
$GC,389,-0.85,-146.0,2203,3390,3441,3378,60.9,-14.1,67,395,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,1988,3410,3442,3378,0,0,0,0,0,0,14.95,14.86,14.96
$GC,457,-0.85,-146.0,2203,1987,3442,3378,71.1,-13.1,80,463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1987,3410,3442,3379,0,0,0,0,0,0,15.11,15.11,15.11
$GC,525,-0.85,-146.0,2203,1987,3442,3378,80.5,-14.2,93,532,0.00,2.38,0.00,0.000,2308,0.000,0.067,2204,3383,3410,3443,3378,0,0,0,0,0,0,15.10,14.73,15.10
$GC,549,-0.85,-146.0,2204,3383,3442,3378,83.8,-13.8,97,556,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,1981,3410,3442,3378,0,0,0,0,0,0,14.97,14.88,14.99
$GC,619,-0.85,-146.0,2203,1979,3443,3378,92.4,-11.8,110,625,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3392,3410,3443,3378,0,0,0,0,0,0,15.11,14.81,15.11
$GC,657,-0.85,-146.0,2203,3392,3442,3378,97.7,-12.7,117,664,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1978,3410,3443,3378,0,0,0,0,0,0,14.97,14.88,14.99
$GC,729,-0.85,-146.0,2203,1977,3443,3378,107.0,-13.8,130,735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1978,3410,3443,3378,0,0,0,0,0,0,15.11,15.12,15.12
$GC,797,-0.85,-146.0,2204,1978,3443,3378,117.2,-14.4,143,803,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1978,3410,3443,3378,0,0,0,0,0,0,15.13,15.14,15.13
$GC,865,-0.85,-146.0,2203,1978,3443,3378,126.3,-13.4,156,871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1978,3410,3443,3378,0,0,0,0,0,0,15.12,15.12,15.12
$GC,932,-0.85,-146.0,2203,1978,3443,3378,136.1,-14.7,169,938,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1978,3410,3442,3378,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1001,-0.85,-146.0,2203,1978,3443,3378,145.4,-13.6,182,1007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1978,3410,3443,3378,0,0,0,0,0,0,15.13,15.14,15.14
$STATE,1017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1017,begin apogee
$GC,1021,-0.19,0.0,2204,1978,3442,3375,147.9,-13.7,185,1137,1.12,0.00,106.18,1.073,10246,0.171,0.000,2424,1976,2811,2848,2775,0,0,0,0,0,0,14.61,14.42,14.04
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1140,0.85,146.0,2425,1976,2848,2774,152.5,0.0,205,1258,1.55,2.42,108.40,1.063,10756,0.099,0.067,2749,583,2214,2255,2174,0,0,0,0,0,0,14.53,14.33,13.95
$GC,1326,0.89,173.7,2749,583,2249,2174,142.0,8.7,237,1356,0.00,2.33,22.20,1.013,11270,0.000,0.041,2749,1990,2101,2143,2059,0,0,0,0,0,0,14.67,14.57,14.02
$GC,1419,0.91,190.1,2749,1990,2140,2058,134.0,9.2,254,1439,0.05,2.42,13.80,0.948,10500,0.253,0.063,2794,3384,2036,2078,1994,0,0,0,0,0,0,14.60,14.62,14.03
$GC,1456,0.91,190.1,2792,3384,2077,1993,129.6,11.6,260,1463,0.05,2.33,0.00,0.000,5126,0.358,0.042,2787,1978,2034,2077,1992,0,0,0,0,0,0,14.44,14.59,14.62
$GC,1525,0.91,190.1,2786,1978,2079,1991,122.0,10.7,273,1532,0.00,2.38,0.00,0.000,4612,0.000,0.071,2790,583,2033,2075,1991,0,0,0,0,0,0,14.95,14.69,14.95
$GC,1579,0.91,190.1,2790,583,2074,1991,116.4,10.7,283,1586,0.00,2.30,0.00,0.000,5126,0.000,0.041,2790,1997,2033,2075,1991,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1648,0.91,190.1,2790,1994,2074,1990,108.8,10.1,296,1654,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1994,2032,2075,1989,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1716,0.93,204.1,2790,1994,2074,1989,102.1,9.3,309,1735,0.00,2.38,12.18,0.924,12804,0.000,0.068,2790,593,1978,2021,1935,0,0,0,0,0,0,15.02,14.62,14.18
$GC,1787,0.93,204.1,2790,591,2017,1935,94.2,11.4,322,1794,0.00,2.30,0.00,0.000,5126,0.000,0.043,2790,1984,1978,2022,1934,0,0,0,0,0,0,14.86,14.77,14.87
$GC,1858,0.93,204.1,2790,1984,2017,1932,86.7,10.8,335,1864,0.00,2.38,0.00,0.000,4356,0.000,0.064,2790,3390,1974,2017,1932,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1902,0.93,204.1,2790,3390,2016,1926,81.7,10.8,343,1908,0.00,2.30,0.00,0.000,5126,0.000,0.043,2790,1987,1974,2017,1931,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1971,0.93,204.1,2789,1987,2016,1931,75.0,10.0,356,1977,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1987,1973,2016,1931,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2038,0.93,204.1,2790,1987,2016,1931,68.3,10.0,369,2044,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1987,1973,2016,1931,0,0,0,0,0,0,15.09,15.10,15.10
$GC,2106,0.97,236.3,2790,1986,2016,1931,61.8,8.5,382,2138,0.00,2.42,25.58,0.977,10756,0.000,0.072,2790,593,1849,1892,1806,0,0,0,0,0,0,15.08,14.76,14.25
$GC,2171,1.00,262.5,2790,593,1889,1801,56.4,8.8,393,2201,0.00,2.30,21.40,0.975,11270,0.000,0.042,2790,1996,1740,1790,1690,0,0,0,0,0,0,14.80,14.72,14.16
$GC,2263,1.03,286.4,2790,1996,1787,1687,48.1,8.9,410,2288,0.00,2.42,19.58,0.929,10500,0.000,0.063,2790,3396,1643,1696,1590,0,0,0,0,0,0,14.98,14.68,14.12
$GC,2335,1.04,298.4,2790,3396,1693,1584,41.4,9.4,423,2355,0.08,2.33,10.70,0.851,11270,0.180,0.042,2835,1990,1594,1648,1541,0,0,0,0,0,0,14.62,14.66,14.12
$GC,2417,1.04,298.4,2835,1991,1645,1539,32.6,10.5,438,2424,0.00,2.40,0.00,0.000,4612,0.000,0.072,2836,586,1591,1644,1539,0,0,0,0,0,0,14.98,14.66,14.98
$GC,2516,1.06,315.5,2835,586,1643,1539,23.3,9.2,457,2535,0.00,2.30,10.73,0.864,13318,0.000,0.041,2835,1992,1523,1576,1470,0,0,0,0,0,0,14.83,14.73,14.20
$GC,2598,1.15,386.7,2835,1992,1574,1469,17.6,6.7,472,2647,0.00,2.45,42.78,0.889,10756,0.000,0.068,2836,584,1234,1291,1177,0,0,0,0,0,0,15.04,14.63,14.21
$GC,2660,1.25,465.6,2835,584,1291,1176,13.6,6.4,482,2715,0.15,2.33,46.53,0.832,11270,0.107,0.047,2903,1993,911,957,865,0,0,0,0,0,0,14.73,14.71,14.15
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2756,begin surface coast
$FINISH,-0.1,1.023358
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2782,begin surface
$SM_CCo,2802,44.50,0.750,0,0,599,542.59
$SM_GC,0.49,12.88,0.00,44.50,0.050,0.000,0.750,141,1993,599,-7.27,0.17,542.59,0,0,0,0,0,0,14.70,14.92,14.16
$IRIDIUM_FIX,-2843.29,3218.07,010419,015940
$TT8_MAMPS,0.019474,0.938497
$HUMID,55.74
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,100.4,62.1
$SC_FREEKB,3904032
$24V_AH,13.41,94.405
$10V_AH,13.79,0.000
$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,28.425,61.175,440.025,44.500,0.000,22.432,49.327,291.208,0.750,0.000,19.389,1071.977,387.962,601.112,1225.366,109.554,0.000,1106.359,0.000,762.380,0.000,7.246,0.000
$DEVICE_MAMPS,358.020,84.150,1072.530,750.465,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2814.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.937,0.000,0.000,0.000
$MEM,339588
$DATA_FILE_SIZE,16797,504
$CAP_FILE_SIZE,98832,0
$CFSIZE,1023623168,1016528896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.313,215.37,1
$GPS,010419,034256,-2855.414,3215.709,25,1.0,41,-23.7,0.7,214.4,9,9.4