version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 90
start: 4 4 119 5 33 24
data:
$ID,573
$MISSION,30
$DIVE,90
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$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,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,290
$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,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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$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,50
$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
$GPS1,040419,052728,-2903.1089,3210.3689,18,0.8,19,-23.9,0.8,194.6,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-59.2
$GPS2,040419,053259,-2903.2222,3210.3521,17,0.8,18,-23.9,1.1,223.4,11,7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.529,3158.750
$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,313.9,20000,-18.3,-10.010,-21.05,2234
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.86,-146.0,96,1976,589,577,0.0,0.0,0,115,0.00,0.00,-92.47,0.000,16386,0.000,0.000,85,1977,3120,3121,3120,0,0,0,0,0,0,15.00,28.83,15.01
$GC,118,-0.86,-146.0,85,1978,3121,3120,3.2,-7.5,17,143,12.55,2.42,-5.20,0.000,18692,0.311,0.083,2196,3392,3409,3442,3377,0,0,0,0,0,0,14.38,13.84,14.55
$GC,230,-0.86,-146.0,2195,3393,3443,3377,31.0,-18.9,38,238,0.05,2.33,0.00,0.000,3078,0.346,0.038,2206,1970,3410,3443,3377,0,0,0,0,0,0,14.54,14.74,14.76
$GC,301,-0.86,-146.0,2207,1969,3443,3377,42.0,-15.1,51,307,0.00,2.33,0.00,0.000,2564,0.000,0.067,2207,597,3410,3443,3377,0,0,0,0,0,0,15.07,14.76,15.07
$GC,334,-0.86,-146.0,2206,596,3443,3377,48.1,-16.6,57,341,0.00,2.30,0.00,0.000,3078,0.000,0.044,2207,1993,3410,3444,3376,0,0,0,0,0,0,14.81,14.70,14.82
$GC,404,-0.86,-146.0,2206,1994,3443,3376,57.5,-13.0,70,410,0.00,2.38,0.00,0.000,2308,0.000,0.068,2204,3393,3410,3443,3377,0,0,0,0,0,0,15.07,14.65,15.08
$GC,572,-0.86,-146.0,2203,3394,3444,3376,79.7,-12.9,103,580,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,2000,3410,3445,3376,0,0,0,0,0,0,14.95,14.85,14.97
$GC,642,-0.86,-146.0,2204,2000,3445,3377,88.8,-12.3,116,648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2000,3411,3445,3377,0,0,0,0,0,0,15.10,15.10,15.10
$GC,710,-0.86,-146.0,2204,2000,3445,3377,96.6,-12.0,129,717,0.00,2.38,0.00,0.000,2308,0.000,0.065,2204,3387,3411,3445,3377,0,0,0,0,0,0,15.10,14.75,15.11
$GC,764,-0.86,-146.0,2203,3387,3445,3377,102.6,-10.8,139,771,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1976,3411,3445,3377,0,0,0,0,0,0,14.81,14.71,14.83
$GC,835,-0.86,-146.0,2203,1971,3445,3376,110.5,-11.5,152,842,0.00,2.42,0.00,0.000,2308,0.000,0.065,2204,3389,3410,3445,3376,0,0,0,0,0,0,15.11,14.81,15.12
$GC,899,-0.86,-146.0,2204,3389,3445,3377,117.6,-10.4,164,906,0.00,2.30,0.00,0.000,3078,0.000,0.038,2204,1974,3411,3445,3377,0,0,0,0,0,0,14.81,14.70,14.83
$GC,968,-0.86,-146.0,2203,1973,3446,3376,125.2,-10.5,177,974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1973,3410,3445,3376,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1038,-0.86,-146.0,2203,1973,3445,3376,132.4,-12.0,190,1045,0.00,2.42,0.00,0.000,2308,0.000,0.065,2204,3386,3410,3445,3376,0,0,0,0,0,0,15.11,14.81,15.11
$GC,1096,-0.86,-146.0,2209,3386,3445,3376,139.2,-11.5,201,1103,0.00,2.28,0.00,0.000,3078,0.000,0.038,2204,1987,3410,3445,3376,0,0,0,0,0,0,14.96,14.85,14.97
$STATE,1139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1139,begin apogee
$GC,1143,-0.19,0.0,2204,1987,3445,3375,144.2,-13.0,209,1259,1.10,0.00,108.07,1.060,10246,0.172,0.000,2421,1986,2809,2849,2770,0,0,0,0,0,0,14.62,14.54,14.00
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1262,0.86,146.0,2421,1985,2848,2773,149.6,0.0,230,1378,1.58,0.00,110.30,1.049,10758,0.100,0.000,2750,1985,2217,2259,2175,0,0,0,0,0,0,14.50,14.39,13.89
$GC,1442,0.89,172.9,2749,1985,2253,2173,141.3,8.8,262,1470,0.00,0.00,22.35,0.998,10246,0.000,0.000,2749,1985,2104,2147,2062,0,0,0,0,0,0,14.81,14.36,13.93
$GC,1531,0.89,172.9,2749,1985,2142,2060,131.8,12.7,279,1538,0.00,2.42,0.00,0.000,2308,0.000,0.065,2749,3386,2101,2142,2060,0,0,0,0,0,0,14.87,14.62,14.87
$GC,1570,0.89,172.9,2749,3386,2141,2059,126.0,16.6,286,1577,0.00,2.33,0.00,0.000,3078,0.000,0.041,2749,1987,2100,2142,2059,0,0,0,0,0,0,14.78,14.69,14.80
$GC,1640,1.03,285.1,2749,1988,2141,2059,117.4,4.8,299,1735,0.20,0.00,88.03,1.018,10758,0.090,0.000,2826,1987,1647,1700,1595,0,0,0,0,0,0,14.64,14.50,13.99
$GC,1797,1.03,285.1,2825,1986,1695,1592,95.1,15.2,328,1804,0.00,2.45,0.00,0.000,4356,0.000,0.065,2826,3393,1643,1694,1592,0,0,0,0,0,0,14.84,14.51,14.84
$GC,1831,1.03,285.1,2825,3393,1693,1591,89.6,17.3,334,1838,0.00,2.38,0.00,0.000,5126,0.000,0.044,2832,1984,1642,1693,1591,0,0,0,0,0,0,14.76,14.66,14.78
$GC,1901,1.03,285.1,2831,1984,1693,1590,78.3,15.4,347,1906,0.00,0.00,0.00,0.000,4102,0.000,0.000,2832,1984,1641,1692,1590,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1968,1.03,285.1,2831,1984,1692,1590,67.8,15.5,360,1974,0.00,0.00,0.00,0.000,4102,0.000,0.000,2832,1984,1641,1692,1590,0,0,0,0,0,0,14.98,14.99,14.99
$GC,2036,1.03,285.1,2831,1984,1691,1590,58.5,13.4,373,2043,0.00,2.40,0.00,0.000,4356,0.000,0.063,2831,3386,1640,1691,1589,0,0,0,0,0,0,15.02,14.75,15.02
$GC,2075,1.03,285.1,2831,3387,1691,1589,52.7,15.7,380,2082,0.00,2.35,0.00,0.000,5126,0.000,0.044,2831,1982,1640,1691,1589,0,0,0,0,0,0,14.89,14.78,14.91
$GC,2145,1.03,285.1,2831,1982,1690,1588,44.1,10.6,393,2151,0.00,2.40,0.00,0.000,4356,0.000,0.063,2832,3387,1639,1690,1588,0,0,0,0,0,0,15.04,14.77,15.04
$GC,2163,1.03,285.1,2831,3387,1690,1587,41.7,12.6,396,2170,0.00,2.35,0.00,0.000,5126,0.000,0.044,2832,1979,1639,1691,1587,0,0,0,0,0,0,14.81,14.71,14.84
$GC,2233,1.04,291.8,2831,1978,1689,1587,33.0,9.7,409,2246,0.00,2.38,5.07,0.757,12804,0.000,0.078,2832,580,1622,1674,1570,0,0,0,0,0,0,15.06,14.75,14.13
$GC,2338,1.04,291.8,2831,580,1672,1570,21.3,11.9,429,2345,0.00,2.30,0.00,0.000,5126,0.000,0.042,2832,1985,1621,1672,1570,0,0,0,0,0,0,14.83,14.74,14.88
$GC,2407,1.04,291.8,2831,1986,1671,1570,12.5,14.4,442,2413,0.00,2.38,0.00,0.000,4356,0.000,0.063,2832,3389,1621,1672,1570,0,0,0,0,0,0,15.07,14.79,15.08
$GC,2440,1.04,291.8,2831,3390,1671,1569,7.5,12.6,448,2446,0.00,2.33,0.00,0.000,5126,0.000,0.044,2832,1985,1620,1672,1569,0,0,0,0,0,0,14.94,14.83,14.95
$STATE,2477,end climb,SURFACE_DEPTH_REACHED
$STATE,2477,begin surface coast
$FINISH,1.0,1.023824
$STATE,2499,end surface coast,CONTROL_FINISHED_OK
$STATE,2499,begin surface
$SM_CCo,2520,137.12,0.751,0,0,599,542.59
$SM_GC,0.49,12.45,0.00,137.12,0.053,0.000,0.751,141,1985,599,-7.27,-0.06,542.59,0,0,0,0,0,0,14.85,15.13,14.15
$IRIDIUM_FIX,-2850.67,3209.73,040419,045346
$TT8_MAMPS,0.018725,0.905541
$HUMID,55.47
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,130.3,28.2
$SC_FREEKB,3877408
$24V_AH,13.84,107.455
$10V_AH,13.32,0.000
$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,27.925,56.575,333.825,137.125,0.000,24.195,38.306,126.801,2.750,0.000,18.490,945.831,407.181,584.987,976.774,94.517,0.000,1042.316,0.000,694.883,0.000,19.332,0.000
$DEVICE_MAMPS,345.780,83.385,1060.290,751.230,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2518.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.933,0.000,0.000,0.000
$MEM,339600
$DATA_FILE_SIZE,16796,459
$CAP_FILE_SIZE,87554,0
$CFSIZE,1023623168,1010237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,061836,-2903.374,3209.913,15,0.8,17,-23.9,0.6,195.2,11,9.6