version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 92
start: 4 4 119 6 56 28
data:
$ID,573
$MISSION,30
$DIVE,92
$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,24
$R_STBD_OVSHOOT,40
$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,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
$GPS1,040419,065048,-2903.7566,3209.9241,21,0.9,23,-23.9,0.9,201.1,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-59.4
$GPS2,040419,065603,-2903.8452,3209.9292,16,0.9,21,-23.9,0.7,216.8,8,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.152,3158.326
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,101,1989,588,577,0.0,0.0,0,115,0.00,0.00,-92.75,0.000,16386,0.000,0.000,91,1990,3129,3133,3125,0,0,0,0,0,0,15.01,28.83,15.02
$GC,118,-0.86,-146.0,91,1990,3134,3127,3.4,-7.6,17,143,12.48,2.38,-4.75,0.000,18692,0.310,0.083,2196,3386,3409,3441,3377,0,0,0,0,0,0,14.37,13.88,14.56
$GC,240,-0.86,-146.0,2193,3386,3442,3378,31.9,-12.9,40,248,0.05,2.33,0.00,0.000,3078,0.336,0.037,2207,1969,3409,3442,3376,0,0,0,0,0,0,14.58,14.77,14.79
$GC,311,-0.86,-146.0,2213,1969,3442,3377,41.5,-13.7,53,316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1968,3407,3437,3377,0,0,0,0,0,0,15.08,15.09,15.09
$GC,378,-0.86,-146.0,2207,1968,3442,3376,51.2,-14.7,66,384,0.00,2.42,0.00,0.000,2308,0.000,0.065,2204,3389,3409,3442,3376,0,0,0,0,0,0,15.09,14.81,15.10
$GC,448,-0.86,-146.0,2203,3391,3442,3377,60.6,-13.2,79,455,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,1988,3409,3443,3376,0,0,0,0,0,0,14.97,14.87,14.98
$GC,517,-0.86,-146.0,2203,1988,3443,3376,70.0,-12.3,92,527,0.00,2.38,0.00,0.000,2308,0.000,0.066,2204,3390,3409,3443,3375,0,0,0,0,0,0,15.11,14.81,15.11
$GC,559,-0.86,-146.0,2203,3390,3443,3376,75.1,-13.0,99,566,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1979,3410,3443,3377,0,0,0,0,0,0,14.83,14.73,14.85
$GC,628,-0.86,-146.0,2204,1979,3446,3377,84.1,-14.0,112,635,0.00,2.40,0.00,0.000,2308,0.000,0.066,2203,3394,3410,3444,3377,0,0,0,0,0,0,15.11,14.71,15.11
$GC,712,-0.86,-146.0,2203,3395,3444,3376,96.0,-13.7,128,719,0.00,2.30,0.00,0.000,3078,0.000,0.038,2203,1973,3411,3445,3377,0,0,0,0,0,0,14.97,14.86,14.99
$GC,782,-0.86,-146.0,2203,1973,3443,3377,105.3,-13.2,141,788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1973,3410,3445,3376,0,0,0,0,0,0,15.12,15.12,15.12
$GC,850,-0.86,-146.0,2203,1973,3445,3376,113.7,-12.4,154,856,0.00,2.42,0.00,0.000,2308,0.000,0.065,2203,3393,3410,3444,3376,0,0,0,0,0,0,15.12,14.77,15.12
$GC,943,-0.86,-146.0,2202,3393,3445,3376,125.5,-12.2,172,950,0.00,2.28,0.00,0.000,3078,0.000,0.037,2203,1987,3409,3444,3375,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1013,-0.86,-146.0,2202,1987,3445,3375,134.1,-12.4,185,1019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1986,3410,3444,3376,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1083,-0.86,-146.0,2202,1986,3444,3376,143.2,-13.9,198,1089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1986,3410,3445,3375,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1151,-0.86,-146.0,2202,1985,3444,3375,151.1,-11.4,211,1157,0.00,2.40,0.00,0.000,2308,0.000,0.066,2203,3385,3409,3444,3374,0,0,0,0,0,0,15.13,14.82,15.14
$STATE,1173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1173,begin apogee
$GC,1179,-0.19,0.0,2202,1981,3443,3374,153.8,-11.0,215,1296,1.10,0.00,107.93,1.080,10246,0.171,0.000,2421,1979,2809,2849,2770,0,0,0,0,0,0,14.64,14.40,14.00
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1299,0.86,146.0,2420,1979,2848,2773,158.7,0.0,236,1422,1.55,2.40,111.30,1.061,10756,0.098,0.071,2749,586,2214,2255,2173,0,0,0,0,0,0,14.51,14.42,13.90
$GC,1483,0.86,146.0,2749,586,2249,2173,146.4,10.5,269,1490,0.00,2.33,0.00,0.000,3078,0.000,0.041,2749,1994,2211,2249,2173,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1553,0.89,169.4,2749,1994,2248,2171,140.2,8.9,282,1578,0.00,2.42,19.02,1.001,10500,0.000,0.066,2749,3386,2120,2162,2078,0,0,0,0,0,0,14.92,14.64,14.03
$GC,1630,0.89,172.1,2749,3386,2159,2077,132.6,9.9,296,1637,0.00,2.35,0.00,0.000,3078,0.000,0.043,2749,1980,2118,2159,2077,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1700,0.92,196.9,2749,1980,2158,2077,126.5,8.9,309,1729,0.08,0.00,22.90,1.010,10246,0.181,0.000,2803,1980,2007,2051,1963,0,0,0,0,0,0,14.74,14.52,14.08
$GC,1791,0.92,196.9,2802,1980,2048,1960,115.8,12.4,326,1797,0.08,0.00,0.00,0.000,4102,0.269,0.000,2784,1980,2003,2047,1960,0,0,0,0,0,0,14.59,14.74,14.69
$GC,1860,0.92,196.9,2784,1980,2046,1960,108.3,11.7,339,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1979,2004,2049,1960,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1928,0.92,196.9,2784,1979,2046,1959,101.3,10.4,352,1935,0.00,2.40,0.00,0.000,260,0.000,0.064,2785,3386,2002,2045,1960,0,0,0,0,0,0,15.02,14.76,15.03
$GC,1982,0.92,196.9,2783,3386,2045,1960,95.2,11.7,362,1988,0.00,2.33,0.00,0.000,1030,0.000,0.043,2785,1981,2001,2045,1958,0,0,0,0,0,0,14.89,14.78,14.91
$GC,2051,0.92,201.5,2783,1980,2045,1958,88.1,9.8,375,2058,0.00,0.00,4.22,0.746,8198,0.000,0.000,2784,1980,1990,2034,1946,0,0,0,0,0,0,15.05,14.78,14.07
$GC,2121,0.92,201.5,2784,1980,2032,1945,80.8,10.4,388,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1980,1988,2032,1945,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2189,0.92,201.5,2784,1980,2032,1945,73.7,10.2,401,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1980,1988,2032,1945,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2257,0.93,202.5,2784,1980,2031,1944,66.8,10.0,414,2262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1980,1987,2031,1944,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2325,0.93,202.5,2784,1980,2031,1943,59.9,10.4,427,2331,0.00,2.40,0.00,0.000,260,0.000,0.063,2784,3394,1986,2030,1943,0,0,0,0,0,0,15.09,14.70,15.09
$GC,2358,0.93,202.5,2784,3394,2030,1944,56.3,11.9,433,2365,0.00,2.33,0.00,0.000,1030,0.000,0.044,2784,1985,1986,2030,1943,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2428,0.93,205.7,2784,1985,2030,1943,49.4,9.9,446,2441,0.00,2.38,4.68,0.663,8452,0.000,0.063,2784,3390,1972,2016,1929,0,0,0,0,0,0,15.09,14.83,14.09
$GC,2489,0.93,205.7,2784,3390,2016,1928,42.8,10.5,457,2495,0.00,2.30,0.00,0.000,1030,0.000,0.044,2784,1988,1972,2017,1928,0,0,0,0,0,0,14.94,14.85,14.96
$GC,2558,0.94,212.4,2784,1988,2015,1927,35.4,9.7,470,2571,0.00,2.38,6.82,0.777,10500,0.000,0.062,2785,3387,1946,1990,1903,0,0,0,0,0,0,15.10,14.66,14.15
$GC,2603,1.00,261.2,2784,3387,1989,1902,31.5,7.8,478,2649,0.00,2.30,39.67,0.972,11270,0.000,0.044,2785,1987,1746,1798,1695,0,0,0,0,0,0,14.95,14.84,14.16
$GC,2711,1.06,310.9,2784,1987,1794,1690,22.8,7.7,498,2748,0.08,2.40,30.50,0.909,10756,0.181,0.075,2838,591,1541,1598,1485,0,0,0,0,0,0,14.73,14.62,14.08
$GC,2825,1.06,310.9,2835,591,1590,1485,10.5,10.5,519,2832,0.00,2.30,0.00,0.000,5126,0.000,0.040,2838,1992,1537,1590,1485,0,0,0,0,0,0,14.74,14.66,14.75
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,0.2,1.023842
$STATE,2914,end surface coast,CONTROL_FINISHED_OK
$STATE,2914,begin surface
$SM_CCo,2935,125.95,0.757,0,0,598,542.59
$SM_GC,0.47,12.57,0.00,125.95,0.055,0.000,0.757,147,1993,598,-7.26,0.17,542.59,0,0,0,0,0,0,14.78,15.03,14.13
$IRIDIUM_FIX,-2850.67,3209.73,040419,062107
$TT8_MAMPS,0.019474,0.888314
$HUMID,56.45
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,140.0,28.2
$SC_FREEKB,3876384
$24V_AH,13.88,107.795
$10V_AH,13.30,0.000
$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,27.975,61.200,347.050,125.950,0.000,26.367,15.927,123.511,3.000,0.000,21.462,1120.109,488.849,601.466,1080.946,106.045,0.000,1119.758,0.000,808.346,0.000,20.848,0.000
$DEVICE_MAMPS,335.835,82.620,1080.180,756.585,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2936.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.124,0.000,0.000,0.000
$MEM,339600
$DATA_FILE_SIZE,16785,536
$CAP_FILE_SIZE,100804,0
$CFSIZE,1023623168,1010040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,074837,-2903.935,3209.477,24,0.9,29,-23.9,1.3,149.0,9,9.6