version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 95
start: 4 4 119 9 40 35
data:
$ID,573
$MISSION,30
$DIVE,95
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,040419,093334,-2904.5564,3208.6548,19,0.7,20,-23.9,0.0,221.8,12,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-57.9
$GPS2,040419,094010,-2904.6921,3208.6482,17,0.7,18,-23.9,0.5,189.6,11,8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2900.999,3157.044
$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,-146.0,78,1974,587,577,0.0,0.0,0,121,0.00,0.00,-98.90,0.000,16386,0.000,0.000,73,1973,3242,3255,3230,0,0,0,0,0,0,15.01,28.83,15.02
$GC,125,-0.86,-146.0,73,1974,3255,3231,3.3,-8.0,18,149,12.65,2.47,-2.83,0.000,18692,0.311,0.086,2198,3389,3411,3442,3381,0,0,0,0,0,0,14.40,13.38,14.62
$GC,241,-0.86,-146.0,2197,3389,3444,3381,30.6,-12.7,40,248,0.05,2.33,0.00,0.000,3078,0.334,0.037,2209,1981,3413,3445,3381,0,0,0,0,0,0,14.59,14.77,14.81
$GC,311,-0.86,-146.0,2208,1980,3445,3380,39.2,-12.5,53,317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1980,3413,3445,3381,0,0,0,0,0,0,15.09,15.09,15.09
$GC,379,-0.86,-146.0,2208,1980,3446,3381,49.0,-14.5,66,385,0.00,2.42,0.00,0.000,2308,0.000,0.067,2208,3392,3413,3446,3380,0,0,0,0,0,0,15.08,14.66,15.09
$GC,447,-0.86,-146.0,2208,3391,3446,3381,58.4,-12.9,79,454,0.00,2.33,0.00,0.000,3078,0.000,0.038,2208,1983,3413,3446,3380,0,0,0,0,0,0,14.96,14.86,14.97
$GC,516,-0.86,-146.0,2208,1982,3446,3381,66.6,-12.1,92,522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1982,3413,3446,3381,0,0,0,0,0,0,15.11,15.11,15.11
$GC,584,-0.86,-146.0,2208,1983,3446,3380,74.5,-11.9,105,590,0.00,2.40,0.00,0.000,2308,0.000,0.066,2209,3383,3413,3446,3380,0,0,0,0,0,0,15.10,14.69,15.11
$GC,703,-0.86,-146.0,2208,3383,3447,3381,90.0,-11.5,128,709,0.00,2.30,0.00,0.000,3078,0.000,0.037,2209,1979,3414,3447,3381,0,0,0,0,0,0,14.97,14.87,14.98
$GC,772,-0.86,-146.0,2208,1978,3447,3381,96.7,-10.2,141,778,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1978,3417,3447,3388,0,0,0,0,0,0,15.11,15.11,15.11
$GC,839,-0.86,-146.0,2208,1977,3447,3380,104.5,-12.3,154,846,0.00,2.42,0.00,0.000,2308,0.000,0.067,2209,3387,3413,3447,3380,0,0,0,0,0,0,15.11,14.66,15.12
$STATE,992,end dive,NO_VERTICAL_VELOCITY
$STATE,992,begin apogee
$GC,998,-0.19,0.0,2208,1981,3448,3379,106.8,0.0,184,1114,1.00,0.00,108.15,1.015,10246,0.087,0.000,2430,1980,2810,2846,2774,0,0,0,0,0,0,14.76,14.56,14.02
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1117,0.86,146.0,2431,1980,2848,2773,106.7,0.0,205,1239,1.48,2.50,109.65,1.005,11012,0.070,0.066,2757,3382,2214,2256,2173,0,0,0,0,0,0,14.54,14.42,13.93
$GC,1357,0.86,150.2,2756,3382,2251,2171,92.3,9.8,249,1370,0.00,2.33,4.22,0.725,11270,0.000,0.041,2757,1988,2198,2238,2159,0,0,0,0,0,0,14.78,14.69,14.01
$GC,1432,0.93,209.4,2756,1987,2236,2158,86.4,7.3,263,1489,0.05,2.47,46.97,0.980,10500,0.251,0.065,2796,3382,1956,2000,1912,0,0,0,0,0,0,14.68,14.56,14.01
$GC,1502,0.93,209.4,2796,3384,1999,1910,78.5,12.9,275,1509,0.00,2.35,0.00,0.000,5126,0.000,0.044,2797,1972,1954,1999,1909,0,0,0,0,0,0,14.73,14.62,14.74
$GC,1571,0.93,209.4,2797,1972,1997,1908,70.9,10.2,288,1577,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1972,1952,1997,1907,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1639,0.93,209.4,2797,1972,1995,1907,63.0,11.8,301,1646,0.00,2.45,0.00,0.000,4356,0.000,0.061,2797,3387,1951,1995,1907,0,0,0,0,0,0,14.98,14.69,14.98
$GC,1693,0.93,209.4,2797,3387,1995,1907,55.7,14.0,311,1699,0.00,2.30,0.00,0.000,5126,0.000,0.041,2803,2002,1953,2000,1906,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1762,0.93,209.4,2802,2002,1995,1906,47.7,11.2,324,1768,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,2001,1950,1994,1906,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1830,0.93,209.4,2803,2002,1994,1906,40.0,10.4,337,1837,0.00,2.38,0.00,0.000,4356,0.000,0.063,2803,3385,1950,1994,1906,0,0,0,0,0,0,15.06,14.77,15.06
$GC,1849,0.93,209.4,2803,3384,1994,1906,38.0,10.4,340,1855,0.00,2.33,0.00,0.000,5126,0.000,0.043,2804,1980,1950,1994,1906,0,0,0,0,0,0,14.84,14.71,14.86
$GC,1918,0.93,209.4,2803,1979,1993,1906,30.5,12.7,353,1924,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,1979,1949,1993,1906,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1986,0.93,209.4,2803,1980,1993,1906,23.0,10.5,366,1993,0.00,2.40,0.00,0.000,4356,0.000,0.063,2804,3388,1949,1993,1905,0,0,0,0,0,0,15.09,14.79,15.08
$GC,2031,0.99,255.9,2804,3389,1993,1905,18.5,7.9,374,2065,0.00,2.33,26.08,0.864,11270,0.000,0.042,2804,1981,1767,1816,1719,0,0,0,0,0,0,14.95,14.83,14.26
$GC,2128,1.01,273.6,2804,1981,1811,1714,10.1,9.2,392,2146,0.00,2.42,9.20,0.737,10500,0.000,0.063,2803,3385,1693,1745,1641,0,0,0,0,0,0,15.02,14.73,14.21
$GC,2153,1.07,317.0,2803,3386,1744,1640,8.1,8.0,396,2182,0.00,2.33,23.38,0.779,11270,0.000,0.042,2804,1980,1518,1575,1461,0,0,0,0,0,0,14.77,14.69,14.19
$STATE,2207,end climb,SURFACE_DEPTH_REACHED
$STATE,2207,begin surface coast
$FINISH,-0.2,1.023879
$STATE,2244,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2265,122.50,0.742,0,0,599,542.59
$SM_GC,0.54,12.55,0.00,122.50,0.056,0.000,0.742,124,1977,599,-7.31,-0.25,542.59,0,0,0,0,0,0,14.77,15.00,14.12
$IRIDIUM_FIX,-2853.13,3209.73,040419,084648
$TT8_MAMPS,0.019474,0.913031
$HUMID,56.22
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$SC_FREEKB,3874848
$24V_AH,13.38,108.325
$10V_AH,13.72,0.000
$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,27.775,47.600,327.650,122.500,0.000,22.336,20.245,186.022,0.500,0.000,18.807,836.346,361.634,558.002,953.687,89.825,0.000,974.645,0.000,626.307,0.000,4.223,0.000
$DEVICE_MAMPS,333.540,86.445,1015.155,742.050,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.478,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13467,413
$CAP_FILE_SIZE,78799,0
$CFSIZE,1023623168,1009795072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,102130,-2904.899,3208.242,16,0.7,30,-23.9,0.6,185.4,12,9.4