version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 97
start: 4 4 119 11 13 27
data:
$ID,573
$MISSION,30
$DIVE,97
$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,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,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,34
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,040419,110627,-2905.2993,3207.9331,22,1.0,36,-23.9,0.7,190.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-57.4
$GPS2,040419,111303,-2905.4026,3207.9360,25,1.1,26,-23.9,0.2,86.6,8,8.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2909.964,3219.146
$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,138.9,20000,-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,-146.0,73,1985,588,577,0.0,0.0,0,121,0.00,0.00,-97.68,0.000,16386,0.000,0.000,72,1986,3224,3234,3214,0,0,0,0,0,0,15.02,28.83,15.02
$GC,124,-0.86,-146.0,75,1986,3235,3221,3.7,-10.1,17,150,12.68,2.40,-3.20,0.000,18948,0.313,0.080,2205,581,3411,3442,3380,0,0,0,0,0,0,14.36,13.34,14.57
$GC,171,-0.86,-146.0,2205,582,3443,3380,19.8,-25.3,25,179,0.00,2.33,0.00,0.000,3078,0.000,0.045,2204,1990,3411,3443,3380,0,0,0,0,0,0,14.90,14.78,14.92
$GC,242,-0.86,-146.0,2204,1990,3443,3380,34.2,-18.7,38,248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1990,3412,3444,3380,0,0,0,0,0,0,15.05,15.06,15.06
$GC,310,-0.86,-146.0,2204,1990,3444,3380,47.0,-17.4,51,317,0.00,2.40,0.00,0.000,2308,0.000,0.068,2203,3390,3411,3444,3379,0,0,0,0,0,0,15.07,14.73,15.08
$GC,379,-0.86,-146.0,2203,3390,3444,3379,57.0,-13.3,64,386,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1990,3412,3445,3379,0,0,0,0,0,0,14.91,14.84,14.91
$GC,448,-0.86,-146.0,2203,1990,3445,3380,66.3,-12.7,77,454,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1990,3412,3445,3380,0,0,0,0,0,0,15.09,15.09,15.09
$GC,517,-0.86,-146.0,2204,1990,3445,3384,75.6,-14.7,90,524,0.00,2.40,0.00,0.000,2308,0.000,0.066,2204,3389,3413,3446,3380,0,0,0,0,0,0,15.12,14.80,15.11
$GC,573,-0.86,-146.0,2203,3389,3446,3379,83.6,-14.5,100,579,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1981,3413,3446,3380,0,0,0,0,0,0,14.96,14.85,14.97
$GC,642,-0.86,-146.0,2204,1981,3446,3380,92.3,-13.4,113,649,0.00,2.42,0.00,0.000,2308,0.000,0.066,2203,3391,3413,3447,3379,0,0,0,0,0,0,15.11,14.81,15.11
$STATE,654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,654,begin apogee
$GC,661,-0.19,0.0,2203,1982,3446,3379,94.2,-13.3,115,777,1.12,0.00,107.68,0.985,10246,0.169,0.000,2424,1980,2811,2847,2775,0,0,0,0,0,0,14.54,14.57,14.04
$STATE,779,end apogee,CONTROL_FINISHED_OK
$STATE,779,begin climb
$GC,780,0.86,146.0,2423,1980,2847,2775,100.1,0.0,135,899,1.55,2.47,109.32,0.983,10756,0.099,0.071,2750,584,2214,2255,2173,0,0,0,0,0,0,14.52,14.43,13.97
$GC,967,0.88,165.4,2750,584,2248,2173,90.4,9.1,167,991,0.00,2.33,16.05,0.921,11270,0.000,0.041,2750,1989,2135,2176,2095,0,0,0,0,0,0,14.69,14.61,14.02
$GC,1053,0.92,200.7,2750,1989,2172,2094,82.6,8.4,183,1090,0.08,2.42,28.45,0.946,10500,0.178,0.063,2802,3393,1992,2035,1949,0,0,0,0,0,0,14.59,14.48,14.04
$GC,1132,0.92,200.7,2802,3393,2032,1946,73.8,12.4,197,1140,0.08,2.35,0.00,0.000,5126,0.291,0.042,2790,1982,1989,2033,1946,0,0,0,0,0,0,14.49,14.65,14.67
$GC,1203,0.92,200.7,2790,1981,2031,1945,65.8,11.2,210,1209,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1982,1988,2031,1945,0,0,0,0,0,0,14.96,14.96,14.97
$GC,1271,0.92,200.7,2790,1982,2030,1944,58.3,10.3,223,1278,0.00,2.42,0.00,0.000,4356,0.000,0.062,2790,3396,1987,2030,1944,0,0,0,0,0,0,15.00,14.66,15.00
$GC,1294,0.95,221.3,2790,3396,2030,1944,56.2,9.1,227,1319,0.00,2.33,17.20,0.913,11270,0.000,0.043,2790,1986,1907,1952,1863,0,0,0,0,0,0,14.89,14.80,14.14
$GC,1381,0.95,221.3,2790,1987,1948,1860,47.3,10.1,243,1386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1987,1903,1948,1859,0,0,0,0,0,0,14.99,14.99,14.99
$GC,1448,0.95,221.3,2790,1987,1947,1860,41.0,10.8,256,1454,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1987,1902,1947,1857,0,0,0,0,0,0,15.03,15.03,15.04
$GC,1516,0.95,221.3,2790,1987,1946,1859,33.7,10.6,269,1523,0.00,2.42,0.00,0.000,2308,0.000,0.063,2790,3392,1902,1946,1859,0,0,0,0,0,0,15.04,14.68,15.04
$GC,1546,0.95,221.3,2789,3392,1946,1859,30.4,11.7,274,1552,0.00,2.33,0.00,0.000,3078,0.000,0.043,2790,1982,1902,1946,1858,0,0,0,0,0,0,14.81,14.69,14.81
$GC,1615,1.03,290.6,2790,1982,1945,1858,24.9,6.8,287,1664,0.05,2.42,41.85,0.903,10756,0.252,0.070,2837,587,1624,1677,1572,0,0,0,0,0,0,14.77,14.69,14.19
$GC,1711,1.03,290.6,2837,586,1672,1571,17.2,10.0,304,1718,0.05,2.33,0.00,0.000,5126,0.324,0.041,2826,1996,1621,1672,1570,0,0,0,0,0,0,14.47,14.65,14.66
$GC,1780,1.03,290.6,2825,1996,1671,1569,9.5,10.6,317,1788,0.00,2.35,0.00,0.000,4356,0.000,0.064,2826,3384,1619,1671,1568,0,0,0,0,0,0,15.00,14.62,15.00
$STATE,1839,end climb,SURFACE_DEPTH_REACHED
$STATE,1839,begin surface coast
$FINISH,0.4,1.023881
$STATE,1859,end surface coast,CONTROL_FINISHED_OK
$STATE,1859,begin surface
$SM_CCo,1882,135.48,0.738,0,0,599,542.59
$SM_GC,0.49,12.43,2.35,135.48,0.052,0.044,0.738,143,1992,599,-7.28,1.19,542.59,0,0,0,0,0,0,14.78,14.81,14.16
$IRIDIUM_FIX,-2853.13,3207.65,040419,102353
$TT8_MAMPS,0.019474,0.900298
$HUMID,55.78
$INTERNAL_PRESSURE,9.31641
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,80.3,27.4
$SC_FREEKB,3873824
$24V_AH,13.34,108.656
$10V_AH,13.31,0.000
$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,28.025,47.425,320.550,135.475,0.000,23.716,24.357,176.110,0.750,0.000,26.981,704.846,237.256,567.084,833.909,87.086,0.000,924.267,0.000,507.979,0.000,7.150,0.000
$DEVICE_MAMPS,323.595,79.560,985.320,738.225,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.608,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10130,332
$CAP_FILE_SIZE,69694,0
$CFSIZE,1023623168,1009598464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.249,208.20,1
$GPS,040419,114811,-2905.771,3208.031,27,1.0,28,-23.9,1.0,222.6,8,8.6