version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 112
start: 4 5 119 23 53 17
data:
$ID,573
$MISSION,30
$DIVE,112
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,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
$GPS1,050419,234426,-2915.2256,3200.8665,24,0.8,64,-24.1,1.1,50.4,11,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-56.1
$GPS2,050419,235252,-2915.1216,3200.9055,21,0.8,22,-24.1,1.0,337.6,10,8.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2911.428,3149.281
$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,314.1,20000,-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,-146.0,72,1981,582,576,0.0,0.0,0,110,0.00,0.00,-87.43,0.000,16386,0.000,0.000,72,1982,2984,2997,2971,0,0,0,0,0,0,14.97,28.83,14.97
$GC,113,-0.86,-146.0,72,1982,2997,2971,3.1,-6.7,16,143,12.73,2.33,-7.50,0.000,18948,0.312,0.081,2203,610,3410,3445,3375,0,0,0,0,0,0,14.31,13.24,14.50
$GC,355,-0.86,-146.0,2203,610,3446,3374,59.0,-15.6,63,362,0.00,2.33,0.00,0.000,3078,0.000,0.045,2203,2010,3414,3454,3375,0,0,0,0,0,0,14.83,14.73,14.85
$GC,425,-0.86,-146.0,2203,2010,3446,3375,68.1,-12.8,76,431,0.00,2.40,0.00,0.000,2308,0.000,0.070,2203,3410,3410,3446,3374,0,0,0,0,0,0,15.05,14.69,15.05
$GC,463,-0.86,-146.0,2203,3410,3446,3374,72.9,-11.4,83,470,0.00,2.30,0.00,0.000,3078,0.000,0.039,2203,2012,3410,3446,3375,0,0,0,0,0,0,14.91,14.82,14.93
$GC,535,-0.86,-146.0,2203,2012,3446,3375,80.9,-10.9,96,541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2012,3410,3446,3375,0,0,0,0,0,0,15.08,15.09,15.08
$GC,603,-0.86,-146.0,2203,2012,3446,3375,90.0,-13.5,109,609,0.00,2.38,0.00,0.000,2564,0.000,0.068,2203,608,3410,3446,3375,0,0,0,0,0,0,15.07,14.76,15.08
$GC,641,-0.86,-146.0,2202,609,3446,3374,95.3,-12.8,116,648,0.00,2.33,0.00,0.000,3078,0.000,0.045,2203,2023,3411,3447,3375,0,0,0,0,0,0,14.92,14.81,14.94
$GC,711,-0.86,-146.0,2202,2023,3446,3374,102.9,-12.0,129,718,0.00,2.40,0.00,0.000,2308,0.000,0.069,2203,3409,3410,3446,3375,0,0,0,0,0,0,15.08,14.76,15.08
$GC,754,-0.86,-146.0,2202,3409,3446,3375,108.9,-12.8,137,761,0.00,2.30,0.00,0.000,3078,0.000,0.035,2203,2006,3410,3446,3374,0,0,0,0,0,0,14.78,14.68,14.79
$STATE,766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,766,begin apogee
$GC,770,-0.19,0.0,2203,2007,3447,3375,110.5,-12.1,139,887,1.12,0.00,108.43,0.991,10246,0.175,0.000,2422,2005,2811,2849,2773,0,0,0,0,0,0,14.45,14.35,13.93
$STATE,888,end apogee,CONTROL_FINISHED_OK
$STATE,888,begin climb
$GC,890,0.86,146.0,2422,2005,2849,2773,112.5,0.0,160,1013,1.55,2.55,109.90,0.987,10756,0.099,0.074,2749,567,2214,2256,2172,0,0,0,0,0,0,14.49,14.38,13.88
$GC,1080,0.95,222.1,2749,567,2249,2172,99.9,6.5,194,1149,0.12,2.33,59.70,0.962,11270,0.119,0.041,2808,1977,1904,1950,1858,0,0,0,0,0,0,14.53,14.51,13.89
$GC,1212,0.95,222.1,2809,1977,1946,1856,87.8,10.1,218,1218,0.00,2.47,0.00,0.000,4612,0.000,0.073,2811,562,1900,1945,1856,0,0,0,0,0,0,14.83,14.56,14.83
$GC,1240,0.95,222.1,2810,562,1943,1855,84.5,11.4,223,1248,0.05,2.30,0.00,0.000,5126,0.317,0.040,2800,1961,1899,1943,1856,0,0,0,0,0,0,14.40,14.56,14.58
$GC,1311,0.95,222.1,2800,1961,1943,1854,76.9,11.9,236,1317,0.00,2.40,0.00,0.000,4356,0.000,0.065,2800,3362,1898,1943,1854,0,0,0,0,0,0,14.93,14.59,14.93
$GC,1324,0.95,222.1,2800,3363,1942,1854,75.7,10.2,238,1330,0.00,2.33,0.00,0.000,5126,0.000,0.044,2800,1962,1898,1942,1854,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1395,0.95,224.2,2800,1962,1942,1853,68.4,9.9,251,1401,0.00,2.40,0.00,0.000,4612,0.000,0.074,2800,562,1897,1941,1853,0,0,0,0,0,0,14.97,14.61,14.97
$GC,1435,0.95,224.2,2800,562,1940,1853,64.4,10.5,258,1441,0.00,2.30,0.00,0.000,5126,0.000,0.040,2800,1975,1896,1940,1853,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1504,1.01,273.1,2800,1975,1940,1853,58.6,7.8,271,1550,0.00,2.42,39.92,0.923,10500,0.000,0.063,2800,3363,1697,1749,1646,0,0,0,0,0,0,15.02,14.64,14.11
$GC,1576,1.05,306.6,2799,3362,1745,1643,52.7,8.5,284,1611,0.00,2.33,27.95,0.912,11270,0.000,0.041,2800,1963,1560,1614,1506,0,0,0,0,0,0,14.73,14.64,13.98
$GC,1674,1.10,342.0,2800,1963,1609,1503,45.0,8.4,302,1709,0.08,2.47,28.92,0.902,10500,0.178,0.063,2854,3363,1416,1472,1360,0,0,0,0,0,0,14.63,14.57,14.00
$GC,1746,1.10,342.0,2854,3363,1469,1358,36.2,13.2,315,1753,0.00,2.35,0.00,0.000,5126,0.000,0.044,2856,1962,1413,1469,1358,0,0,0,0,0,0,14.66,14.57,14.68
$GC,1816,1.10,342.0,2856,1960,1467,1358,28.3,12.9,328,1822,0.00,2.42,0.00,0.000,4612,0.000,0.076,2856,563,1412,1467,1358,0,0,0,0,0,0,14.93,14.57,14.93
$GC,1845,1.14,377.2,2856,562,1466,1357,25.6,8.4,333,1874,0.00,2.30,22.23,0.858,9222,0.000,0.038,2856,1969,1273,1331,1216,0,0,0,0,0,0,14.81,14.73,14.09
$GC,1937,1.14,377.2,2856,1971,1330,1214,14.2,15.0,350,1944,0.00,2.35,0.00,0.000,260,0.000,0.065,2856,3357,1272,1330,1214,0,0,0,0,0,0,14.94,14.66,14.95
$GC,1956,1.14,377.2,2855,3357,1329,1213,11.2,16.6,353,1962,0.00,2.35,0.00,0.000,1030,0.000,0.047,2856,1964,1271,1329,1213,0,0,0,0,0,0,14.71,14.60,14.73
$GC,2025,1.14,377.2,2856,1964,1328,1213,3.9,11.0,366,2032,0.00,2.42,0.00,0.000,516,0.000,0.077,2856,560,1270,1328,1213,0,0,0,0,0,0,14.98,14.58,15.00
$STATE,2036,end climb,SURFACE_DEPTH_REACHED
$STATE,2037,begin surface coast
$FINISH,0.9,1.023846
$STATE,2048,end surface coast,CONTROL_FINISHED_OK
$STATE,2048,begin surface
$SM_CCo,2071,91.88,0.713,0,0,598,542.59
$SM_GC,0.63,12.62,2.40,91.88,0.053,0.034,0.713,144,2014,598,-7.27,-1.19,542.59,0,0,0,0,0,0,14.80,14.82,14.14
$IRIDIUM_FIX,-2902.99,3201.37,050419,224351
$TT8_MAMPS,0.019474,0.92127
$HUMID,52.75
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,80.3,44.0
$SC_FREEKB,3865536
$24V_AH,13.24,113.156
$10V_AH,13.27,0.000
$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,28.275,61.650,397.050,91.875,0.000,24.236,43.114,239.365,0.750,0.000,22.552,729.693,288.912,572.820,992.118,98.760,0.000,976.944,0.000,562.114,0.000,7.936,0.000
$DEVICE_MAMPS,316.710,81.090,990.675,712.980,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.394,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13479,370
$CAP_FILE_SIZE,77840,0
$CFSIZE,1023623168,1007157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,003022,-2914.779,3200.847,17,0.8,24,-24.1,0.7,219.2,11,9.6