version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 114
start: 4 6 119 1 18 25
data:
$ID,573
$MISSION,30
$DIVE,114
$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,110
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,060419,011109,-2914.4644,3201.1516,15,0.8,20,-24.1,0.6,215.2,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-56.8
$GPS2,060419,011801,-2914.3625,3201.1802,18,0.8,21,-24.1,1.3,56.1,11,7.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2918.056,3212.817
$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,134.1,20000,-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,-146.0,94,1980,585,574,0.0,0.0,0,116,0.00,0.00,-93.82,0.000,16386,0.000,0.000,85,1978,3195,3206,3185,0,0,0,0,0,0,15.02,28.83,15.02
$GC,120,-0.86,-146.0,84,1978,3208,3185,3.6,-8.3,17,144,12.60,2.45,-3.47,0.000,18692,0.314,0.085,2196,3409,3411,3441,3381,0,0,0,0,0,0,14.40,13.25,14.59
$GC,311,-0.86,-146.0,2195,3410,3443,3381,48.0,-19.7,54,318,0.05,2.30,0.00,0.000,3078,0.339,0.040,2206,2005,3412,3443,3381,0,0,0,0,0,0,14.62,14.81,14.83
$GC,381,-0.86,-146.0,2206,2005,3443,3380,60.6,-16.2,67,387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2005,3412,3443,3381,0,0,0,0,0,0,15.09,15.10,15.09
$GC,449,-0.86,-146.0,2206,2006,3443,3380,70.7,-12.8,80,456,0.00,2.42,0.00,0.000,2308,0.000,0.064,2206,3410,3412,3444,3380,0,0,0,0,0,0,15.09,14.67,15.09
$GC,508,-0.86,-146.0,2206,3410,3444,3380,78.4,-13.3,91,514,0.00,2.30,0.00,0.000,3078,0.000,0.042,2206,2011,3411,3444,3379,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,523,begin apogee
$GC,527,-0.19,0.0,2207,2011,3444,3380,80.2,-13.4,93,643,1.10,0.00,106.88,0.946,10246,0.167,0.000,2424,2010,2811,2847,2776,0,0,0,0,0,0,14.64,14.39,14.00
$STATE,645,end apogee,CONTROL_FINISHED_OK
$STATE,645,begin climb
$GC,647,0.86,146.0,2424,2009,2848,2776,88.0,0.0,114,764,1.55,2.40,108.53,0.938,11012,0.102,0.062,2749,3360,2216,2256,2176,0,0,0,0,0,0,14.52,14.44,13.97
$GC,851,0.90,184.6,2749,3360,2251,2174,78.0,8.2,151,891,0.00,2.33,30.70,0.910,11270,0.000,0.040,2750,1954,2056,2098,2014,0,0,0,0,0,0,14.76,14.66,14.00
$GC,953,0.93,205.4,2749,1954,2097,2011,69.3,9.1,170,978,0.08,2.40,16.98,0.871,10500,0.177,0.060,2804,3366,1972,2015,1929,0,0,0,0,0,0,14.69,14.47,14.02
$GC,1040,0.94,210.5,2804,3366,2013,1928,61.2,9.8,186,1053,0.00,2.33,5.18,0.724,13318,0.000,0.041,2804,1956,1952,1996,1909,0,0,0,0,0,0,14.81,14.70,14.05
$GC,1115,0.94,214.4,2802,1956,1994,1909,54.6,9.8,200,1128,0.00,2.40,4.50,0.687,12804,0.000,0.072,2804,563,1937,1978,1896,0,0,0,0,0,0,14.99,14.69,14.04
$GC,1195,1.00,258.5,2804,563,1977,1895,47.3,8.0,215,1241,0.00,2.28,35.50,0.898,11270,0.000,0.038,2804,1968,1755,1804,1706,0,0,0,0,0,0,14.89,14.80,14.12
$GC,1303,1.00,258.5,2804,1968,1800,1705,37.1,10.0,235,1309,0.00,2.38,0.00,0.000,2308,0.000,0.060,2804,3365,1752,1800,1705,0,0,0,0,0,0,14.96,14.63,14.97
$GC,1416,1.03,290.2,2804,3364,1797,1702,27.2,8.6,257,1446,0.00,2.30,20.15,0.847,11270,0.000,0.041,2804,1959,1625,1677,1574,0,0,0,0,0,0,14.90,14.80,14.11
$GC,1509,1.13,364.9,2804,1959,1675,1570,19.7,6.6,274,1560,0.08,0.00,43.60,0.812,10758,0.178,0.000,2860,1958,1322,1378,1267,0,0,0,0,0,0,14.70,14.52,14.14
$GC,1622,1.13,364.9,2860,1958,1376,1263,6.4,11.9,295,1628,0.00,2.42,0.00,0.000,4356,0.000,0.067,2861,3360,1319,1375,1263,0,0,0,0,0,0,14.95,14.59,14.95
$STATE,1649,end climb,SURFACE_DEPTH_REACHED
$STATE,1649,begin surface coast
$FINISH,0.4,1.023881
$STATE,1664,end surface coast,CONTROL_FINISHED_OK
$STATE,1665,begin surface
$SM_CCo,1688,96.60,0.705,0,0,599,542.59
$SM_GC,0.79,12.65,2.30,96.60,0.045,0.052,0.705,128,2011,599,-7.30,1.05,542.59,0,0,0,0,0,0,14.78,14.77,14.15
$IRIDIUM_FIX,-2902.99,3201.37,060419,003241
$TT8_MAMPS,0.019474,0.910035
$HUMID,51.96
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,80.2,12.3
$SC_FREEKB,3864512
$24V_AH,13.25,113.483
$10V_AH,13.28,0.000
$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,28.100,33.000,372.000,96.600,0.000,22.701,37.945,182.527,0.750,0.000,21.984,577.450,227.085,525.995,802.379,81.156,0.000,858.122,0.000,463.313,0.000,7.113,0.000
$DEVICE_MAMPS,338.895,84.915,946.305,705.330,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.718,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10167,303
$CAP_FILE_SIZE,60759,0
$CFSIZE,1023623168,1006977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,014906,-2914.181,3201.513,15,0.9,18,-24.1,0.7,316.4,10,9.5