version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 115
start: 4 6 119 1 55 42
data:
$ID,573
$MISSION,30
$DIVE,115
$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,34
$R_STBD_OVSHOOT,47
$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,2
$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
$GPS1,060419,014906,-2914.1814,3201.5132,15,0.9,18,-24.1,0.7,316.4,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-57.9
$GPS2,060419,015518,-2914.1018,3201.5239,17,0.9,20,-24.1,2.5,48.1,10,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2917.795,3213.160
$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,-146.0,98,2010,586,574,0.0,0.0,0,116,0.00,0.00,-93.53,0.000,16386,0.000,0.000,98,2007,3167,3179,3155,0,0,0,0,0,0,15.02,28.83,15.04
$GC,120,-0.86,-146.0,98,2008,3179,3156,3.1,-6.3,17,145,12.48,2.40,-4.25,0.000,18692,0.311,0.085,2203,3406,3410,3442,3378,0,0,0,0,0,0,14.43,13.38,14.62
$GC,301,-0.86,-146.0,2203,3407,3443,3378,42.4,-14.8,52,308,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,2004,3411,3444,3378,0,0,0,0,0,0,14.95,14.85,14.97
$GC,374,-0.86,-146.0,2202,2002,3443,3378,54.0,-17.2,65,379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2004,3411,3445,3378,0,0,0,0,0,0,15.10,15.10,15.10
$GC,444,-0.86,-146.0,2203,2004,3444,3378,65.5,-17.3,78,450,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2004,3411,3444,3378,0,0,0,0,0,0,15.11,15.11,15.11
$GC,512,-0.86,-146.0,2203,2004,3444,3378,76.2,-14.9,91,518,0.00,2.40,0.00,0.000,2308,0.000,0.067,2203,3412,3411,3444,3378,0,0,0,0,0,0,15.12,14.82,15.12
$STATE,534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,534,begin apogee
$GC,541,-0.19,0.0,2203,1955,3445,3378,79.3,-12.9,95,657,1.12,0.00,106.38,0.949,10246,0.170,0.000,2423,1953,2811,2846,2776,0,0,0,0,0,0,14.59,14.46,14.06
$STATE,659,end apogee,CONTROL_FINISHED_OK
$STATE,659,begin climb
$GC,660,0.86,146.0,2423,1953,2846,2776,85.9,0.0,116,778,1.55,2.45,108.47,0.932,10756,0.104,0.069,2749,566,2214,2254,2175,0,0,0,0,0,0,14.54,14.45,14.00
$GC,831,0.90,180.8,2749,565,2248,2174,78.9,8.4,146,866,0.00,2.33,27.55,0.903,11270,0.000,0.041,2749,1971,2072,2115,2030,0,0,0,0,0,0,14.64,14.55,14.02
$GC,928,0.94,212.7,2746,1971,2111,2029,70.8,8.5,164,963,0.08,2.40,25.70,0.890,10500,0.180,0.063,2802,3357,1942,1985,1899,0,0,0,0,0,0,14.61,14.58,14.05
$GC,1065,0.94,215.4,2802,3357,1981,1897,57.3,9.9,190,1072,0.00,2.30,0.00,0.000,5126,0.000,0.041,2804,1957,1938,1981,1896,0,0,0,0,0,0,14.85,14.73,14.86
$GC,1135,0.95,225.5,2804,1957,1981,1895,51.0,9.5,203,1153,0.00,2.35,10.82,0.828,12804,0.000,0.070,2804,570,1891,1933,1849,0,0,0,0,0,0,15.00,14.59,14.14
$GC,1205,1.02,275.3,2804,570,1929,1849,44.4,7.7,216,1251,0.00,2.28,39.67,0.890,11270,0.000,0.038,2804,1971,1688,1738,1638,0,0,0,0,0,0,14.90,14.81,14.13
$GC,1313,1.02,275.3,2804,1971,1734,1635,33.1,14.5,236,1319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2804,1971,1684,1734,1635,0,0,0,0,0,0,15.00,14.96,14.96
$GC,1381,1.09,332.4,2804,1971,1732,1633,25.6,7.4,249,1422,0.05,2.40,35.20,0.846,10500,0.256,0.059,2850,3357,1456,1510,1403,0,0,0,0,0,0,14.72,14.62,14.16
$GC,1479,1.09,332.4,2856,3358,1505,1401,14.7,14.5,267,1486,0.03,2.30,0.00,0.000,5126,0.512,0.042,2844,1970,1453,1505,1401,0,0,0,0,0,0,14.54,14.73,14.76
$GC,1549,1.09,332.4,2843,1970,1504,1399,5.8,13.4,280,1555,0.00,0.00,0.00,0.000,4102,0.000,0.000,2844,1968,1451,1504,1399,0,0,0,0,0,0,15.01,15.02,15.01
$STATE,1565,end climb,SURFACE_DEPTH_REACHED
$STATE,1565,begin surface coast
$FINISH,1.5,1.023927
$STATE,1581,end surface coast,CONTROL_FINISHED_OK
$STATE,1581,begin surface
$SM_CCo,1601,113.12,0.700,0,0,599,542.59
$SM_GC,0.71,12.55,0.00,113.12,0.055,0.000,0.700,151,1970,599,-7.27,-1.22,542.59,0,0,0,0,0,0,14.76,15.06,14.17
$IRIDIUM_FIX,-2902.99,3201.37,060419,011323
$TT8_MAMPS,0.020223,0.826896
$HUMID,52.95
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$ALTIM_BOTTOM_PING,60.1,34.1
$SC_FREEKB,3864000
$24V_AH,13.38,113.639
$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,27.850,28.350,353.800,113.125,0.000,38.623,23.455,151.841,1.250,0.000,21.356,548.437,213.117,522.747,742.948,76.941,0.000,840.916,0.000,438.781,0.000,11.516,0.000
$DEVICE_MAMPS,511.785,84.915,949.365,699.975,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.636,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10156,286
$CAP_FILE_SIZE,57708,0
$CFSIZE,1023623168,1006878720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,022555,-2913.909,3201.831,21,0.9,61,-24.1,0.8,187.4,10,19.7