version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 118
start: 4 6 119 3 52 30
data:
$ID,573
$MISSION,30
$DIVE,118
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,060419,034534,-2913.4873,3202.5088,14,0.8,15,-24.1,0.0,359.3,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.1
$GPS2,060419,035206,-2913.4221,3202.4990,20,0.8,23,-24.1,0.4,76.9,11,8.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2917.116,3214.134
$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,-146.0,72,1984,588,574,0.0,0.0,0,122,0.00,0.00,-98.70,0.000,16386,0.000,0.000,72,1985,3314,3327,3301,0,0,0,0,0,0,15.04,28.83,15.06
$GC,125,-0.86,-146.0,71,1985,3331,3301,3.7,-9.5,18,145,12.62,2.45,-1.58,0.000,18692,0.312,0.080,2196,3405,3409,3437,3381,0,0,0,0,0,0,14.45,13.37,14.66
$GC,347,-0.86,-146.0,2195,3406,3441,3380,46.6,-14.1,61,354,0.05,2.28,0.00,0.000,3078,0.334,0.039,2207,2010,3410,3441,3380,0,0,0,0,0,0,14.67,14.88,14.88
$GC,416,-0.86,-146.0,2207,2010,3441,3379,58.3,-18.1,74,423,0.00,2.35,0.00,0.000,2564,0.000,0.065,2208,613,3410,3441,3379,0,0,0,0,0,0,15.13,14.83,15.13
$GC,434,-0.86,-146.0,2207,613,3441,3379,61.4,-16.3,77,441,0.00,2.28,0.00,0.000,3078,0.000,0.043,2204,2007,3410,3441,3379,0,0,0,0,0,0,14.85,14.76,14.86
$GC,504,-0.86,-146.0,2203,2008,3441,3379,73.0,-15.1,90,511,0.00,2.38,0.00,0.000,2308,0.000,0.067,2204,3410,3410,3441,3379,0,0,0,0,0,0,15.14,14.71,15.14
$GC,650,-0.86,-146.0,2203,3410,3441,3379,93.4,-13.1,118,656,0.00,2.28,0.00,0.000,3078,0.000,0.037,2204,2013,3410,3441,3379,0,0,0,0,0,0,14.89,14.81,14.90
$GC,719,-0.86,-146.0,2203,2013,3442,3379,103.2,-14.3,131,726,0.00,2.38,0.00,0.000,2308,0.000,0.064,2203,3411,3410,3442,3379,0,0,0,0,0,0,15.14,14.72,15.15
$GC,748,-0.86,-146.0,2203,3411,3442,3379,107.3,-14.2,136,754,0.00,2.28,0.00,0.000,3078,0.000,0.038,2204,2007,3410,3442,3378,0,0,0,0,0,0,15.00,14.90,15.01
$STATE,765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,765,begin apogee
$GC,769,-0.19,0.0,2204,2006,3442,3379,109.8,-12.7,139,886,1.10,0.00,107.12,0.988,10246,0.171,0.000,2421,2004,2810,2846,2775,0,0,0,0,0,0,14.68,14.58,14.06
$STATE,888,end apogee,CONTROL_FINISHED_OK
$STATE,888,begin climb
$GC,889,0.86,146.0,2421,2004,2846,2775,115.3,0.0,160,1008,1.55,2.38,108.38,0.984,10500,0.101,0.060,2747,3371,2216,2257,2175,0,0,0,0,0,0,14.55,14.38,13.97
$GC,1035,0.90,178.2,2747,3371,2253,2174,109.4,8.5,185,1070,0.00,2.35,25.95,0.945,11270,0.000,0.039,2749,1959,2082,2125,2040,0,0,0,0,0,0,14.62,14.52,13.97
$GC,1132,0.94,213.7,2749,1958,2121,2038,101.2,8.4,203,1166,0.08,0.00,28.45,0.943,10246,0.179,0.000,2801,1957,1938,1982,1894,0,0,0,0,0,0,14.61,14.61,14.04
$GC,1229,0.94,213.7,2801,1958,1977,1892,91.5,10.6,221,1234,0.00,0.00,0.00,0.000,4102,0.000,0.000,2802,1957,1934,1976,1892,0,0,0,0,0,0,14.93,14.95,14.92
$GC,1297,0.96,229.3,2801,1958,1976,1891,84.6,9.3,234,1315,0.00,2.45,13.12,0.859,12548,0.000,0.062,2801,3366,1875,1918,1832,0,0,0,0,0,0,15.00,14.66,14.12
$GC,1363,0.96,229.3,2801,3365,1915,1830,77.8,10.6,246,1369,0.00,2.33,0.00,0.000,5126,0.000,0.041,2804,1957,1872,1915,1829,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1433,0.99,256.9,2804,1957,1915,1828,71.3,8.7,259,1462,0.00,2.45,22.92,0.920,10500,0.000,0.060,2804,3365,1761,1809,1714,0,0,0,0,0,0,15.02,14.70,14.15
$GC,1509,0.99,256.9,2803,3366,1806,1711,63.9,11.5,273,1516,0.00,2.33,0.00,0.000,3078,0.000,0.042,2804,1952,1758,1806,1710,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1579,1.01,268.5,2804,1952,1806,1709,57.5,9.5,286,1598,0.00,2.35,10.07,0.855,10756,0.000,0.073,2804,558,1716,1765,1668,0,0,0,0,0,0,15.04,14.69,14.16
$GC,1630,1.01,268.5,2804,559,1762,1668,51.7,11.1,295,1636,0.00,2.30,0.00,0.000,3078,0.000,0.041,2804,1975,1714,1762,1666,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1700,1.01,268.5,2804,1975,1761,1666,44.3,12.1,308,1707,0.00,2.35,0.00,0.000,2308,0.000,0.063,2804,3365,1713,1761,1666,0,0,0,0,0,0,15.05,14.73,15.06
$GC,1824,1.01,268.5,2804,3366,1760,1664,30.1,11.4,332,1831,0.00,2.30,0.00,0.000,3078,0.000,0.041,2804,1955,1712,1760,1664,0,0,0,0,0,0,14.96,14.85,14.97
$GC,1894,1.02,278.6,2804,1955,1760,1664,23.2,9.5,345,1907,0.00,2.40,7.85,0.721,10756,0.000,0.072,2804,563,1674,1725,1624,0,0,0,0,0,0,15.10,14.79,14.18
$GC,1941,1.04,298.3,2804,562,1722,1624,18.3,9.1,353,1959,0.00,2.28,11.50,0.782,11270,0.000,0.041,2804,1968,1592,1644,1541,0,0,0,0,0,0,14.90,14.79,14.23
$GC,2021,1.04,298.3,2804,1968,1641,1538,8.8,14.7,368,2027,0.00,2.33,0.00,0.000,2308,0.000,0.052,2804,3366,1589,1641,1537,0,0,0,0,0,0,15.07,14.78,15.07
$STATE,2068,end climb,SURFACE_DEPTH_REACHED
$STATE,2068,begin surface coast
$FINISH,1.5,1.023990
$STATE,2085,end surface coast,CONTROL_FINISHED_OK
$STATE,2085,begin surface
$SM_CCo,2108,130.95,0.715,0,0,599,542.59
$SM_GC,0.64,12.27,2.25,130.95,0.049,0.041,0.715,145,2037,599,-7.26,1.24,542.59,0,0,0,0,0,0,14.88,14.87,14.19
$IRIDIUM_FIX,-2902.99,3201.37,060419,030633
$TT8_MAMPS,0.019474,0.866593
$HUMID,54.33
$INTERNAL_PRESSURE,9.35547
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,90.6,33.9
$SC_FREEKB,3862464
$24V_AH,13.37,114.122
$10V_AH,13.42,0.000
$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,27.675,51.475,335.375,130.950,0.000,24.201,39.322,157.423,1.750,0.000,23.845,773.798,319.285,554.718,908.114,92.581,0.000,946.938,0.000,577.216,0.000,13.264,0.000
$DEVICE_MAMPS,334.305,79.560,987.615,714.510,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2116.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.908,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,13450,380
$CAP_FILE_SIZE,75843,0
$CFSIZE,1023623168,1006567424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,043047,-2913.372,3202.779,19,0.8,20,-24.1,0.9,32.0,12,6.3