version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 119
start: 4 6 119 4 38 38
data:
$ID,573
$MISSION,30
$DIVE,119
$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,16
$R_STBD_OVSHOOT,43
$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
$GPS1,060419,043047,-2913.3723,3202.7786,19,0.8,20,-24.1,0.9,32.0,12,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-58.6
$GPS2,060419,043814,-2913.3118,3202.7341,29,0.8,30,-24.1,1.3,2.7,12,7.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2917.005,3214.369
$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,-146.0,71,2031,584,575,0.0,0.0,0,116,0.00,0.00,-93.53,0.000,16386,0.000,0.000,72,2032,3175,3181,3169,0,0,0,0,0,0,15.05,28.83,15.06
$GC,120,-0.86,-146.0,71,2032,3182,3169,3.6,-8.2,17,144,12.65,2.33,-3.92,0.000,18692,0.313,0.083,2197,3410,3411,3442,3381,0,0,0,0,0,0,14.45,13.35,14.64
$GC,361,-0.86,-146.0,2196,3410,3444,3380,52.3,-15.9,64,368,0.05,2.33,0.00,0.000,3078,0.332,0.039,2208,1984,3412,3445,3380,0,0,0,0,0,0,14.68,14.85,14.89
$GC,430,-0.86,-146.0,2207,1984,3445,3380,63.5,-16.0,77,437,0.00,2.33,0.00,0.000,2564,0.000,0.065,2208,610,3412,3445,3380,0,0,0,0,0,0,15.12,14.76,15.12
$GC,453,-0.86,-146.0,2208,609,3445,3380,67.5,-17.1,81,460,0.00,2.28,0.00,0.000,3078,0.000,0.043,2204,2012,3412,3445,3380,0,0,0,0,0,0,14.99,14.89,15.00
$GC,523,-0.86,-146.0,2203,2012,3445,3380,79.1,-16.3,94,529,0.00,2.38,0.00,0.000,2308,0.000,0.068,2202,3416,3412,3445,3380,0,0,0,0,0,0,15.14,14.84,15.14
$GC,661,-0.86,-146.0,2203,3416,3445,3380,99.2,-15.0,121,667,0.00,2.28,0.00,0.000,3078,0.000,0.037,2203,2019,3411,3446,3377,0,0,0,0,0,0,14.95,14.87,14.97
$GC,732,-0.86,-146.0,2203,2019,3445,3380,109.8,-15.8,134,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2019,3413,3446,3380,0,0,0,0,0,0,15.15,15.16,15.16
$GC,799,-0.86,-146.0,2203,2019,3446,3380,120.0,-15.0,147,806,0.00,2.38,0.00,0.000,2308,0.000,0.065,2202,3412,3413,3446,3380,0,0,0,0,0,0,15.15,14.75,15.16
$STATE,811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,811,begin apogee
$GC,818,-0.19,0.0,2203,1956,3446,3380,122.2,-16.0,149,935,1.08,0.00,107.90,1.009,10246,0.171,0.000,2416,1954,2812,2848,2777,0,0,0,0,0,0,14.68,14.43,14.03
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,938,0.86,146.0,2416,1955,2848,2776,128.5,0.0,170,1056,1.58,2.45,108.68,1.007,10756,0.104,0.067,2749,560,2214,2255,2174,0,0,0,0,0,0,14.55,14.47,13.98
$GC,1093,0.95,220.0,2749,560,2249,2174,123.3,6.6,197,1162,0.12,2.33,57.35,0.988,11270,0.122,0.041,2809,1978,1912,1957,1868,0,0,0,0,0,0,14.55,14.57,13.97
$GC,1224,0.95,220.0,2808,1978,1953,1866,109.1,12.5,221,1231,0.00,2.38,0.00,0.000,4356,0.000,0.064,2808,3362,1909,1953,1865,0,0,0,0,0,0,14.89,14.61,14.90
$GC,1299,0.95,220.0,2808,3361,1955,1864,98.4,14.9,235,1306,0.08,2.33,0.00,0.000,5126,0.286,0.041,2796,1950,1906,1950,1863,0,0,0,0,0,0,14.53,14.66,14.71
$GC,1369,0.95,220.0,2796,1950,1949,1863,90.2,10.3,248,1375,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1950,1906,1949,1863,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1437,0.95,220.0,2796,1950,1949,1864,82.8,11.6,261,1443,0.00,2.38,0.00,0.000,260,0.000,0.060,2797,3359,1905,1948,1863,0,0,0,0,0,0,15.06,14.79,15.06
$GC,1571,0.95,220.0,2796,3359,1949,1863,69.2,10.2,287,1577,0.00,2.30,0.00,0.000,5126,0.000,0.042,2796,1959,1905,1948,1863,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1640,0.95,220.0,2796,1959,1948,1863,60.7,12.0,300,1647,0.00,2.38,0.00,0.000,516,0.000,0.072,2796,556,1905,1948,1863,0,0,0,0,0,0,15.09,14.82,15.11
$GC,1710,0.95,221.4,2796,556,1947,1863,53.2,9.9,313,1717,0.00,2.28,0.00,0.000,1030,0.000,0.039,2796,1962,1905,1947,1863,0,0,0,0,0,0,14.92,14.84,14.95
$GC,1780,0.98,249.6,2796,1962,1947,1862,46.9,8.7,326,1809,0.00,0.00,23.23,0.913,10502,0.000,0.000,2797,1962,1793,1840,1747,0,0,0,0,0,0,15.12,14.88,14.25
$GC,1870,0.98,249.6,2796,1964,1836,1745,36.4,12.3,343,1876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2796,1964,1790,1835,1745,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1938,1.01,274.5,2796,1963,1834,1744,30.2,8.9,356,1967,0.00,2.40,20.50,0.885,10756,0.000,0.071,2797,570,1690,1740,1641,0,0,0,0,0,0,15.08,14.69,14.23
$GC,2000,1.02,274.8,2796,570,1738,1641,24.0,10.0,367,2007,0.00,2.28,0.00,0.000,3078,0.000,0.040,2797,1968,1690,1738,1643,0,0,0,0,0,0,14.90,14.82,14.92
$GC,2070,1.07,315.8,2796,1969,1737,1638,17.2,8.1,380,2100,0.08,2.42,23.73,0.814,10500,0.180,0.063,2850,3368,1522,1575,1469,0,0,0,0,0,0,14.81,14.72,14.23
$GC,2142,1.07,315.8,2850,3368,1570,1468,8.5,11.6,393,2150,0.08,2.30,0.00,0.000,5126,0.290,0.041,2836,1961,1518,1570,1467,0,0,0,0,0,0,14.62,14.78,14.81
$STATE,2190,end climb,SURFACE_DEPTH_REACHED
$STATE,2190,begin surface coast
$FINISH,0.4,1.024012
$STATE,2211,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2232,121.38,0.713,0,0,599,542.59
$SM_GC,0.56,12.52,0.03,121.38,0.048,0.289,0.713,125,2009,599,-7.31,-1.50,542.59,0,0,0,0,0,0,14.85,14.84,14.19
$IRIDIUM_FIX,-2900.53,3201.37,060419,034748
$TT8_MAMPS,0.019474,0.875581
$HUMID,54.05
$INTERNAL_PRESSURE,9.36524
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,101.0,35.8
$SC_FREEKB,3861952
$24V_AH,13.35,114.297
$10V_AH,13.03,0.000
$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,28.225,46.900,341.375,121.375,0.000,23.259,40.928,195.197,2.000,0.000,30.482,825.257,346.426,551.340,998.650,94.439,0.000,960.526,0.000,615.891,0.000,14.740,0.000
$DEVICE_MAMPS,332.010,289.170,1009.035,712.980,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.860,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13460,406
$CAP_FILE_SIZE,78260,0
$CFSIZE,1023623168,1006469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,051848,-2913.302,3203.033,18,0.8,19,-24.1,0.7,156.8,11,9.6