version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 120
start: 4 6 119 5 26 5
data:
$ID,573
$MISSION,30
$DIVE,120
$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,43
$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,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
$GPS1,060419,051848,-2913.3022,3203.0332,18,0.8,19,-24.1,0.7,156.8,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-58.1
$GPS2,060419,052541,-2913.2825,3202.9878,20,0.9,21,-24.1,0.0,349.3,10,8.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2916.976,3214.622
$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,-146.0,71,2010,586,575,0.0,0.0,0,116,0.00,0.00,-93.70,0.000,16386,0.000,0.000,72,2010,3159,3166,3153,0,0,0,0,0,0,15.05,28.83,15.05
$GC,120,-0.86,-146.0,72,2011,3166,3154,3.1,-5.7,17,145,12.70,2.40,-4.25,0.000,18692,0.316,0.083,2196,3416,3407,3438,3377,0,0,0,0,0,0,14.44,13.90,14.65
$GC,346,-0.86,-146.0,2195,3416,3440,3377,51.1,-13.9,61,354,0.05,2.33,0.00,0.000,3078,0.339,0.038,2207,2000,3408,3441,3376,0,0,0,0,0,0,14.67,14.87,14.88
$GC,416,-0.86,-146.0,2207,2000,3441,3377,62.5,-16.1,74,422,0.00,2.33,0.00,0.000,2564,0.000,0.063,2207,616,3409,3441,3377,0,0,0,0,0,0,15.14,14.79,15.14
$GC,449,-0.86,-146.0,2207,615,3440,3376,68.1,-15.7,80,456,0.00,2.28,0.00,0.000,3078,0.000,0.043,2203,2017,3408,3441,3376,0,0,0,0,0,0,14.85,14.76,14.86
$GC,518,-0.86,-146.0,2202,2017,3441,3376,79.8,-15.8,93,525,0.00,2.38,0.00,0.000,2308,0.000,0.067,2203,3410,3408,3441,3375,0,0,0,0,0,0,15.14,14.84,15.14
$GC,662,-0.86,-146.0,2202,3410,3441,3376,101.3,-12.9,121,669,0.00,2.28,0.00,0.000,3078,0.000,0.037,2203,2012,3408,3441,3376,0,0,0,0,0,0,15.01,14.92,15.02
$GC,732,-0.86,-146.0,2203,2012,3442,3376,110.6,-14.4,134,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2012,3408,3441,3376,0,0,0,0,0,0,15.15,15.15,15.15
$GC,799,-0.86,-146.0,2202,2012,3442,3376,121.0,-14.3,147,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2012,3408,3441,3376,0,0,0,0,0,0,15.16,15.16,15.16
$GC,867,-0.86,-146.0,2202,2012,3441,3376,130.3,-13.1,160,874,0.00,2.38,0.00,0.000,2308,0.000,0.066,2203,3412,3409,3444,3375,0,0,0,0,0,0,15.16,14.85,15.16
$GC,968,-0.86,-146.0,2203,3411,3441,3375,141.8,-11.9,179,975,0.00,2.28,0.00,0.000,3078,0.000,0.036,2203,2007,3408,3442,3375,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1038,-0.86,-146.0,2203,2007,3442,3375,149.1,-10.9,192,1043,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2007,3408,3442,3375,0,0,0,0,0,0,15.15,15.16,15.16
$GC,1105,-0.86,-146.0,2203,2007,3442,3375,156.5,-11.0,205,1111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2007,3408,3442,3374,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,1126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1126,begin apogee
$GC,1130,-0.19,0.0,2203,2007,3442,3374,159.2,-11.9,209,1246,1.12,0.00,107.85,1.062,10246,0.171,0.000,2424,2005,2812,2849,2775,0,0,0,0,0,0,14.57,14.43,14.00
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1249,0.86,146.0,2424,2005,2849,2776,162.0,0.0,230,1371,1.52,2.53,109.88,1.052,10756,0.097,0.069,2748,563,2214,2255,2174,0,0,0,0,0,0,14.54,14.45,13.91
$GC,1459,0.86,146.0,2749,563,2249,2173,146.5,10.0,268,1465,0.00,2.30,0.00,0.000,3078,0.000,0.040,2749,1974,2211,2249,2173,0,0,0,0,0,0,14.79,14.71,14.80
$GC,1529,0.89,176.5,2749,1974,2248,2173,140.6,8.6,281,1558,0.00,2.47,24.15,1.012,10756,0.000,0.070,2749,560,2090,2132,2049,0,0,0,0,0,0,14.97,14.66,14.08
$GC,1581,0.92,195.3,2749,560,2130,2049,135.3,9.1,290,1606,0.08,2.30,16.25,0.975,11270,0.180,0.041,2797,1961,2013,2057,1970,0,0,0,0,0,0,14.69,14.71,14.06
$GC,1668,0.92,195.3,2797,1962,2053,1966,126.3,10.6,306,1674,0.00,2.38,0.00,0.000,4356,0.000,0.065,2797,3359,2009,2053,1966,0,0,0,0,0,0,14.96,14.71,14.96
$GC,1742,0.92,195.3,2797,3359,2052,1965,118.2,11.7,320,1749,0.08,2.30,0.00,0.000,5126,0.295,0.041,2790,1959,2009,2053,1965,0,0,0,0,0,0,14.62,14.78,14.81
$GC,1811,0.92,195.3,2790,1959,2052,1964,110.8,10.5,333,1816,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1959,2008,2052,1965,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1879,0.93,206.8,2789,1959,2051,1964,104.5,9.5,346,1891,0.00,0.00,9.80,0.874,8198,0.000,0.000,2790,1959,1967,2012,1923,0,0,0,0,0,0,15.07,14.81,14.16
$GC,1954,0.93,206.8,2790,1958,2009,1921,97.7,10.1,360,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1959,1965,2009,1921,0,0,0,0,0,0,15.05,15.06,15.06
$GC,2022,0.93,208.4,2789,1959,2008,1920,90.4,9.9,373,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1959,1964,2008,1920,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2090,0.95,225.5,2790,1959,2008,1919,83.9,9.2,386,2114,0.00,2.38,15.93,0.955,10500,0.000,0.063,2790,3360,1889,1934,1845,0,0,0,0,0,0,15.09,14.80,14.20
$GC,2252,0.98,244.8,2790,3360,1930,1842,69.5,9.1,417,2276,0.00,2.30,16.15,0.951,11270,0.000,0.042,2790,1963,1812,1859,1766,0,0,0,0,0,0,14.95,14.85,14.20
$GC,2338,1.03,283.8,2790,1963,1855,1764,62.8,8.2,433,2378,0.00,2.42,31.35,0.963,10756,0.000,0.074,2790,563,1653,1705,1602,0,0,0,0,0,0,15.05,14.62,14.15
$GC,2435,1.03,283.8,2789,563,1702,1603,53.1,10.2,451,2442,0.00,2.30,0.00,0.000,3078,0.000,0.040,2790,1973,1651,1702,1601,0,0,0,0,0,0,14.78,14.69,14.79
$GC,2505,1.05,304.3,2789,1973,1700,1600,46.8,9.1,464,2530,0.08,2.38,17.35,0.916,10500,0.181,0.062,2843,3369,1570,1624,1517,0,0,0,0,0,0,14.80,14.56,14.12
$GC,2597,1.05,304.3,2843,3370,1620,1514,33.2,14.2,481,2604,0.08,2.35,0.00,0.000,5126,0.291,0.046,2829,1958,1567,1620,1515,0,0,0,0,0,0,14.64,14.78,14.81
$GC,2667,1.05,304.3,2829,1958,1620,1514,25.1,10.7,494,2673,0.00,0.00,0.00,0.000,4102,0.000,0.000,2829,1959,1567,1619,1515,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2737,1.05,304.3,2829,1958,1618,1514,17.9,11.2,507,2743,0.00,2.38,0.00,0.000,260,0.000,0.059,2830,3367,1566,1619,1514,0,0,0,0,0,0,15.07,14.81,15.08
$GC,2766,1.05,304.3,2829,3366,1618,1514,14.0,15.2,512,2772,0.00,2.33,0.00,0.000,1030,0.000,0.044,2829,1960,1566,1618,1514,0,0,0,0,0,0,14.88,14.79,14.88
$GC,2835,1.05,304.3,2829,1960,1618,1513,5.4,11.2,525,2842,0.00,2.35,0.00,0.000,516,0.000,0.071,2829,563,1565,1618,1513,0,0,0,0,0,0,15.09,14.76,15.09
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,0.2,1.010933
$STATE,2901,end surface coast,CONTROL_FINISHED_OK
$STATE,2901,begin surface
$SM_CCo,2923,128.18,0.729,0,0,600,542.59
$SM_GC,0.53,12.55,2.40,128.18,0.058,0.038,0.729,131,2024,600,-7.30,-1.05,542.59,0,0,0,0,0,0,14.88,14.94,14.20
$IRIDIUM_FIX,-2900.53,3203.46,060419,043307
$TT8_MAMPS,0.018725,0.887565
$HUMID,56.02
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.2
$ALTIM_BOTTOM_PING,140.4,33.3
$SC_FREEKB,3861440
$24V_AH,13.90,114.490
$10V_AH,13.00,0.000
$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,28.250,56.475,348.700,128.175,0.000,26.220,14.456,197.686,3.000,0.000,22.004,1118.944,489.519,594.409,1167.487,110.282,0.000,1104.917,0.000,813.901,0.000,20.869,0.000
$DEVICE_MAMPS,338.895,83.385,1061.820,729.045,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.913,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16776,537
$CAP_FILE_SIZE,99295,0
$CFSIZE,1023623168,1006321664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060419,061820,-2913.270,3203.354,30,0.8,45,-24.1,1.0,261.7,11,9.4