version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 134
start: 4 7 119 7 17 47
data:
$ID,573
$MISSION,30
$DIVE,134
$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,270
$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,37
$R_STBD_OVSHOOT,48
$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,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
$GPS1,070419,070802,-2924.3940,3154.1016,25,0.8,35,-24.3,0.5,96.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-63.1
$GPS2,070419,071723,-2924.4753,3154.0754,18,0.8,19,-24.3,0.6,223.0,10,8.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2924.475,3141.679
$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,294.3,20000,-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,-146.0,72,1976,584,581,0.0,0.0,0,122,0.00,0.00,-98.68,0.000,16386,0.000,0.000,72,1977,3295,3310,3280,0,0,0,0,0,0,14.97,28.83,14.98
$GC,125,-0.86,-146.0,72,1977,3311,3280,3.6,-8.8,18,150,12.77,2.35,-1.92,0.000,18948,0.313,0.079,2210,606,3409,3440,3378,0,0,0,0,0,0,14.37,13.34,14.70
$GC,212,-0.86,-146.0,2209,606,3441,3380,28.4,-19.8,34,218,0.00,2.33,0.00,0.000,3078,0.000,0.046,2207,2008,3410,3441,3380,0,0,0,0,0,0,14.86,14.76,14.88
$GC,281,-0.86,-146.0,2207,2007,3441,3380,39.4,-15.5,47,288,0.00,2.42,0.00,0.000,2308,0.000,0.069,2208,3419,3410,3441,3380,0,0,0,0,0,0,15.03,14.72,15.04
$GC,360,-0.86,-146.0,2207,3419,3437,3380,50.5,-14.2,62,367,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,2015,3411,3442,3380,0,0,0,0,0,0,14.84,14.74,14.85
$GC,430,-0.86,-146.0,2207,2014,3442,3380,60.7,-15.1,75,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2015,3410,3442,3379,0,0,0,0,0,0,15.06,15.07,15.06
$GC,498,-0.86,-146.0,2207,2015,3442,3380,71.9,-16.1,88,504,0.00,2.40,0.00,0.000,2308,0.000,0.066,2207,3414,3410,3442,3379,0,0,0,0,0,0,15.08,14.76,15.08
$GC,531,-0.86,-146.0,2208,3413,3442,3379,76.9,-15.8,94,538,0.00,2.33,0.00,0.000,3078,0.000,0.036,2207,2010,3411,3443,3379,0,0,0,0,0,0,14.91,14.78,14.92
$GC,600,-0.86,-146.0,2207,2010,3444,3379,86.2,-13.3,107,607,0.00,2.42,0.00,0.000,2308,0.000,0.067,2207,3414,3411,3443,3379,0,0,0,0,0,0,15.08,14.69,15.08
$GC,653,-0.86,-146.0,2214,3413,3443,3379,93.8,-15.1,117,660,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,1997,3411,3444,3379,0,0,0,0,0,0,14.92,14.82,14.94
$GC,723,-0.86,-146.0,2207,1996,3444,3379,104.9,-15.0,130,729,0.00,2.42,0.00,0.000,2308,0.000,0.066,2204,3415,3411,3444,3379,0,0,0,0,0,0,15.09,14.76,15.09
$GC,776,-0.86,-146.0,2203,3416,3443,3379,112.4,-15.1,140,783,0.00,2.33,0.00,0.000,3078,0.000,0.037,2204,2007,3411,3444,3379,0,0,0,0,0,0,14.92,14.76,14.94
$GC,847,-0.86,-146.0,2203,2007,3444,3379,123.2,-15.0,153,854,0.00,2.42,0.00,0.000,2308,0.000,0.067,2204,3413,3411,3444,3378,0,0,0,0,0,0,15.11,14.76,15.11
$GC,910,-0.86,-146.0,2203,3413,3444,3379,131.8,-12.2,165,917,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,2003,3412,3445,3379,0,0,0,0,0,0,14.86,14.75,14.88
$GC,979,-0.86,-146.0,2203,2003,3444,3379,141.1,-13.4,178,985,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2002,3411,3444,3378,0,0,0,0,0,0,15.10,15.10,15.09
$GC,1047,-0.86,-146.0,2203,2001,3445,3379,150.4,-13.6,191,1054,0.00,2.45,0.00,0.000,2308,0.000,0.068,2204,3416,3412,3445,3379,0,0,0,0,0,0,15.11,14.76,15.11
$STATE,1120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1120,begin apogee
$GC,1127,-0.19,0.0,2204,1957,3445,3379,153.7,-1.3,205,1244,0.93,0.00,109.20,1.055,10246,0.050,0.000,2439,1956,2812,2848,2776,0,0,0,0,0,0,14.82,14.51,13.93
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1247,0.86,146.0,2440,1956,2848,2776,154.8,0.0,226,1370,1.48,2.53,109.70,1.051,10500,0.100,0.064,2747,3370,2213,2256,2171,0,0,0,0,0,0,14.48,14.40,13.84
$GC,1447,0.86,146.0,2746,3370,2252,2170,144.2,10.0,262,1454,0.00,2.33,0.00,0.000,3078,0.000,0.039,2747,1969,2210,2252,2169,0,0,0,0,0,0,14.69,14.62,14.69
$GC,1518,0.86,146.0,2746,1969,2250,2169,137.4,11.5,275,1524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2747,1969,2209,2250,2169,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1586,0.90,184.2,2746,1969,2250,2169,131.5,8.3,288,1621,0.05,0.00,30.10,1.003,10758,0.252,0.000,2789,1969,2059,2104,2015,0,0,0,0,0,0,14.64,14.63,14.04
$GC,1683,0.90,184.2,2789,1969,2099,2013,122.3,10.6,306,1689,0.00,2.42,0.00,0.000,4356,0.000,0.063,2789,3366,2056,2099,2013,0,0,0,0,0,0,14.92,14.58,14.92
$GC,1731,0.90,184.2,2789,3365,2099,2013,116.4,13.0,315,1738,0.00,2.33,0.00,0.000,5126,0.000,0.041,2790,1964,2055,2099,2011,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1801,0.96,226.9,2790,1964,2098,2012,109.6,8.0,328,1842,0.00,2.45,33.95,1.003,10500,0.000,0.060,2790,3373,1885,1931,1839,0,0,0,0,0,0,14.99,14.48,14.03
$GC,1884,0.96,226.9,2789,3371,1928,1839,100.3,11.5,343,1890,0.00,2.35,0.00,0.000,3078,0.000,0.042,2790,1963,1883,1928,1839,0,0,0,0,0,0,14.74,14.64,14.76
$GC,1954,0.97,240.6,2790,1963,1927,1837,93.4,9.4,356,1971,0.00,0.00,11.85,0.893,10246,0.000,0.000,2790,1963,1832,1878,1786,0,0,0,0,0,0,14.96,14.50,14.01
$GC,2033,1.00,260.3,2790,1963,1876,1784,85.8,9.1,371,2057,0.00,2.42,17.42,0.955,10500,0.000,0.060,2790,3373,1750,1800,1700,0,0,0,0,0,0,14.97,14.50,14.04
$GC,2100,1.00,260.3,2790,3373,1796,1696,79.2,10.3,383,2107,0.00,2.35,0.00,0.000,3078,0.000,0.043,2790,1965,1745,1796,1695,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2170,1.05,303.5,2790,1964,1796,1696,73.3,8.0,396,2216,0.08,2.50,35.28,0.952,10756,0.181,0.075,2845,547,1572,1626,1518,0,0,0,0,0,0,14.62,14.61,14.04
$GC,2232,1.05,303.5,2844,547,1624,1522,66.6,11.3,407,2240,0.08,2.35,0.00,0.000,5126,0.263,0.041,2829,1976,1571,1624,1518,0,0,0,0,0,0,14.45,14.59,14.61
$GC,2303,1.05,303.5,2829,1976,1624,1516,59.1,10.8,420,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1977,1569,1622,1516,0,0,0,0,0,0,14.94,14.94,14.95
$GC,2370,1.05,303.5,2829,1976,1621,1516,52.0,11.7,433,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1976,1570,1621,1520,0,0,0,0,0,0,14.99,15.00,15.00
$GC,2437,1.05,306.7,2829,1976,1620,1516,45.1,9.9,446,2444,0.00,2.42,0.00,0.000,516,0.000,0.074,2829,564,1568,1620,1516,0,0,0,0,0,0,15.01,14.59,15.02
$GC,2466,1.16,392.0,2828,563,1621,1515,43.2,6.1,451,2546,0.05,2.30,69.32,0.944,11270,0.252,0.041,2874,1975,1213,1271,1156,0,0,0,0,0,0,14.67,14.78,14.04
$GC,2609,1.16,392.0,2874,1975,1270,1154,30.3,11.0,477,2615,0.00,2.40,0.00,0.000,4356,0.000,0.064,2874,3357,1212,1271,1154,0,0,0,0,0,0,14.88,14.59,14.89
$GC,2657,1.16,392.0,2874,3357,1269,1153,24.4,12.6,486,2665,0.03,2.33,0.00,0.000,5126,0.504,0.044,2866,1965,1211,1270,1153,0,0,0,0,0,0,14.40,14.62,14.61
$GC,2727,1.16,392.0,2866,1964,1270,1153,16.1,12.1,499,2734,0.00,2.42,0.00,0.000,4612,0.000,0.076,2866,564,1211,1270,1153,0,0,0,0,0,0,14.97,14.58,14.97
$GC,2751,1.16,392.0,2866,564,1270,1153,13.5,10.8,503,2757,0.00,2.30,0.00,0.000,5126,0.000,0.041,2866,1965,1211,1269,1153,0,0,0,0,0,0,14.85,14.76,14.87
$GC,2820,1.16,392.0,2865,1966,1269,1151,5.1,12.2,516,2826,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,1966,1208,1264,1152,0,0,0,0,0,0,15.01,15.01,15.01
$STATE,2836,end climb,SURFACE_DEPTH_REACHED
$STATE,2836,begin surface coast
$FINISH,-0.1,1.023821
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2883,83.95,0.733,0,0,599,542.59
$SM_GC,0.66,12.68,0.00,83.95,0.052,0.000,0.733,151,1968,599,-7.26,-1.30,542.59,0,0,0,0,0,0,14.78,15.06,14.16
$IRIDIUM_FIX,-2912.87,3156.39,070419,054801
$TT8_MAMPS,0.019474,0.916027
$HUMID,55.07
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,120.6,48.0
$SC_FREEKB,3854080
$24V_AH,13.34,118.157
$10V_AH,13.52,0.000
$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,28.125,71.475,416.825,83.950,0.000,26.763,39.035,284.893,1.750,0.000,19.508,1061.754,449.901,623.756,1276.012,123.427,0.000,1149.929,0.000,794.680,0.000,13.419,0.000
$DEVICE_MAMPS,504.135,78.795,1054.935,732.870,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2928.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.462,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16750,524
$CAP_FILE_SIZE,103706,0
$CFSIZE,1023623168,1004224512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070419,080810,-2924.644,3153.641,17,1.0,18,-24.3,0.5,330.3,8,7.9