version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 135
start: 4 7 119 8 20 35
data:
$ID,573
$MISSION,30
$DIVE,135
$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,170
$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,40
$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
$GPS1,070419,080810,-2924.6443,3153.6406,17,1.0,18,-24.3,0.5,330.3,8,7.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-64.3
$GPS2,070419,082011,-2924.7095,3153.6279,20,1.0,22,-24.3,0.0,186.8,9,9.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2935.345,3155.784
$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,194.3,20000,-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,-146.0,72,1973,581,578,0.0,0.0,0,116,0.00,0.00,-93.40,0.000,16386,0.000,0.000,72,1973,3158,3165,3151,0,0,0,0,0,0,15.01,28.83,15.02
$GC,120,-0.86,-146.0,72,1973,3165,3151,3.1,-6.5,17,144,12.73,2.45,-4.38,0.000,18692,0.311,0.083,2200,3412,3408,3441,3376,0,0,0,0,0,0,14.39,13.73,14.73
$GC,202,-0.86,-146.0,2200,3413,3441,3378,27.4,-22.3,32,208,0.00,2.33,0.00,0.000,3078,0.000,0.040,2200,2005,3410,3442,3378,0,0,0,0,0,0,14.90,14.80,14.92
$GC,271,-0.86,-146.0,2200,2004,3442,3378,42.2,-21.6,45,278,0.00,2.45,0.00,0.000,2308,0.000,0.065,2196,3414,3410,3442,3378,0,0,0,0,0,0,15.05,14.75,15.04
$GC,284,-0.86,-146.0,2195,3414,3442,3378,45.2,-22.1,47,292,0.05,2.33,0.00,0.000,3078,0.334,0.042,2207,2010,3410,3442,3378,0,0,0,0,0,0,14.46,14.67,14.69
$GC,354,-0.86,-146.0,2206,2014,3443,3380,58.4,-17.1,60,360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,2010,3410,3443,3378,0,0,0,0,0,0,15.06,15.07,15.07
$GC,422,-0.86,-146.0,2206,2008,3442,3377,69.1,-15.4,73,428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2010,3410,3443,3378,0,0,0,0,0,0,15.09,15.09,15.09
$GC,493,-0.86,-146.0,2206,2010,3443,3378,80.2,-17.2,86,500,0.00,2.42,0.00,0.000,2308,0.000,0.067,2202,3413,3410,3442,3378,0,0,0,0,0,0,15.09,14.78,15.09
$GC,568,-0.86,-146.0,2203,3414,3443,3378,92.3,-14.4,100,574,0.00,2.30,0.00,0.000,3078,0.000,0.039,2203,2010,3410,3443,3378,0,0,0,0,0,0,14.95,14.83,14.95
$GC,637,-0.86,-146.0,2204,2009,3443,3377,102.3,-14.5,113,644,0.00,2.42,0.00,0.000,2308,0.000,0.067,2202,3412,3410,3443,3377,0,0,0,0,0,0,15.10,14.78,15.10
$GC,656,-0.86,-146.0,2202,3412,3443,3377,104.8,-13.8,116,662,0.00,2.30,0.00,0.000,3078,0.000,0.038,2203,2018,3410,3444,3377,0,0,0,0,0,0,14.89,14.80,14.92
$GC,725,-0.86,-146.0,2202,2018,3443,3377,114.8,-14.8,129,731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2018,3410,3444,3377,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,736,begin apogee
$GC,741,-0.19,0.0,2203,1931,3444,3378,117.0,-15.9,131,858,1.12,0.00,107.45,0.999,10246,0.177,0.000,2424,1928,2811,2847,2775,0,0,0,0,0,0,14.49,14.40,13.97
$STATE,859,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,861,0.86,146.0,2421,1928,2847,2775,123.4,0.0,152,984,1.58,2.35,110.70,0.995,10756,0.106,0.067,2747,588,2213,2254,2173,0,0,0,0,0,0,14.50,14.41,13.90
$GC,1011,0.97,237.4,2746,588,2250,2173,119.4,5.8,178,1092,0.15,2.28,71.35,0.984,11270,0.105,0.040,2809,1973,1843,1889,1797,0,0,0,0,0,0,14.50,14.47,13.88
$GC,1154,0.97,237.4,2809,1974,1883,1795,106.8,11.9,204,1160,0.00,0.00,0.00,0.000,4102,0.000,0.000,2810,1974,1838,1883,1794,0,0,0,0,0,0,14.86,14.84,14.84
$GC,1222,0.97,237.4,2809,1974,1881,1794,99.0,10.0,217,1228,0.00,0.00,0.00,0.000,4102,0.000,0.000,2810,1974,1837,1881,1794,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1290,1.00,258.7,2809,1974,1879,1793,92.9,9.0,230,1314,0.00,2.38,17.67,0.899,8452,0.000,0.062,2810,3353,1754,1802,1707,0,0,0,0,0,0,14.98,14.54,14.08
$GC,1371,1.00,258.7,2809,3353,1800,1705,84.3,10.9,245,1378,0.00,2.28,0.00,0.000,1030,0.000,0.042,2811,1982,1751,1797,1705,0,0,0,0,0,0,14.73,14.66,14.74
$GC,1441,1.04,298.7,2811,1982,1800,1704,78.5,8.2,258,1481,0.00,2.42,32.42,0.939,10756,0.000,0.072,2811,563,1592,1643,1541,0,0,0,0,0,0,15.00,14.64,14.07
$GC,1513,1.04,298.7,2811,563,1642,1541,71.6,11.0,271,1520,0.00,2.30,0.00,0.000,3078,0.000,0.038,2811,1966,1591,1642,1540,0,0,0,0,0,0,14.76,14.68,14.77
$GC,1584,1.04,298.7,2810,1967,1641,1539,62.9,13.2,284,1590,0.00,2.40,0.00,0.000,2308,0.000,0.061,2811,3366,1590,1641,1539,0,0,0,0,0,0,14.99,14.71,14.99
$GC,1653,1.04,298.7,2811,3369,1640,1542,54.5,10.4,297,1660,0.00,2.33,0.00,0.000,3078,0.000,0.042,2811,1961,1589,1640,1538,0,0,0,0,0,0,14.83,14.71,14.84
$GC,1724,1.08,325.8,2810,1960,1640,1537,48.5,8.8,310,1753,0.00,2.38,22.58,0.904,10756,0.000,0.070,2811,567,1480,1532,1429,0,0,0,0,0,0,15.06,14.58,14.14
$GC,1801,1.10,344.5,2811,567,1531,1429,41.6,9.1,324,1825,0.05,2.28,15.60,0.881,11270,0.252,0.039,2856,1970,1407,1461,1354,0,0,0,0,0,0,14.66,14.77,14.07
$GC,1887,1.10,344.5,2856,1970,1458,1352,32.8,10.3,340,1894,0.00,2.38,0.00,0.000,4356,0.000,0.063,2857,3356,1404,1458,1351,0,0,0,0,0,0,15.00,14.68,14.99
$GC,1921,1.10,344.5,2857,3356,1458,1351,29.0,12.0,346,1929,0.05,2.30,0.00,0.000,5126,0.347,0.043,2848,1967,1404,1457,1351,0,0,0,0,0,0,14.50,14.77,14.70
$GC,1991,1.10,344.5,2847,1967,1458,1351,21.8,10.5,359,1998,0.00,2.40,0.00,0.000,4612,0.000,0.073,2847,566,1404,1458,1351,0,0,0,0,0,0,15.03,14.62,15.03
$GC,2031,1.10,344.5,2847,566,1457,1351,17.4,11.7,366,2038,0.00,2.28,0.00,0.000,5126,0.000,0.040,2847,1970,1403,1457,1350,0,0,0,0,0,0,14.79,14.72,14.80
$GC,2101,1.10,344.5,2847,1969,1457,1351,10.4,10.8,379,2108,0.00,2.38,0.00,0.000,4356,0.000,0.063,2847,3361,1403,1456,1351,0,0,0,0,0,0,15.06,14.78,15.06
$GC,2144,1.10,344.5,2847,3361,1455,1350,5.3,11.7,387,2151,0.00,2.33,0.00,0.000,5126,0.000,0.043,2847,1962,1403,1456,1351,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,0.8,1.023806
$STATE,2182,end surface coast,CONTROL_FINISHED_OK
$STATE,2182,begin surface
$SM_CCo,2203,107.82,0.721,0,0,598,542.59
$SM_GC,0.71,12.52,0.00,107.82,0.048,0.000,0.721,146,1961,598,-7.26,-1.47,542.59,0,0,0,0,0,0,14.83,15.10,14.18
$IRIDIUM_FIX,-2912.87,3152.98,070419,081300
$TT8_MAMPS,0.019474,0.918274
$HUMID,53.54
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,80.2,51.7
$SC_FREEKB,3853568
$24V_AH,13.73,118.345
$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,28.250,56.500,377.775,107.825,0.000,72.126,103.404,226.266,0.750,0.000,22.527,789.350,441.603,585.525,1121.600,105.864,0.000,1009.023,0.000,595.963,0.000,7.216,0.000
$DEVICE_MAMPS,347.310,150.705,999.090,720.630,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2233.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.640,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13443,394
$CAP_FILE_SIZE,83826,0
$CFSIZE,1023623168,1004158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070419,085959,-2925.196,3153.680,15,0.9,16,-24.3,1.0,116.0,9,9.7