version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 190
start: 4 11 119 7 50 36
data:
$ID,573
$MISSION,30
$DIVE,190
$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,335
$T_MISSION,345
$T_ABORT,360
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,110419,074223,-3000.0791,3103.8843,16,1.1,18,-24.8,0.8,226.4,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-64.3
$GPS2,110419,075011,-3000.2419,3103.7793,19,1.0,20,-24.8,1.0,175.4,8,7.3
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3000.242,3051.309
$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,294.8,20000,-18.2,-9.950,-20.98,2247
$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,-0.85,-146.0,101,2014,583,581,0.0,0.0,0,121,0.00,0.00,-98.25,0.000,16386,0.000,0.000,92,2015,3293,3308,3278,0,0,0,0,0,0,15.01,28.83,15.02
$GC,125,-0.85,-146.0,92,2015,3308,3278,3.9,-10.5,18,149,12.55,2.40,-1.88,0.000,18692,0.304,0.076,2198,3409,3410,3439,3381,0,0,0,0,0,0,14.35,13.24,14.55
$GC,346,-0.85,-146.0,2197,3409,3442,3381,46.2,-12.7,61,353,0.05,2.33,0.00,0.000,3078,0.331,0.037,2209,2004,3411,3442,3381,0,0,0,0,0,0,14.61,14.83,14.82
$GC,417,-0.85,-146.0,2209,2003,3443,3381,54.0,-10.3,74,422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2003,3412,3443,3381,0,0,0,0,0,0,15.09,15.09,15.09
$GC,484,-0.85,-146.0,2209,2003,3443,3381,61.9,-11.8,87,490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2002,3412,3443,3381,0,0,0,0,0,0,15.09,15.09,15.09
$GC,552,-0.85,-146.0,2209,2003,3444,3381,70.8,-12.0,100,559,0.00,2.42,0.00,0.000,2308,0.000,0.067,2210,3409,3409,3438,3381,0,0,0,0,0,0,15.11,14.78,15.11
$GC,686,-0.85,-146.0,2209,3409,3443,3381,85.9,-11.5,126,692,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2011,3413,3445,3381,0,0,0,0,0,0,14.95,14.82,14.97
$GC,757,-0.85,-146.0,2209,2011,3445,3381,94.3,-11.5,139,764,0.00,2.42,0.00,0.000,2308,0.000,0.067,2209,3412,3413,3445,3381,0,0,0,0,0,0,15.12,14.79,15.12
$GC,816,-0.85,-146.0,2209,3412,3446,3380,100.9,-11.2,150,823,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2010,3413,3446,3380,0,0,0,0,0,0,14.96,14.87,14.97
$GC,886,-0.85,-146.0,2209,2010,3446,3380,108.6,-11.3,163,893,0.00,2.38,0.00,0.000,2564,0.000,0.065,2210,611,3413,3446,3381,0,0,0,0,0,0,15.12,14.79,15.12
$GC,919,-0.85,-146.0,2209,611,3446,3380,112.4,-11.3,169,926,0.00,2.30,0.00,0.000,3078,0.000,0.044,2209,2011,3412,3445,3380,0,0,0,0,0,0,14.79,14.69,14.81
$STATE,956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,957,begin apogee
$GC,961,-0.19,0.0,2209,2011,3446,3380,116.8,-11.4,176,1078,1.08,0.00,108.05,0.992,10246,0.163,0.000,2421,2012,2812,2849,2775,0,0,0,0,0,0,14.52,14.35,13.93
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1082,0.85,146.0,2421,2012,2849,2775,121.9,0.0,197,1204,1.55,2.58,109.78,0.992,10756,0.106,0.072,2750,567,2213,2256,2171,0,0,0,0,0,0,14.51,14.42,13.86
$GC,1221,0.91,192.0,2749,567,2252,2171,116.2,7.8,221,1268,0.05,2.33,36.20,0.966,11270,0.247,0.037,2792,1978,2026,2073,1980,0,0,0,0,0,0,14.39,14.48,13.86
$GC,1330,0.91,192.0,2791,1978,2067,1979,105.5,10.0,241,1337,0.00,2.40,0.00,0.000,4356,0.000,0.066,2791,3364,2022,2067,1978,0,0,0,0,0,0,14.87,14.61,14.87
$GC,1359,0.91,192.0,2792,3364,2067,1978,101.9,12.2,246,1366,0.08,2.35,0.00,0.000,5126,0.293,0.041,2787,1967,2023,2067,1979,0,0,0,0,0,0,14.51,14.69,14.70
$GC,1429,0.91,192.0,2786,1967,2066,1978,94.3,10.8,259,1436,0.00,2.42,0.00,0.000,4612,0.000,0.074,2787,563,2021,2065,1978,0,0,0,0,0,0,14.97,14.67,14.97
$GC,1453,0.91,192.0,2786,562,2064,1978,91.7,11.3,263,1460,0.00,2.30,0.00,0.000,5126,0.000,0.041,2787,1961,2021,2064,1978,0,0,0,0,0,0,14.80,14.71,14.81
$GC,1523,0.92,197.8,2786,1961,2064,1977,85.0,9.7,276,1536,0.00,2.38,4.75,0.643,12548,0.000,0.064,2787,3362,2006,2051,1962,0,0,0,0,0,0,15.02,14.71,13.99
$GC,1593,0.92,197.8,2786,3362,2049,1960,77.8,10.5,289,1600,0.00,2.33,0.00,0.000,5126,0.000,0.041,2787,1956,2005,2049,1961,0,0,0,0,0,0,14.84,14.73,14.84
$GC,1663,0.94,213.5,2787,1956,2049,1960,71.1,9.2,302,1687,0.00,2.45,14.45,0.876,8452,0.000,0.061,2787,3365,1937,1982,1893,0,0,0,0,0,0,15.04,14.71,14.11
$GC,1725,0.94,213.5,2787,3365,1982,1892,64.8,10.6,313,1732,0.00,2.30,0.00,0.000,5126,0.000,0.040,2796,1970,1937,1982,1892,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1795,0.97,238.7,2795,1970,1981,1891,58.6,8.8,326,1824,0.00,2.38,20.83,0.922,10500,0.000,0.063,2795,3363,1835,1882,1789,0,0,0,0,0,0,15.05,14.66,14.12
$GC,1836,0.97,238.7,2795,3363,1879,1789,54.4,10.0,333,1843,0.00,2.33,0.00,0.000,1030,0.000,0.044,2797,1962,1834,1880,1788,0,0,0,0,0,0,14.83,14.75,14.85
$GC,1906,0.97,238.7,2797,1962,1878,1787,46.4,12.0,346,1912,0.00,2.38,0.00,0.000,516,0.000,0.074,2797,564,1832,1877,1787,0,0,0,0,0,0,15.00,14.71,15.01
$GC,1929,0.97,238.7,2797,564,1877,1787,43.2,12.4,350,1936,0.00,2.30,0.00,0.000,1030,0.000,0.039,2797,1973,1832,1877,1787,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1999,0.98,247.1,2797,1972,1877,1786,36.1,9.6,363,2012,0.00,2.40,7.68,0.760,10500,0.000,0.063,2798,3359,1802,1849,1755,0,0,0,0,0,0,15.04,14.69,14.08
$GC,2095,1.06,314.3,2797,3359,1848,1754,28.6,6.9,381,2152,0.05,2.30,46.05,0.910,11270,0.252,0.041,2837,1965,1528,1583,1474,0,0,0,0,0,0,14.70,14.81,14.07
$GC,2215,1.06,314.3,2836,1964,1578,1472,17.5,11.0,403,2222,0.00,2.42,0.00,0.000,4356,0.000,0.063,2836,3364,1524,1578,1471,0,0,0,0,0,0,14.96,14.69,14.97
$GC,2249,1.06,314.3,2836,3364,1576,1470,13.6,11.2,409,2256,0.00,2.35,0.00,0.000,5126,0.000,0.043,2838,1954,1522,1577,1468,0,0,0,0,0,0,14.84,14.74,14.85
$GC,2319,1.06,314.3,2838,1955,1575,1470,6.5,10.4,422,2325,0.00,2.40,0.00,0.000,4612,0.000,0.076,2838,570,1523,1576,1470,0,0,0,0,0,0,15.01,14.71,15.02
$GC,2342,1.06,314.3,2838,564,1575,1470,3.9,10.4,426,2349,0.00,2.28,0.00,0.000,5126,0.000,0.038,2838,1961,1522,1575,1469,0,0,0,0,0,0,14.79,14.70,14.80
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,-0.0,1.023439
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,122.43,0.720,0,0,598,542.59
$SM_GC,0.59,12.68,0.00,122.43,0.056,0.000,0.720,128,1964,598,-7.31,-1.39,542.59,0,0,0,0,0,0,14.81,15.07,14.12
$IRIDIUM_FIX,-2947.56,3104.65,110419,064520
$TT8_MAMPS,0.019474,0.915278
$HUMID,55.98
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,90.5,40.9
$SC_FREEKB,3825280
$24V_AH,13.24,132.570
$10V_AH,12.89,0.000
$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,28.075,66.200,347.775,122.425,0.000,26.564,15.771,224.597,1.000,0.000,21.132,882.357,371.995,590.735,1041.532,123.584,0.000,1037.088,0.000,657.390,0.000,8.738,0.000
$DEVICE_MAMPS,331.245,76.500,992.205,719.865,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.437,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13414,434
$CAP_FILE_SIZE,88288,0
$CFSIZE,1023623168,996081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,083340,-3000.614,3103.175,15,0.8,16,-24.8,0.8,210.9,10,9.5