version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 193
start: 4 11 119 10 11 35
data:
$ID,573
$MISSION,30
$DIVE,193
$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,120
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,110419,100401,-3001.7578,3102.5217,18,0.8,28,-24.8,0.5,160.2,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-62.5
$GPS2,110419,101111,-3001.9065,3102.4939,18,0.8,19,-24.8,0.9,196.6,10,7.9
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3007.306,3113.306
$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,144.8,20000,-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,-146.0,86,1974,585,578,0.0,0.0,0,116,0.00,0.00,-92.78,0.000,16386,0.000,0.000,78,1974,3130,3133,3128,0,0,0,0,0,0,15.04,28.83,15.04
$GC,120,-0.85,-146.0,77,1974,3133,3129,3.1,-6.7,17,144,12.50,2.28,-4.78,0.000,18948,0.304,0.081,2207,607,3410,3441,3379,0,0,0,0,0,0,14.33,13.83,14.55
$GC,226,-0.85,-146.0,2207,607,3442,3379,29.5,-16.1,37,232,0.00,2.30,0.00,0.000,3078,0.000,0.042,2203,2012,3410,3442,3379,0,0,0,0,0,0,14.90,14.77,14.89
$GC,295,-0.85,-146.0,2202,2013,3443,3379,39.4,-15.1,50,301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2013,3409,3440,3379,0,0,0,0,0,0,15.10,15.10,15.10
$GC,363,-0.85,-146.0,2202,2013,3443,3379,48.1,-11.2,63,370,0.00,2.38,0.00,0.000,2308,0.000,0.069,2200,3412,3411,3443,3379,0,0,0,0,0,0,15.10,14.79,15.11
$GC,447,-0.85,-146.0,2200,3412,3443,3379,58.7,-13.1,79,453,0.00,2.28,0.00,0.000,3078,0.000,0.036,2200,2014,3411,3444,3379,0,0,0,0,0,0,14.97,14.88,14.99
$GC,516,-0.85,-146.0,2200,2014,3444,3380,66.8,-11.4,92,523,0.05,2.40,0.00,0.000,2308,0.362,0.063,2207,3410,3411,3444,3379,0,0,0,0,0,0,14.69,14.76,14.85
$GC,535,-0.85,-146.0,2207,3410,3444,3379,69.0,-11.5,95,541,0.00,2.28,0.00,0.000,3078,0.000,0.036,2207,2014,3412,3445,3379,0,0,0,0,0,0,14.85,14.77,14.86
$GC,604,-0.85,-146.0,2206,2014,3445,3379,76.5,-10.9,108,610,0.00,2.35,0.00,0.000,2564,0.000,0.063,2207,611,3412,3445,3380,0,0,0,0,0,0,15.13,14.83,15.13
$GC,647,-0.85,-146.0,2207,612,3445,3379,81.8,-11.7,116,654,0.00,2.28,0.00,0.000,3078,0.000,0.042,2207,2013,3412,3445,3379,0,0,0,0,0,0,14.98,14.88,15.00
$GC,717,-0.85,-146.0,2207,2013,3445,3379,88.8,-10.5,129,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2013,3412,3446,3379,0,0,0,0,0,0,15.12,15.13,15.13
$GC,787,-0.85,-146.0,2206,2013,3445,3379,96.8,-11.6,142,794,0.00,2.38,0.00,0.000,2308,0.000,0.069,2207,3414,3412,3445,3379,0,0,0,0,0,0,15.13,14.81,15.13
$GC,876,-0.85,-146.0,2206,3413,3445,3379,107.2,-11.6,159,883,0.00,2.30,0.00,0.000,3078,0.000,0.036,2207,2005,3412,3445,3379,0,0,0,0,0,0,14.98,14.88,15.00
$GC,945,-0.85,-146.0,2206,2005,3445,3379,115.3,-12.2,172,952,0.00,2.45,0.00,0.000,2308,0.000,0.067,2207,3416,3412,3445,3379,0,0,0,0,0,0,15.14,14.76,15.14
$GC,974,-0.85,-146.0,2206,3416,3445,3379,119.0,-12.7,177,981,0.00,2.30,0.00,0.000,3078,0.000,0.036,2207,2003,3412,3445,3379,0,0,0,0,0,0,14.87,14.75,14.85
$GC,1044,-0.85,-146.0,2206,2002,3446,3379,126.5,-10.2,190,1051,0.00,2.42,0.00,0.000,2308,0.000,0.067,2206,3413,3411,3445,3377,0,0,0,0,0,0,15.14,14.67,15.14
$GC,1078,-0.85,-146.0,2206,3414,3445,3379,130.4,-10.9,196,1085,0.00,2.30,0.00,0.000,3078,0.000,0.036,2207,2005,3411,3445,3378,0,0,0,0,0,0,14.99,14.90,15.00
$STATE,1105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1105,begin apogee
$GC,1110,-0.19,0.0,2207,2005,3445,3379,133.9,-12.2,201,1226,1.08,0.00,107.85,1.017,10246,0.166,0.000,2421,2004,2809,2849,2770,0,0,0,0,0,0,14.64,14.42,13.98
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1230,0.85,146.0,2421,2004,2849,2773,138.4,0.0,222,1346,1.52,0.00,109.15,1.013,10758,0.097,0.000,2746,2004,2214,2257,2171,0,0,0,0,0,0,14.54,14.47,13.90
$GC,1410,0.89,173.1,2746,2004,2252,2170,129.2,8.7,254,1438,0.00,0.00,21.45,0.969,10246,0.000,0.000,2746,2004,2104,2148,2060,0,0,0,0,0,0,14.86,14.54,13.93
$GC,1500,0.89,177.2,2746,2004,2143,2059,120.3,9.8,271,1513,0.00,2.38,4.25,0.718,10500,0.000,0.062,2746,3369,2089,2132,2046,0,0,0,0,0,0,14.92,14.57,13.96
$GC,1575,0.90,187.4,2746,3369,2130,2046,113.2,9.5,285,1593,0.00,2.33,9.73,0.903,11270,0.000,0.041,2754,1964,2046,2091,2002,0,0,0,0,0,0,14.76,14.66,13.97
$GC,1655,0.93,205.6,2754,1966,2088,2000,105.7,9.1,300,1674,0.05,0.00,15.40,0.937,10758,0.252,0.000,2796,1963,1972,2017,1927,0,0,0,0,0,0,14.71,14.70,14.06
$GC,1735,0.93,205.6,2796,1963,2014,1925,96.8,11.2,315,1742,0.00,2.42,0.00,0.000,4356,0.000,0.063,2797,3366,1968,2013,1924,0,0,0,0,0,0,14.99,14.64,14.99
$GC,1794,0.93,205.6,2797,3366,2013,1924,89.9,11.9,326,1801,0.08,2.33,0.00,0.000,5126,0.288,0.041,2792,1952,1968,2013,1924,0,0,0,0,0,0,14.61,14.77,14.81
$GC,1864,0.93,205.6,2791,1952,2012,1923,82.5,10.6,339,1871,0.00,2.38,0.00,0.000,4612,0.000,0.074,2797,570,1967,2012,1923,0,0,0,0,0,0,15.05,14.75,15.05
$GC,1903,0.93,205.6,2797,570,2012,1923,78.1,11.1,346,1910,0.00,2.28,0.00,0.000,5126,0.000,0.040,2797,1972,1967,2012,1923,0,0,0,0,0,0,14.93,14.83,14.94
$GC,1973,0.93,205.6,2797,1972,2012,1923,70.3,10.7,359,1980,0.00,2.42,0.00,0.000,4612,0.000,0.073,2797,566,1967,2012,1923,0,0,0,0,0,0,15.07,14.77,15.07
$GC,2032,0.93,205.6,2795,565,2011,1923,64.2,10.3,370,2038,0.00,2.28,0.00,0.000,5126,0.000,0.038,2797,1965,1965,2011,1920,0,0,0,0,0,0,14.94,14.81,14.95
$GC,2101,0.93,205.6,2797,1965,2012,1922,56.8,10.8,383,2108,0.00,2.42,0.00,0.000,4612,0.000,0.072,2797,568,1966,2011,1922,0,0,0,0,0,0,15.09,14.73,15.10
$GC,2125,0.93,205.6,2797,568,2010,1922,54.2,10.5,387,2132,0.00,2.28,0.00,0.000,5126,0.000,0.041,2797,1970,1966,2010,1922,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2197,0.94,213.0,2797,1966,2010,1922,47.4,9.6,400,2210,0.00,2.38,6.68,0.754,12548,0.000,0.063,2797,3357,1942,1986,1898,0,0,0,0,0,0,15.11,14.57,14.06
$GC,2332,0.94,215.8,2797,3357,1984,1897,32.9,9.8,426,2339,0.00,2.30,0.00,0.000,5126,0.000,0.041,2798,1969,1940,1985,1896,0,0,0,0,0,0,14.97,14.85,14.97
$GC,2402,0.96,235.3,2798,1968,1984,1895,26.5,9.1,439,2426,0.00,2.42,14.23,0.878,8708,0.000,0.073,2798,560,1850,1897,1803,0,0,0,0,0,0,15.11,14.78,14.14
$GC,2544,1.06,314.1,2797,560,1892,1803,16.2,6.3,466,2596,0.05,2.28,44.22,0.842,11270,0.256,0.040,2841,1971,1530,1585,1475,0,0,0,0,0,0,14.73,14.85,14.18
$GC,2658,1.09,334.6,2841,1971,1579,1472,6.6,9.0,487,2677,0.00,2.35,10.05,0.700,12548,0.000,0.065,2841,3350,1446,1501,1392,0,0,0,0,0,0,15.01,14.71,14.12
$STATE,2697,end climb,SURFACE_DEPTH_REACHED
$STATE,2697,begin surface coast
$FINISH,0.0,1.023537
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2752,112.00,0.724,0,0,599,542.59
$SM_GC,0.58,12.52,2.28,112.00,0.048,0.044,0.724,129,2013,599,-7.31,0.96,542.59,0,0,0,0,0,0,14.78,14.78,14.11
$IRIDIUM_FIX,-2950.05,3059.11,110419,092226
$TT8_MAMPS,0.019474,0.907039
$HUMID,56.77
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,90.2,58.0
$SC_FREEKB,3823744
$24V_AH,13.83,133.086
$10V_AH,13.23,0.000
$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,27.850,70.175,343.000,112.000,0.000,26.019,41.032,189.179,1.000,0.000,20.145,1041.763,446.363,581.939,1115.223,124.165,0.000,1073.168,0.000,757.049,0.000,8.787,0.000
$DEVICE_MAMPS,361.845,81.090,1016.685,724.455,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.773,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16817,500
$CAP_FILE_SIZE,97135,0
$CFSIZE,1023623168,995770368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,110017,-3002.452,3102.552,18,1.1,20,-24.8,0.8,172.7,8,8.9