version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 216
start: 4 13 119 11 1 53
data:
$ID,573
$MISSION,30
$DIVE,216
$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,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,31
$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
$GPS1,130419,105218,-3040.1311,3040.0950,18,1.1,21,-25.5,1.5,202.1,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-63.0
$GPS2,130419,110129,-3040.5693,3039.8579,20,1.1,21,-25.5,1.8,215.6,8,9.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3044.263,3051.665
$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,135.5,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,73,2011,583,581,0.0,0.0,0,121,0.00,0.00,-97.82,0.000,16386,0.000,0.000,72,2011,3264,3278,3250,0,0,0,0,0,0,14.99,28.83,15.00
$GC,125,-0.85,-146.0,72,2011,3278,3251,3.8,-10.0,18,150,12.75,2.42,-2.47,0.000,18948,0.309,0.080,2206,605,3411,3441,3381,0,0,0,0,0,0,14.31,13.13,14.71
$GC,172,-0.85,-146.0,2206,605,3441,3381,20.0,-22.6,26,178,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,2011,3411,3442,3381,0,0,0,0,0,0,14.87,14.76,14.88
$GC,242,-0.85,-146.0,2199,2011,3443,3381,31.8,-18.2,39,247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2011,3411,3442,3381,0,0,0,0,0,0,15.03,15.03,15.03
$GC,310,-0.85,-146.0,2203,2011,3443,3381,42.7,-13.5,52,316,0.00,2.42,0.00,0.000,2564,0.000,0.063,2204,597,3412,3443,3381,0,0,0,0,0,0,15.05,14.62,15.05
$GC,343,-0.85,-146.0,2203,597,3444,3381,47.4,-12.6,58,350,0.00,2.35,0.00,0.000,3078,0.000,0.044,2204,2021,3412,3443,3381,0,0,0,0,0,0,14.90,14.80,14.92
$GC,413,-0.85,-146.0,2203,2022,3444,3381,57.8,-14.6,71,420,0.00,2.40,0.00,0.000,2564,0.000,0.065,2204,601,3413,3445,3381,0,0,0,0,0,0,15.08,14.76,15.08
$GC,432,-0.85,-146.0,2203,602,3445,3381,60.6,-14.2,74,439,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,2012,3413,3446,3381,0,0,0,0,0,0,14.92,14.83,14.94
$GC,501,-0.85,-146.0,2203,2012,3445,3381,68.3,-11.5,87,508,0.00,2.40,0.00,0.000,2308,0.000,0.071,2204,3409,3416,3452,3381,0,0,0,0,0,0,15.09,14.75,15.09
$GC,520,-0.85,-146.0,2203,3408,3446,3381,70.4,-10.9,90,527,0.00,2.33,0.00,0.000,3078,0.000,0.038,2204,2006,3413,3446,3381,0,0,0,0,0,0,14.86,14.76,14.88
$GC,590,-0.85,-146.0,2203,2006,3446,3381,77.9,-10.9,103,597,0.00,2.38,0.00,0.000,2564,0.000,0.066,2204,610,3413,3446,3381,0,0,0,0,0,0,15.09,14.70,15.09
$GC,611,-0.85,-146.0,2203,610,3446,3381,80.1,-11.3,106,618,0.00,2.33,0.00,0.000,3078,0.000,0.044,2203,2026,3413,3446,3381,0,0,0,0,0,0,14.93,14.82,14.95
$GC,681,-0.85,-146.0,2203,2025,3447,3381,86.8,-9.6,119,687,0.00,2.38,0.00,0.000,2308,0.000,0.070,2203,3406,3413,3446,3381,0,0,0,0,0,0,15.09,14.70,15.10
$GC,700,-0.85,-146.0,2202,3406,3447,3381,88.7,-9.5,122,706,0.00,2.30,0.00,0.000,3078,0.000,0.037,2203,2007,3413,3447,3380,0,0,0,0,0,0,14.81,14.71,14.81
$GC,770,-0.85,-146.0,2202,2007,3447,3381,94.9,-9.4,135,776,0.00,2.38,0.00,0.000,2564,0.000,0.065,2203,606,3413,3447,3380,0,0,0,0,0,0,15.10,14.66,15.10
$GC,826,-0.85,-146.0,2202,606,3447,3380,101.0,-10.4,145,833,0.00,2.33,0.00,0.000,3078,0.000,0.044,2203,2021,3413,3447,3380,0,0,0,0,0,0,14.93,14.83,14.96
$GC,896,-0.85,-146.0,2202,2021,3447,3381,108.8,-11.0,158,903,0.00,2.40,0.00,0.000,2308,0.000,0.071,2202,3416,3413,3447,3380,0,0,0,0,0,0,15.10,14.77,15.10
$GC,945,-0.85,-146.0,2202,3414,3447,3384,113.8,-9.8,167,952,0.00,2.33,0.00,0.000,3078,0.000,0.037,2202,2004,3413,3446,3381,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1015,-0.85,-146.0,2202,2004,3448,3381,120.5,-10.3,180,1021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,2004,3413,3447,3380,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1083,-0.85,-146.0,2202,2004,3448,3380,128.2,-11.2,193,1090,0.00,2.42,0.00,0.000,2308,0.000,0.069,2201,3408,3414,3448,3380,0,0,0,0,0,0,15.12,14.78,15.12
$GC,1159,-0.85,-146.0,2200,3408,3447,3380,135.9,-9.4,207,1165,0.00,2.30,0.00,0.000,3078,0.000,0.037,2201,2007,3413,3447,3380,0,0,0,0,0,0,14.95,14.85,14.96
$STATE,1176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1176,begin apogee
$GC,1180,-0.19,0.0,2201,2006,3448,3380,137.9,-9.8,210,1297,1.12,0.00,111.30,1.019,10246,0.166,0.000,2422,2005,2811,2850,2772,0,0,0,0,0,0,14.44,14.52,13.92
$STATE,1299,end apogee,CONTROL_FINISHED_OK
$STATE,1299,begin climb
$GC,1301,0.85,146.0,2422,2005,2850,2772,141.2,0.0,231,1424,1.52,2.50,111.97,1.013,10756,0.094,0.070,2749,558,2213,2257,2170,0,0,0,0,0,0,14.49,14.38,13.86
$GC,1442,0.90,186.5,2748,559,2253,2170,134.1,8.1,255,1482,0.00,2.35,32.78,0.980,11270,0.000,0.041,2749,1971,2050,2098,2002,0,0,0,0,0,0,14.55,14.46,13.85
$GC,1544,0.90,186.5,2749,1971,2093,2001,123.8,12.4,274,1550,0.00,2.42,0.00,0.000,2308,0.000,0.064,2749,3366,2046,2093,2000,0,0,0,0,0,0,14.85,14.59,14.85
$GC,1583,0.90,186.5,2749,3366,2092,2000,119.2,11.5,281,1589,0.00,2.35,0.00,0.000,3078,0.000,0.044,2749,1965,2046,2092,2000,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1653,0.90,186.5,2749,1965,2090,1999,111.8,11.1,294,1659,0.00,2.42,0.00,0.000,2564,0.000,0.074,2749,564,2044,2090,1999,0,0,0,0,0,0,14.95,14.62,14.96
$GC,1701,0.90,186.5,2749,564,2089,1999,106.3,10.8,303,1708,0.00,2.30,0.00,0.000,3078,0.000,0.041,2749,1968,2044,2089,1999,0,0,0,0,0,0,14.72,14.63,14.73
$GC,1772,0.90,186.5,2748,1968,2089,1998,99.6,10.1,316,1778,0.00,2.40,0.00,0.000,2308,0.000,0.064,2749,3364,2043,2088,1998,0,0,0,0,0,0,15.02,14.62,15.02
$GC,1815,0.93,212.0,2749,3363,2088,1998,95.5,8.8,324,1845,0.10,2.33,20.92,0.955,11270,0.145,0.044,2801,1963,1945,1991,1899,0,0,0,0,0,0,14.77,14.77,14.01
$GC,1907,0.94,214.3,2804,1963,1988,1897,86.5,9.8,341,1914,0.00,2.42,0.00,0.000,4612,0.000,0.074,2811,563,1942,1987,1897,0,0,0,0,0,0,14.98,14.61,14.99
$GC,2071,0.94,214.3,2811,563,1984,1897,68.9,10.5,373,2078,0.10,2.30,0.00,0.000,5126,0.243,0.041,2791,1971,1941,1985,1897,0,0,0,0,0,0,14.53,14.81,14.71
$GC,2142,0.97,237.1,2791,1971,1985,1895,62.5,8.9,386,2171,0.00,2.38,20.77,0.937,10500,0.000,0.065,2791,3356,1843,1890,1796,0,0,0,0,0,0,15.07,14.73,14.12
$GC,2243,1.01,272.4,2791,3356,1888,1794,53.5,8.3,405,2279,0.00,2.35,29.42,0.940,11270,0.000,0.044,2791,1959,1701,1754,1648,0,0,0,0,0,0,14.87,14.76,14.05
$GC,2341,1.01,272.4,2791,1960,1749,1644,44.3,10.3,423,2348,0.00,2.42,0.00,0.000,2564,0.000,0.075,2791,560,1696,1749,1644,0,0,0,0,0,0,14.95,14.57,14.95
$GC,2470,1.07,320.1,2791,559,1745,1643,32.7,7.8,448,2517,0.10,2.30,39.00,0.924,11270,0.142,0.041,2845,1967,1505,1559,1452,0,0,0,0,0,0,14.78,14.78,14.05
$GC,2580,1.07,320.1,2845,1966,1555,1449,20.9,12.0,468,2587,0.00,2.45,0.00,0.000,4612,0.000,0.072,2852,555,1501,1554,1449,0,0,0,0,0,0,14.95,14.66,14.95
$GC,2624,1.07,320.1,2851,555,1553,1449,15.1,12.3,476,2632,0.08,2.30,0.00,0.000,5126,0.265,0.041,2836,1959,1501,1553,1449,0,0,0,0,0,0,14.57,14.74,14.76
$GC,2694,1.07,320.1,2835,1960,1552,1448,6.4,12.4,489,2700,0.00,0.00,0.00,0.000,4102,0.000,0.000,2836,1961,1500,1552,1448,0,0,0,0,0,0,15.01,15.02,15.01
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,0.2,1.023491
$STATE,2752,end surface coast,CONTROL_FINISHED_OK
$STATE,2752,begin surface
$SM_CCo,2774,119.30,0.722,0,0,598,542.59
$SM_GC,0.51,12.50,0.00,119.30,0.051,0.000,0.722,146,1961,598,-7.26,-1.44,542.59,0,0,0,0,0,0,14.81,15.05,14.08
$IRIDIUM_FIX,-3027.46,3040.64,130419,093818
$TT8_MAMPS,0.019474,0.900298
$HUMID,55.82
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,100.2,52.2
$SC_FREEKB,3811456
$24V_AH,13.13,139.582
$10V_AH,13.54,0.000
$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,28.275,80.500,366.175,119.300,0.000,26.315,16.894,278.099,1.250,0.000,21.933,1035.453,437.007,618.671,1210.734,149.955,0.000,1122.621,0.000,759.688,0.000,10.314,0.000
$DEVICE_MAMPS,309.060,79.560,1018.980,722.160,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2821.000,0.000,0.000,0.000
$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,16778,500
$CAP_FILE_SIZE,102015,0
$CFSIZE,1023623168,992182272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130419,115126,-3041.740,3039.599,25,1.1,41,-25.5,2.1,220.3,8,4.7