version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 226
start: 4 14 119 20 42 55
data:
$ID,573
$MISSION,30
$DIVE,226
$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,200
$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,280
$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,34
$R_STBD_OVSHOOT,37
$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
$GPS1,140419,203201,-3055.0530,3028.3955,24,0.8,33,-25.7,1.9,217.3,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-60.8
$GPS2,140419,204229,-3055.5442,3028.1958,16,0.8,18,-25.7,1.5,200.6,11,8.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3053.669,3015.802
$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,305.7,20000,-15.6,-9.950,-18.64,2991
$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,-0.82,-194.6,73,2023,577,583,0.0,0.0,0,116,0.00,0.00,-92.47,0.000,16386,0.000,0.000,73,2023,3106,3108,3105,0,0,0,0,0,0,14.95,28.83,14.97
$GC,120,-0.82,-194.6,72,2023,3109,3105,3.3,-8.1,17,150,12.82,2.42,-8.45,0.000,18948,0.312,0.085,2218,605,3607,3674,3541,0,0,0,0,0,0,14.29,13.01,14.64
$GC,187,-0.82,-194.6,2217,605,3676,3538,22.6,-17.9,29,194,0.00,2.35,0.00,0.000,3078,0.000,0.046,2218,2017,3608,3676,3541,0,0,0,0,0,0,14.83,14.73,14.85
$GC,256,-0.82,-194.6,2217,2017,3676,3541,32.3,-13.7,42,263,0.00,2.42,0.00,0.000,2308,0.000,0.072,2217,3412,3608,3676,3541,0,0,0,0,0,0,15.02,14.68,15.02
$GC,485,-0.82,-194.6,2218,3412,3678,3541,56.5,-12.0,87,492,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2010,3609,3678,3541,0,0,0,0,0,0,14.83,14.72,14.84
$GC,555,-0.82,-194.6,2217,2009,3678,3541,65.0,-12.5,100,562,0.00,2.47,0.00,0.000,2308,0.000,0.070,2217,3411,3609,3678,3541,0,0,0,0,0,0,15.06,14.66,15.06
$GC,594,-0.82,-194.6,2217,3412,3678,3541,69.5,-10.3,107,601,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2004,3609,3678,3541,0,0,0,0,0,0,14.75,14.65,14.76
$GC,664,-0.82,-194.6,2217,2004,3679,3541,77.0,-10.4,120,671,0.00,2.47,0.00,0.000,2308,0.000,0.071,2216,3417,3609,3678,3541,0,0,0,0,0,0,15.07,14.57,15.07
$GC,748,-0.82,-194.6,2216,3417,3679,3541,85.2,-8.8,136,755,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2003,3610,3679,3541,0,0,0,0,0,0,14.92,14.83,14.93
$GC,822,-0.82,-194.6,2217,2003,3679,3541,92.3,-8.9,149,828,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2002,3610,3680,3541,0,0,0,0,0,0,15.09,15.10,15.10
$GC,890,-0.82,-194.6,2217,2008,3680,3541,100.1,-11.7,162,897,0.00,2.47,0.00,0.000,2308,0.000,0.071,2217,3412,3610,3680,3541,0,0,0,0,0,0,15.07,14.67,15.08
$GC,949,-0.82,-194.6,2216,3412,3680,3541,107.1,-11.6,173,955,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2008,3610,3680,3541,0,0,0,0,0,0,14.90,14.83,14.90
$GC,1019,-0.82,-194.6,2216,2008,3680,3541,115.9,-12.9,186,1026,0.00,2.47,0.00,0.000,2308,0.000,0.071,2217,3415,3610,3680,3541,0,0,0,0,0,0,15.09,14.57,15.09
$GC,1062,-0.82,-194.6,2217,3415,3680,3541,121.7,-13.1,194,1069,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2006,3610,3680,3541,0,0,0,0,0,0,14.92,14.82,14.94
$GC,1132,-0.82,-194.6,2217,2006,3680,3541,130.7,-13.2,207,1139,0.00,2.40,0.00,0.000,2564,0.000,0.072,2217,614,3608,3680,3537,0,0,0,0,0,0,15.08,14.74,15.08
$STATE,1150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1150,begin apogee
$GC,1156,-0.19,0.0,2216,1964,3680,3544,133.4,-13.4,210,1311,1.05,0.00,146.07,1.017,10246,0.163,0.000,2423,1965,2812,2860,2764,0,0,0,0,0,0,14.49,14.27,13.81
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1315,0.82,194.6,2423,1965,2859,2764,139.6,0.0,238,1472,1.48,2.55,148.23,1.020,10756,0.099,0.073,2736,560,2016,2063,1969,0,0,0,0,0,0,14.42,14.35,13.78
$GC,1554,0.88,246.2,2735,559,2057,1968,125.9,8.2,281,1606,0.08,2.35,41.10,0.987,11270,0.179,0.041,2780,1976,1806,1855,1758,0,0,0,0,0,0,14.57,14.62,13.81
$GC,1668,0.92,276.6,2780,1976,1851,1755,116.0,8.9,302,1703,0.00,2.47,25.27,0.968,10500,0.000,0.067,2780,3363,1683,1735,1632,0,0,0,0,0,0,14.85,14.50,13.85
$GC,1722,0.96,305.9,2780,3363,1734,1631,111.0,8.9,311,1756,0.00,2.38,25.48,0.951,11270,0.000,0.044,2783,1963,1562,1616,1508,0,0,0,0,0,0,14.65,14.54,13.85
$GC,1819,0.98,328.3,2780,1963,1612,1507,102.5,9.2,329,1843,0.00,2.50,18.55,0.946,10756,0.000,0.078,2783,563,1474,1528,1420,0,0,0,0,0,0,14.86,14.53,13.87
$GC,1860,0.98,328.3,2783,563,1528,1420,98.2,10.3,336,1867,0.00,2.35,0.00,0.000,3078,0.000,0.042,2783,1973,1473,1527,1420,0,0,0,0,0,0,14.60,14.52,14.62
$GC,1929,0.98,328.3,2783,1974,1526,1420,90.8,11.5,349,1936,0.00,2.45,0.00,0.000,2308,0.000,0.067,2783,3370,1473,1526,1420,0,0,0,0,0,0,14.90,14.62,14.90
$GC,1958,0.99,330.9,2783,3370,1525,1419,87.3,9.9,354,1971,0.00,2.38,3.72,0.552,11270,0.000,0.046,2784,1962,1463,1516,1410,0,0,0,0,0,0,14.80,14.69,13.81
$GC,2033,0.99,330.9,2781,1962,1516,1410,78.7,10.7,368,2040,0.00,2.45,0.00,0.000,2564,0.000,0.080,2784,558,1463,1516,1410,0,0,0,0,0,0,14.98,14.66,14.98
$GC,2057,0.99,330.9,2783,558,1515,1409,75.7,12.7,372,2064,0.00,2.35,0.00,0.000,3078,0.000,0.042,2783,1974,1462,1515,1410,0,0,0,0,0,0,14.84,14.74,14.85
$GC,2127,0.99,330.9,2783,1974,1514,1409,68.0,11.3,385,2134,0.00,2.42,0.00,0.000,2308,0.000,0.067,2784,3363,1462,1514,1410,0,0,0,0,0,0,15.00,14.70,15.00
$GC,2191,0.99,330.9,2783,3363,1513,1409,60.5,11.5,397,2198,0.00,2.35,0.00,0.000,3078,0.000,0.046,2784,1963,1460,1512,1409,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2261,1.03,365.4,2783,1963,1512,1409,54.1,8.8,410,2296,0.08,0.00,29.27,0.940,10246,0.187,0.000,2831,1963,1322,1379,1266,0,0,0,0,0,0,14.76,14.66,14.02
$GC,2359,1.03,365.4,2830,1963,1377,1266,43.2,11.8,428,2365,0.00,2.47,0.00,0.000,4356,0.000,0.067,2831,3369,1321,1377,1265,0,0,0,0,0,0,14.96,14.66,14.96
$GC,2498,1.03,365.4,2830,3369,1374,1264,28.0,10.7,455,2504,0.00,2.38,0.00,0.000,5126,0.000,0.046,2831,1959,1319,1374,1264,0,0,0,0,0,0,14.87,14.75,14.88
$GC,2568,1.04,374.8,2831,1959,1374,1264,20.9,9.6,468,2584,0.00,2.42,5.20,0.711,12548,0.000,0.065,2831,3362,1284,1341,1227,0,0,0,0,0,0,15.02,14.69,13.93
$GC,2651,1.06,391.0,2831,3362,1340,1227,12.9,9.4,483,2669,0.00,2.35,9.05,0.753,9222,0.000,0.045,2831,1964,1218,1275,1162,0,0,0,0,0,0,14.81,14.71,13.98
$GC,2732,1.13,450.3,2831,1964,1273,1160,5.8,7.9,498,2767,0.00,0.00,32.33,0.757,10754,0.000,0.000,2831,1963,979,1031,927,0,0,0,0,0,0,15.04,28.83,15.04
$STATE,2768,end climb,SURFACE_DEPTH_REACHED
$STATE,2768,begin surface coast
$FINISH,-0.0,1.023437
$STATE,2795,end surface coast,CONTROL_FINISHED_OK
$STATE,2795,begin surface
$SM_CCo,2817,53.00,0.732,0,0,598,542.59
$SM_GC,0.49,12.52,0.05,53.00,0.050,0.180,0.732,148,2031,598,-7.26,-1.33,542.59,0,0,0,0,0,0,14.70,14.73,14.04
$IRIDIUM_FIX,-3039.98,3031.12,140419,185749
$TT8_MAMPS,0.019474,0.903294
$HUMID,56.85
$INTERNAL_PRESSURE,9.22851
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.6
$ALTIM_BOTTOM_PING,90.2,57.7
$SC_FREEKB,3805440
$24V_AH,13.01,143.421
$10V_AH,13.44,0.000
$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,28.025,72.075,484.275,53.000,0.000,23.262,23.456,328.400,1.000,0.000,18.751,1004.181,427.439,625.427,1284.828,160.015,0.000,1143.177,0.000,770.557,0.000,8.771,0.000
$DEVICE_MAMPS,312.120,179.775,1019.745,732.105,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2878.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.623,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16792,509
$CAP_FILE_SIZE,99459,0
$CFSIZE,1023623168,990265344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140419,213143,-3055.921,3027.667,16,0.8,19,-25.7,1.5,189.8,12,9.6