version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 244
start: 4 17 119 7 20 31
data:
$ID,573
$MISSION,30
$DIVE,244
$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,180
$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,33
$R_STBD_OVSHOOT,54
$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,4
$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
$GPS1,170419,070946,-3120.2300,3005.7378,19,0.9,20,-26.0,1.0,193.3,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-62.0
$GPS2,170419,072005,-3120.4919,3005.5559,16,1.0,18,-26.0,0.7,175.4,8,8.6
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3131.291,3005.556
$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,206.0,20000,-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,-194.6,73,2027,592,576,0.0,0.0,0,116,0.00,0.00,-92.57,0.000,16386,0.000,0.000,72,2027,3110,3110,3111,0,0,0,0,0,0,14.97,28.83,14.98
$GC,120,-0.82,-194.6,72,2026,3111,3112,3.1,-6.5,17,150,12.98,2.40,-8.32,0.000,18692,0.319,0.096,2215,3394,3609,3677,3541,0,0,0,0,0,0,14.34,13.07,14.70
$GC,332,-0.82,-194.6,2215,3394,3679,3541,45.4,-14.7,58,339,0.00,2.30,0.00,0.000,3078,0.000,0.037,2215,2007,3610,3679,3541,0,0,0,0,0,0,14.88,14.79,14.90
$GC,402,-0.82,-194.6,2215,2007,3679,3541,55.1,-14.7,71,409,0.00,2.45,0.00,0.000,2308,0.000,0.072,2210,3394,3610,3680,3541,0,0,0,0,0,0,15.04,14.70,15.04
$GC,436,-0.82,-194.6,2212,3394,3679,3541,60.0,-13.2,77,444,0.05,2.30,0.00,0.000,3078,0.330,0.037,2221,2008,3610,3679,3541,0,0,0,0,0,0,14.57,14.80,14.78
$GC,507,-0.82,-194.6,2221,2007,3680,3541,68.5,-12.3,90,513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2007,3610,3680,3541,0,0,0,0,0,0,15.07,15.07,15.07
$GC,575,-0.82,-194.6,2221,2007,3675,3540,77.1,-12.3,103,581,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2007,3611,3681,3541,0,0,0,0,0,0,15.07,15.07,15.07
$GC,646,-0.82,-194.6,2221,2007,3681,3541,85.0,-9.7,116,652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2007,3610,3681,3540,0,0,0,0,0,0,15.07,15.08,15.07
$GC,716,-0.82,-194.6,2221,2007,3681,3541,92.1,-10.2,129,722,0.00,2.45,0.00,0.000,2308,0.000,0.072,2221,3400,3611,3682,3541,0,0,0,0,0,0,15.08,14.67,15.09
$GC,765,-0.82,-194.6,2220,3401,3682,3541,97.2,-9.9,138,771,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2005,3611,3682,3541,0,0,0,0,0,0,14.78,14.69,14.78
$GC,837,-0.82,-194.6,2220,2006,3682,3541,104.5,-10.3,151,842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2005,3611,3682,3541,0,0,0,0,0,0,15.09,15.09,15.09
$GC,905,-0.82,-194.6,2220,2005,3682,3541,111.5,-9.9,164,911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2005,3611,3682,3541,0,0,0,0,0,0,15.08,15.09,15.09
$GC,973,-0.82,-194.6,2220,2009,3682,3541,119.2,-11.0,177,979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2005,3612,3683,3541,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1041,-0.82,-194.6,2220,2005,3683,3541,126.2,-10.6,190,1047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2005,3611,3682,3541,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1109,-0.82,-194.6,2220,2005,3683,3541,133.2,-10.5,203,1116,0.00,2.45,0.00,0.000,2308,0.000,0.073,2221,3397,3611,3682,3541,0,0,0,0,0,0,15.11,14.57,15.10
$GC,1143,-0.82,-194.6,2220,3397,3682,3541,136.8,-9.9,209,1150,0.00,2.28,0.00,0.000,3078,0.000,0.038,2221,2018,3612,3683,3541,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,1196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1196,begin apogee
$GC,1202,-0.19,0.0,2221,1930,3682,3541,142.6,-10.1,219,1356,1.02,0.00,147.27,1.024,10246,0.157,0.000,2424,1929,2811,2860,2762,0,0,0,0,0,0,14.50,14.38,13.77
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1360,0.82,194.6,2424,1929,2859,2762,148.6,0.0,247,1522,1.48,2.40,148.80,1.017,10756,0.096,0.073,2736,586,2015,2060,1970,0,0,0,0,0,0,14.44,14.35,13.78
$GC,1559,0.85,220.2,2735,586,2057,1970,137.7,9.1,282,1589,0.00,2.28,21.05,0.966,11270,0.000,0.041,2736,1957,1911,1958,1865,0,0,0,0,0,0,14.66,14.57,13.78
$GC,1651,0.87,238.8,2735,1957,1955,1863,129.0,9.3,299,1676,0.08,2.45,16.08,0.940,10500,0.181,0.065,2786,3360,1835,1882,1789,0,0,0,0,0,0,14.62,14.33,13.83
$GC,1708,0.87,238.8,2786,3361,1878,1789,122.3,12.8,309,1716,0.08,2.30,0.00,0.000,5126,0.288,0.044,2772,1989,1833,1878,1788,0,0,0,0,0,0,14.47,14.64,14.67
$GC,1778,0.87,238.8,2772,1989,1878,1788,114.7,10.1,322,1785,0.00,2.45,0.00,0.000,516,0.000,0.077,2773,566,1832,1877,1788,0,0,0,0,0,0,14.93,14.63,14.94
$GC,1827,0.89,252.1,2771,565,1877,1788,110.0,9.5,331,1846,0.00,2.30,11.80,0.914,9222,0.000,0.042,2773,1961,1783,1830,1736,0,0,0,0,0,0,14.81,14.69,13.95
$GC,1908,0.89,252.1,2773,1961,1826,1734,101.7,12.0,346,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1961,1780,1827,1734,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1976,0.92,275.1,2773,1961,1826,1733,95.1,9.2,359,2005,0.00,2.45,19.77,0.945,10500,0.000,0.067,2773,3364,1688,1739,1638,0,0,0,0,0,0,15.00,14.58,13.97
$GC,2043,0.92,275.1,2773,3364,1737,1638,87.6,12.1,371,2050,0.00,2.35,0.00,0.000,3078,0.000,0.044,2772,1962,1687,1737,1637,0,0,0,0,0,0,14.82,14.71,14.83
$GC,2114,0.92,275.1,2776,1962,1736,1637,79.8,11.5,384,2120,0.00,2.42,0.00,0.000,2564,0.000,0.079,2776,564,1686,1736,1637,0,0,0,0,0,0,14.97,14.67,14.98
$GC,2153,0.95,300.8,2776,563,1735,1637,75.9,9.1,391,2182,0.00,2.30,21.90,0.941,11270,0.000,0.041,2776,1967,1584,1637,1531,0,0,0,0,0,0,14.87,14.77,13.95
$GC,2244,0.99,330.2,2776,1966,1634,1528,68.2,8.9,408,2273,0.00,0.00,25.12,0.937,10246,0.000,0.000,2776,1966,1464,1520,1409,0,0,0,0,0,0,14.97,14.61,13.95
$GC,2335,1.01,354.0,2776,1966,1516,1409,60.1,9.1,425,2359,0.08,0.00,20.52,0.917,10246,0.185,0.000,2825,1967,1367,1424,1310,0,0,0,0,0,0,14.68,14.59,13.93
$GC,2421,1.01,354.0,2825,1967,1422,1309,50.5,11.5,441,2428,0.00,2.47,0.00,0.000,4612,0.000,0.076,2826,563,1365,1421,1309,0,0,0,0,0,0,14.92,14.58,14.92
$GC,2450,1.01,354.0,2825,562,1421,1309,47.5,10.3,446,2457,0.00,2.33,0.00,0.000,5126,0.000,0.041,2826,1969,1365,1421,1309,0,0,0,0,0,0,14.71,14.62,14.72
$GC,2520,1.01,354.0,2825,1968,1419,1309,40.7,10.3,459,2527,0.00,2.42,0.00,0.000,4356,0.000,0.069,2826,3357,1364,1419,1309,0,0,0,0,0,0,14.99,14.55,15.00
$GC,2570,1.01,354.0,2826,3357,1418,1308,35.5,10.4,468,2576,0.00,2.33,0.00,0.000,5126,0.000,0.044,2826,1963,1362,1417,1308,0,0,0,0,0,0,14.87,14.76,14.89
$GC,2640,1.06,387.8,2826,1963,1417,1308,29.2,8.8,481,2675,0.00,2.42,27.77,0.891,8708,0.000,0.076,2826,564,1230,1289,1171,0,0,0,0,0,0,15.02,14.42,13.94
$GC,2712,1.06,390.4,2826,563,1289,1172,22.1,9.9,494,2719,0.00,2.30,1.45,0.208,9222,0.000,0.040,2826,1963,1220,1280,1160,0,0,0,0,0,0,14.76,14.68,14.50
$GC,2783,1.11,431.7,2825,1963,1280,1159,15.8,8.5,507,2811,0.00,0.00,24.88,0.812,10502,0.000,0.000,2826,1963,1049,1107,992,0,0,0,0,0,0,15.00,14.57,14.00
$GC,2875,1.12,436.8,2826,1963,1107,989,7.9,9.8,524,2881,0.00,0.00,2.33,0.333,10246,0.000,0.000,2826,1963,1030,1089,971,0,0,0,0,0,0,14.97,14.63,13.94
$STATE,2927,end climb,SURFACE_DEPTH_REACHED
$STATE,2927,begin surface coast
$FINISH,0.1,1.023813
$STATE,2963,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2985,59.78,0.714,0,0,599,542.59
$SM_GC,0.59,12.40,0.00,59.78,0.043,0.000,0.714,140,1965,599,-7.27,-1.36,542.59,0,0,0,0,0,0,14.78,15.03,14.07
$IRIDIUM_FIX,-3107.63,3007.22,170419,053545
$TT8_MAMPS,0.019474,0.8988
$HUMID,54.44
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,100.3,57.1
$SC_FREEKB,3794720
$24V_AH,13.07,150.470
$10V_AH,13.42,0.000
$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,28.150,56.975,488.750,59.775,0.000,23.796,17.520,333.214,1.250,0.000,19.892,1078.548,456.136,637.314,1324.219,172.701,0.000,1182.435,0.000,822.115,0.000,10.333,0.000
$DEVICE_MAMPS,330.480,156.060,1024.335,713.745,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.196,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16796,541
$CAP_FILE_SIZE,105593,0
$CFSIZE,1023623168,986923008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170419,081231,-3121.401,3005.028,15,0.8,36,-26.1,1.3,196.4,10,6.3