version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 255
start: 4 18 119 2 13 11
data:
$ID,573
$MISSION,30
$DIVE,255
$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,37
$R_STBD_OVSHOOT,44
$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,3
$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
$GPS1,180419,020531,-3131.2524,2950.9202,21,1.0,35,-26.2,0.4,206.0,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-66.0
$GPS2,180419,021246,-3131.3657,2950.7815,19,0.8,20,-26.2,0.0,258.7,11,9.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3142.165,2950.781
$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,206.2,20000,-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,-194.6,83,1983,582,578,0.0,0.0,0,121,0.00,0.00,-97.82,0.000,16386,0.000,0.000,75,1984,3251,3266,3236,0,0,0,0,0,0,15.06,28.83,15.07
$GC,126,-0.82,-194.6,74,1984,3266,3237,3.6,-8.8,18,150,12.65,0.00,-5.80,0.000,18438,0.305,0.000,2222,1984,3608,3670,3546,0,0,0,0,0,0,14.47,13.23,14.81
$GC,212,-0.82,-194.6,2222,1984,3674,3545,26.9,-15.2,34,219,0.00,2.47,0.00,0.000,2308,0.000,0.073,2222,3404,3609,3674,3545,0,0,0,0,0,0,15.10,14.77,15.10
$GC,276,-0.82,-194.6,2222,3404,3675,3545,35.8,-13.4,46,282,0.00,2.30,0.00,0.000,3078,0.000,0.037,2223,2007,3610,3675,3545,0,0,0,0,0,0,14.97,14.88,14.99
$GC,345,-0.82,-194.6,2222,2006,3674,3545,44.0,-11.8,59,352,0.00,2.38,0.00,0.000,2564,0.000,0.066,2222,605,3609,3674,3545,0,0,0,0,0,0,15.11,14.76,15.11
$GC,364,-0.82,-194.6,2222,605,3674,3545,46.2,-11.6,62,371,0.00,2.30,0.00,0.000,3078,0.000,0.044,2223,2015,3609,3674,3545,0,0,0,0,0,0,14.83,14.73,14.84
$GC,434,-0.82,-194.6,2222,2015,3674,3545,53.8,-11.2,75,441,0.00,2.38,0.00,0.000,2564,0.000,0.064,2223,606,3609,3674,3545,0,0,0,0,0,0,15.13,14.72,15.13
$GC,503,-0.82,-194.6,2222,606,3675,3545,61.9,-11.1,88,510,0.00,2.30,0.00,0.000,3078,0.000,0.044,2222,2018,3610,3675,3545,0,0,0,0,0,0,14.99,14.88,15.00
$GC,574,-0.82,-194.6,2222,2021,3675,3545,68.5,-9.6,101,580,0.00,2.38,0.00,0.000,2308,0.000,0.073,2222,3412,3610,3675,3545,0,0,0,0,0,0,15.14,14.69,15.14
$GC,654,-0.82,-194.6,2222,3412,3675,3545,76.7,-10.4,116,660,0.00,2.28,0.00,0.000,3078,0.000,0.037,2222,2012,3610,3676,3544,0,0,0,0,0,0,14.88,14.81,14.89
$GC,726,-0.82,-194.6,2222,2012,3676,3545,83.6,-10.4,129,731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2012,3610,3676,3544,0,0,0,0,0,0,15.14,15.15,15.15
$STATE,736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,736,begin apogee
$GC,742,-0.19,0.0,2223,1941,3676,3544,85.2,-10.9,131,891,1.00,0.00,142.77,0.934,10246,0.145,0.000,2426,1939,2811,2858,2765,0,0,0,0,0,0,14.65,14.51,13.92
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,895,0.82,194.6,2426,1939,2857,2765,90.4,0.0,158,1051,1.45,2.35,145.93,0.928,10756,0.093,0.070,2735,582,2016,2060,1972,0,0,0,0,0,0,14.52,14.31,13.88
$GC,1109,0.90,261.9,2735,583,2055,1972,80.1,7.6,196,1171,0.10,2.28,52.45,0.910,11270,0.144,0.040,2788,1972,1745,1795,1695,0,0,0,0,0,0,14.68,14.69,13.94
$GC,1235,0.90,261.9,2787,1972,1790,1692,66.9,11.5,219,1241,0.00,2.40,0.00,0.000,4356,0.000,0.066,2787,3362,1740,1790,1691,0,0,0,0,0,0,14.92,14.56,14.92
$GC,1305,0.90,261.9,2788,3362,1788,1692,58.5,12.4,232,1312,0.00,2.28,0.00,0.000,5126,0.000,0.041,2790,1984,1739,1788,1691,0,0,0,0,0,0,14.77,14.67,14.78
$GC,1375,0.90,261.9,2789,1983,1787,1691,51.2,10.0,245,1382,0.00,2.45,0.00,0.000,4612,0.000,0.074,2790,557,1739,1787,1691,0,0,0,0,0,0,15.04,14.63,15.04
$GC,1429,0.90,261.9,2790,557,1786,1691,45.4,10.3,255,1436,0.00,2.28,0.00,0.000,5126,0.000,0.041,2790,1959,1738,1786,1691,0,0,0,0,0,0,14.93,14.83,14.94
$GC,1500,0.94,290.1,2790,1959,1785,1689,39.1,9.0,268,1529,0.00,2.40,23.35,0.867,8708,0.000,0.073,2790,556,1628,1680,1577,0,0,0,0,0,0,15.07,14.73,14.07
$GC,1591,0.97,320.2,2789,555,1675,1576,30.0,8.9,285,1626,0.00,2.30,24.95,0.868,11270,0.000,0.040,2790,1967,1505,1558,1452,0,0,0,0,0,0,14.85,14.76,14.04
$GC,1689,1.01,349.3,2790,1967,1553,1456,21.8,9.0,303,1716,0.00,2.40,17.12,0.802,10500,0.000,0.067,2790,3362,1386,1442,1330,0,0,0,0,0,0,15.01,14.52,14.06
$GC,1759,1.04,373.5,2790,3362,1439,1328,15.7,9.1,315,1779,0.05,2.33,13.43,0.753,11270,0.253,0.041,2836,1954,1289,1346,1232,0,0,0,0,0,0,14.68,14.78,14.08
$GC,1841,1.06,389.5,2836,1954,1344,1230,8.1,9.4,330,1855,0.00,2.42,8.05,0.662,12804,0.000,0.075,2838,566,1223,1281,1166,0,0,0,0,0,0,15.02,14.65,14.10
$GC,1887,1.06,389.5,2838,565,1281,1166,3.6,10.3,338,1894,0.00,2.30,0.00,0.000,5126,0.000,0.041,2839,1972,1223,1281,1166,0,0,0,0,0,0,14.89,14.80,14.90
$STATE,1899,end climb,SURFACE_DEPTH_REACHED
$STATE,1899,begin surface coast
$FINISH,-0.1,1.011154
$STATE,1931,end surface coast,CONTROL_FINISHED_OK
$STATE,1931,begin surface
$SM_CCo,1953,83.50,0.697,0,0,598,542.59
$SM_GC,0.73,12.48,0.00,83.50,0.044,0.000,0.697,142,1974,598,-7.28,-1.10,542.59,0,0,0,0,0,0,14.83,15.07,14.11
$IRIDIUM_FIX,-3117.71,2951.91,180419,012410
$TT8_MAMPS,0.020223,0.878577
$HUMID,55.78
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.8
$ALTIM_BOTTOM_PING,80.1,19.9
$SC_FREEKB,3788736
$24V_AH,13.23,153.358
$10V_AH,13.58,0.000
$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,27.725,47.000,428.050,83.500,0.000,26.321,41.930,180.646,0.750,0.000,21.023,655.956,260.869,573.359,868.326,128.974,0.000,958.960,0.000,528.479,0.000,7.121,0.000
$DEVICE_MAMPS,305.235,199.665,934.065,696.915,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.905,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10139,346
$CAP_FILE_SIZE,70383,0
$CFSIZE,1023623168,985513984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180419,024805,-3131.825,2950.333,17,0.8,19,-26.2,1.0,205.0,11,8.2