version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 257
start: 4 18 119 3 38 46
data:
$ID,573
$MISSION,30
$DIVE,257
$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,39
$R_STBD_OVSHOOT,63
$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
$GPS1,180419,033056,-3132.4094,2949.7229,18,0.8,20,-26.2,0.9,193.0,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-64.1
$GPS2,180419,033821,-3132.5127,2949.5872,17,0.8,21,-26.2,0.0,279.8,11,10.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3143.312,2949.587
$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,-194.6,72,2052,583,577,0.0,0.0,0,123,0.00,0.00,-98.53,0.000,16386,0.000,0.000,72,2053,3285,3303,3267,0,0,0,0,0,0,15.07,28.83,15.07
$GC,126,-0.82,-194.6,72,2051,3303,3267,3.8,-10.8,18,151,12.70,2.33,-5.20,0.000,18692,0.308,0.093,2210,3391,3604,3668,3541,0,0,0,0,0,0,14.44,13.81,14.85
$GC,314,-0.82,-194.6,2209,3391,3673,3541,42.6,-13.4,54,321,0.05,2.25,0.00,0.000,3078,0.321,0.038,2221,2015,3607,3673,3541,0,0,0,0,0,0,14.55,14.75,14.75
$GC,385,-0.82,-194.6,2221,2015,3673,3541,50.2,-9.3,67,392,0.00,2.38,0.00,0.000,2564,0.000,0.066,2221,611,3607,3673,3541,0,0,0,0,0,0,15.13,14.77,15.13
$GC,439,-0.82,-194.6,2220,611,3674,3541,56.8,-12.7,77,446,0.00,2.25,0.00,0.000,3078,0.000,0.046,2217,1988,3607,3674,3540,0,0,0,0,0,0,14.85,14.74,14.86
$GC,510,-0.82,-194.6,2220,1988,3674,3541,64.3,-9.7,90,517,0.00,2.45,0.00,0.000,2308,0.000,0.074,2220,3413,3607,3674,3541,0,0,0,0,0,0,15.14,14.76,15.14
$GC,554,-0.82,-194.6,2220,3413,3674,3541,68.6,-9.9,98,561,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2004,3607,3674,3541,0,0,0,0,0,0,14.88,14.78,14.89
$GC,623,-0.82,-194.6,2220,2004,3674,3541,75.9,-10.5,111,629,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2004,3607,3674,3541,0,0,0,0,0,0,15.15,15.15,15.15
$GC,691,-0.82,-194.6,2221,2004,3675,3541,82.7,-10.4,124,698,0.00,2.45,0.00,0.000,2308,0.000,0.073,2221,3411,3608,3675,3541,0,0,0,0,0,0,15.16,14.83,15.16
$GC,745,-0.82,-194.6,2220,3413,3675,3540,88.5,-11.0,134,752,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2008,3608,3675,3541,0,0,0,0,0,0,14.94,14.84,14.95
$GC,818,-0.82,-194.6,2220,2008,3675,3540,96.8,-11.3,147,824,0.00,2.42,0.00,0.000,2308,0.000,0.073,2221,3416,3608,3675,3541,0,0,0,0,0,0,15.15,14.83,15.16
$GC,837,-0.82,-194.6,2220,3417,3675,3541,99.4,-12.5,150,843,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2005,3608,3675,3541,0,0,0,0,0,0,15.00,14.90,15.02
$STATE,849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,849,begin apogee
$GC,854,-0.19,0.0,2221,2005,3675,3541,100.6,-11.0,152,1004,0.98,0.00,142.85,0.958,10246,0.145,0.000,2421,2004,2810,2857,2763,0,0,0,0,0,0,14.71,14.54,13.93
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1007,0.82,194.6,2421,2004,2856,2763,107.4,0.0,179,1164,1.48,2.47,145.48,0.955,10756,0.093,0.070,2736,560,2016,2060,1972,0,0,0,0,0,0,14.54,14.49,13.89
$GC,1186,0.92,277.4,2735,560,2057,1972,99.5,7.1,210,1261,0.12,2.33,64.18,0.942,11270,0.122,0.040,2793,1971,1680,1731,1629,0,0,0,0,0,0,14.64,14.62,13.89
$GC,1324,0.92,277.4,2793,1972,1726,1625,82.7,12.9,235,1330,0.00,2.42,0.00,0.000,4356,0.000,0.067,2793,3363,1675,1726,1625,0,0,0,0,0,0,14.90,14.61,14.91
$GC,1373,0.92,277.4,2792,3363,1724,1624,76.3,12.5,244,1379,0.00,2.33,0.00,0.000,5126,0.000,0.044,2793,1965,1674,1724,1624,0,0,0,0,0,0,14.73,14.64,14.74
$GC,1443,0.93,281.8,2793,1964,1729,1624,69.1,9.8,257,1456,0.00,2.45,4.15,0.669,12804,0.000,0.076,2792,564,1662,1713,1612,0,0,0,0,0,0,15.02,14.61,13.97
$GC,1474,0.95,301.8,2793,564,1712,1612,65.9,9.3,262,1498,0.00,2.30,17.80,0.881,9222,0.000,0.041,2794,1969,1580,1632,1528,0,0,0,0,0,0,14.84,14.76,14.05
$GC,1561,0.95,304.5,2793,1968,1629,1527,56.2,9.9,278,1567,0.00,2.40,0.00,0.000,260,0.000,0.069,2793,3360,1578,1629,1527,0,0,0,0,0,0,15.02,14.74,15.02
$GC,1609,0.95,304.5,2793,3361,1628,1526,49.9,11.8,287,1616,0.00,2.33,0.00,0.000,1030,0.000,0.042,2793,1959,1577,1628,1526,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1680,1.01,353.9,2793,1958,1628,1526,43.5,8.3,300,1731,0.00,2.42,42.25,0.902,10756,0.000,0.075,2793,570,1368,1424,1312,0,0,0,0,0,0,15.07,14.57,14.07
$GC,1819,1.06,389.6,2793,569,1419,1311,31.8,8.7,326,1855,0.08,2.30,29.30,0.878,11270,0.181,0.040,2841,1979,1222,1279,1166,0,0,0,0,0,0,14.71,14.73,14.04
$GC,1918,1.06,389.6,2841,1979,1279,1164,21.2,11.2,344,1924,0.00,2.40,0.00,0.000,4356,0.000,0.068,2841,3360,1220,1278,1163,0,0,0,0,0,0,14.99,14.62,14.99
$GC,1972,1.06,389.6,2841,3361,1277,1162,15.3,10.8,354,1979,0.00,2.33,0.00,0.000,5126,0.000,0.044,2842,1961,1219,1276,1162,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2043,1.06,389.6,2841,1961,1277,1162,8.3,10.6,367,2049,0.00,2.40,0.00,0.000,4612,0.000,0.076,2842,564,1219,1277,1162,0,0,0,0,0,0,15.06,14.64,15.07
$STATE,2090,end climb,SURFACE_DEPTH_REACHED
$STATE,2090,begin surface coast
$FINISH,2.3,1.023826
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2121,83.55,0.704,0,0,599,542.59
$SM_GC,0.59,12.77,2.38,83.55,0.080,0.037,0.704,152,1999,599,-7.26,-1.53,542.59,0,0,0,0,0,0,14.81,14.88,14.13
$IRIDIUM_FIX,-3120.24,2948.46,180419,025046
$TT8_MAMPS,0.019474,0.913031
$HUMID,57.08
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,90.2,24.4
$SC_FREEKB,3787680
$24V_AH,13.81,153.727
$10V_AH,13.19,0.000
$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,28.175,56.675,446.000,83.550,0.000,25.232,44.883,181.735,1.000,0.000,21.732,720.343,289.258,597.146,926.403,130.750,0.000,1010.553,0.000,575.219,0.000,9.256,0.000
$DEVICE_MAMPS,321.300,92.565,957.780,703.800,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.061,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13489,377
$CAP_FILE_SIZE,75745,0
$CFSIZE,1023623168,985317376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180419,041708,-3132.987,2949.109,20,1.3,59,-26.2,1.0,253.3,9,9.1