version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 263
start: 4 19 119 0 0 4
data:
$ID,573
$MISSION,30
$DIVE,263
$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,260
$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,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
$GPS1,180419,234602,-3139.0884,2938.2751,23,0.8,39,-26.2,0.0,202.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-63.7
$GPS2,180419,235939,-3139.3242,2938.1731,19,0.9,19,-26.2,0.5,201.3,8,8.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3141.199,2925.675
$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,286.2,20000,-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,-194.6,71,2013,588,584,0.0,0.0,0,123,0.00,0.00,-98.80,0.000,16386,0.000,0.000,72,2014,3313,3333,3293,0,0,0,0,0,0,14.90,28.83,14.91
$GC,126,-0.82,-194.6,71,2014,3333,3292,4.2,-13.1,18,151,13.02,2.50,-4.65,0.000,18692,0.310,0.088,2216,3412,3607,3674,3541,0,0,0,0,0,0,14.25,13.57,14.62
$GC,209,-0.82,-194.6,2215,3412,3676,3541,27.0,-15.9,33,215,0.00,2.38,0.00,0.000,3078,0.000,0.042,2216,2009,3609,3677,3541,0,0,0,0,0,0,14.60,14.54,14.62
$GC,278,-0.82,-194.6,2215,2009,3677,3541,38.0,-16.0,46,284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2008,3609,3677,3541,0,0,0,0,0,0,14.97,14.98,14.98
$GC,346,-0.82,-194.6,2215,2008,3677,3541,46.3,-11.2,59,352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2009,3609,3677,3541,0,0,0,0,0,0,14.98,14.98,14.98
$GC,414,-0.82,-194.6,2215,2009,3677,3541,53.2,-9.6,72,421,0.00,2.53,0.00,0.000,2308,0.000,0.076,2211,3409,3609,3677,3541,0,0,0,0,0,0,15.00,14.47,15.00
$GC,463,-0.82,-194.6,2210,3409,3677,3541,58.4,-10.3,81,471,0.05,2.35,0.00,0.000,3078,0.330,0.041,2221,2013,3609,3678,3541,0,0,0,0,0,0,14.48,14.71,14.69
$GC,534,-0.82,-194.6,2221,2014,3678,3541,65.8,-10.5,94,541,0.00,2.50,0.00,0.000,2308,0.000,0.075,2221,3409,3609,3678,3540,0,0,0,0,0,0,15.01,14.45,15.01
$GC,583,-0.82,-194.6,2221,3409,3678,3540,71.4,-11.4,103,590,0.00,2.35,0.00,0.000,3078,0.000,0.041,2221,2010,3609,3678,3541,0,0,0,0,0,0,14.84,14.72,14.85
$GC,653,-0.82,-194.6,2221,2010,3679,3540,79.8,-11.7,116,664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2010,3609,3678,3541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,727,-0.82,-194.6,2220,2011,3678,3541,87.6,-10.7,129,734,0.00,2.50,0.00,0.000,2308,0.000,0.075,2221,3409,3609,3678,3540,0,0,0,0,0,0,15.01,14.64,15.01
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,778,-0.19,0.0,2221,1946,3678,3541,92.3,-10.6,137,927,1.02,0.00,144.32,0.980,10246,0.164,0.000,2421,1943,2813,2862,2765,0,0,0,0,0,0,14.45,14.39,13.76
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,931,0.82,194.6,2421,1943,2861,2765,99.5,0.0,164,1088,1.52,2.50,148.15,0.972,10756,0.109,0.076,2735,570,2016,2063,1970,0,0,0,0,0,0,14.37,14.31,13.72
$GC,1165,0.91,267.2,2735,570,2056,1969,87.2,7.5,206,1235,0.12,2.33,57.62,0.949,11270,0.122,0.041,2791,1968,1720,1772,1669,0,0,0,0,0,0,14.57,14.57,13.77
$GC,1297,0.91,267.2,2791,1968,1768,1668,74.5,10.2,230,1304,0.00,2.47,0.00,0.000,4356,0.000,0.068,2791,3362,1717,1767,1668,0,0,0,0,0,0,14.80,14.47,14.81
$GC,1367,0.91,267.2,2790,3363,1766,1667,67.2,10.6,243,1374,0.00,2.38,0.00,0.000,5126,0.000,0.044,2792,1962,1717,1767,1667,0,0,0,0,0,0,14.69,14.58,14.71
$GC,1438,0.92,279.6,2791,1961,1766,1667,60.2,9.5,256,1455,0.00,0.00,10.93,0.859,12294,0.000,0.000,2791,1961,1671,1722,1620,0,0,0,0,0,0,14.92,14.33,13.85
$GC,1517,0.92,279.6,2791,1962,1720,1619,52.1,10.4,271,1523,0.00,0.00,0.00,0.000,4102,0.000,0.000,2792,1962,1669,1720,1619,0,0,0,0,0,0,14.93,14.94,14.94
$GC,1585,0.92,279.6,2792,1961,1718,1619,45.2,10.1,284,1592,0.00,2.47,0.00,0.000,4356,0.000,0.067,2791,3366,1668,1718,1619,0,0,0,0,0,0,14.96,14.65,14.96
$GC,1614,0.95,298.8,2792,3366,1718,1619,42.2,9.3,289,1638,0.00,2.35,17.00,0.889,9222,0.000,0.045,2792,1966,1593,1647,1539,0,0,0,0,0,0,14.81,14.71,13.89
$GC,1701,0.95,300.5,2792,1965,1643,1538,33.8,9.9,305,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1966,1590,1642,1538,0,0,0,0,0,0,14.94,14.93,14.95
$GC,1770,1.05,381.3,2792,1965,1643,1537,29.0,7.2,318,1832,0.05,0.00,58.12,0.907,10502,0.255,0.000,2832,1966,1258,1320,1197,0,0,0,0,0,0,14.62,14.45,13.85
$GC,1896,1.07,396.2,2832,1965,1321,1198,18.7,9.4,341,1915,0.00,2.50,9.02,0.760,8708,0.000,0.079,2833,560,1196,1257,1135,0,0,0,0,0,0,14.85,14.42,13.88
$GC,1932,1.13,450.3,2832,560,1259,1135,15.7,8.1,347,1973,0.00,2.35,32.58,0.812,11270,0.000,0.040,2832,1975,976,1033,919,0,0,0,0,0,0,14.68,14.58,13.91
$GC,2035,1.24,541.4,2832,1975,1033,916,8.8,6.8,366,2097,0.12,2.45,54.80,0.754,10500,0.126,0.068,2893,3366,602,556,649,0,0,0,0,0,0,14.56,14.32,13.90
$STATE,2104,end climb,SURFACE_DEPTH_REACHED
$STATE,2104,begin surface coast
$FINISH,-0.1,1.024003
$STATE,2135,end surface coast,CONTROL_FINISHED_OK
$STATE,2135,begin surface
$SM_CCo,2220,0.00,0.000,0,0,595,543.82
$SM_GC,0.71,12.95,2.33,0.00,0.054,0.044,0.000,144,2007,595,-7.26,1.16,543.82,0,0,0,0,0,0,14.67,14.61,14.72
$IRIDIUM_FIX,-3125.29,2939.67,180419,205238
$TT8_MAMPS,0.019474,0.701813
$HUMID,55.71
$INTERNAL_PRESSURE,9.12109
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,80.3,26.8
$SC_FREEKB,3784064
$24V_AH,13.57,156.194
$10V_AH,13.10,0.000
$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,28.875,43.725,532.550,0.000,0.000,25.110,15.532,463.256,0.750,0.000,19.818,698.268,342.514,572.206,1239.855,171.989,0.000,1002.678,0.000,582.896,0.000,7.126,0.000
$DEVICE_MAMPS,330.480,87.975,979.965,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.818,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13463,384
$CAP_FILE_SIZE,79870,0
$CFSIZE,1023623168,984154112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,003758,-3139.590,2937.576,17,0.9,18,-26.2,0.8,139.5,10,9.7