version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 281
start: 4 20 119 12 32 33
data:
$ID,573
$MISSION,30
$DIVE,281
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,200419,122333,-3212.3926,2908.9211,24,1.0,64,-26.7,1.2,252.4,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-60.8
$GPS2,200419,123207,-3212.6182,2908.5051,15,1.0,55,-26.7,2.0,247.3,7,3.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3214.493,2855.931
$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,286.7,20000,-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,22,-0.82,-194.6,72,1974,572,586,0.0,0.0,0,117,0.00,0.00,-92.97,0.000,16386,0.000,0.000,71,1974,3107,3098,3116,0,0,0,0,0,0,15.02,28.83,15.02
$GC,121,-0.82,-194.6,72,1974,3102,3114,3.0,-7.6,17,151,12.77,2.30,-8.48,0.000,18948,0.309,0.085,2218,604,3608,3676,3541,0,0,0,0,0,0,14.38,12.93,14.72
$GC,214,-0.82,-194.6,2218,604,3678,3540,27.5,-20.4,34,221,0.00,2.33,0.00,0.000,3078,0.000,0.049,2217,2004,3609,3678,3540,0,0,0,0,0,0,14.71,14.60,14.73
$GC,285,-0.82,-194.6,2216,2005,3678,3540,39.8,-14.3,47,291,0.00,2.45,0.00,0.000,2308,0.000,0.074,2215,3415,3609,3678,3540,0,0,0,0,0,0,15.05,14.58,15.05
$GC,464,-0.82,-194.6,2215,3415,3678,3540,60.9,-12.6,82,471,0.00,2.33,0.00,0.000,3078,0.000,0.039,2215,2005,3609,3678,3540,0,0,0,0,0,0,14.78,14.69,14.78
$GC,533,-0.82,-194.6,2215,2005,3678,3541,68.9,-12.2,95,540,0.00,2.47,0.00,0.000,2308,0.000,0.071,2214,3419,3609,3678,3541,0,0,0,0,0,0,15.09,14.73,15.09
$GC,566,-0.82,-194.6,2214,3419,3678,3540,73.1,-13.4,101,573,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2000,3609,3678,3540,0,0,0,0,0,0,14.92,14.80,14.93
$GC,639,-0.82,-194.6,2214,2000,3679,3540,82.9,-13.5,114,646,0.00,2.38,0.00,0.000,2564,0.000,0.070,2214,611,3609,3679,3540,0,0,0,0,0,0,15.08,14.60,15.09
$GC,664,-0.82,-194.6,2214,611,3679,3540,85.8,-12.0,118,670,0.00,2.33,0.00,0.000,3078,0.000,0.046,2213,2026,3609,3679,3540,0,0,0,0,0,0,14.92,14.81,14.94
$GC,734,-0.82,-194.6,2213,2026,3679,3540,94.2,-12.7,131,740,0.00,2.40,0.00,0.000,2308,0.000,0.075,2211,3417,3609,3679,3540,0,0,0,0,0,0,15.09,14.62,15.09
$STATE,812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,812,begin apogee
$GC,820,-0.19,0.0,2211,1969,3679,3540,103.5,-10.7,146,970,1.05,0.00,144.18,0.972,10246,0.151,0.000,2423,1967,2812,2860,2764,0,0,0,0,0,0,14.48,14.40,13.78
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,974,0.82,194.6,2422,1967,2859,2763,110.9,0.0,173,1131,1.48,2.47,146.98,0.964,10756,0.096,0.072,2736,554,2016,2061,1972,0,0,0,0,0,0,14.45,14.24,13.78
$GC,1169,0.91,268.4,2735,554,2057,1972,100.6,7.4,207,1239,0.12,2.35,58.53,0.945,11270,0.120,0.039,2792,1976,1716,1767,1666,0,0,0,0,0,0,14.52,14.50,13.78
$GC,1302,0.92,280.8,2793,1975,1763,1662,88.7,9.5,231,1320,0.00,2.40,10.90,0.858,12548,0.000,0.066,2793,3362,1666,1717,1615,0,0,0,0,0,0,14.85,14.34,13.84
$GC,1333,0.95,303.4,2793,3362,1716,1614,86.0,9.2,236,1361,0.00,2.35,19.85,0.905,9222,0.000,0.042,2797,1958,1573,1627,1519,0,0,0,0,0,0,14.72,14.63,13.85
$GC,1424,0.95,303.4,2796,1958,1624,1523,75.7,11.7,253,1431,0.00,2.40,0.00,0.000,516,0.000,0.075,2797,563,1571,1624,1518,0,0,0,0,0,0,14.90,14.52,14.90
$GC,1448,0.95,303.4,2796,563,1623,1517,73.1,10.4,257,1455,0.00,2.30,0.00,0.000,1030,0.000,0.038,2797,1971,1570,1623,1518,0,0,0,0,0,0,14.82,14.71,14.81
$GC,1519,0.95,303.4,2799,1971,1621,1517,66.4,10.7,270,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1971,1569,1622,1517,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1587,0.95,303.4,2796,1971,1620,1517,59.0,10.4,283,1594,0.00,2.40,0.00,0.000,260,0.000,0.067,2797,3357,1569,1621,1517,0,0,0,0,0,0,15.01,14.71,15.02
$GC,1606,0.95,303.4,2795,3358,1621,1516,56.5,12.7,286,1613,0.00,2.33,0.00,0.000,1030,0.000,0.043,2797,1963,1568,1621,1516,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1676,0.95,303.4,2797,1963,1621,1516,49.4,10.1,299,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1963,1568,1621,1516,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1744,1.02,359.3,2796,1963,1619,1516,43.3,8.0,312,1796,0.00,2.50,45.62,0.913,10500,0.000,0.066,2797,3359,1346,1404,1289,0,0,0,0,0,0,15.05,14.57,13.97
$GC,1824,1.11,430.1,2797,3358,1402,1288,37.2,7.5,326,1893,0.12,2.35,57.65,0.903,11270,0.120,0.043,2853,1955,1059,1117,1001,0,0,0,0,0,0,14.59,14.57,13.85
$GC,1956,1.19,493.6,2852,1955,1117,998,26.1,7.8,350,2008,0.00,2.47,43.78,0.870,10500,0.000,0.067,2853,3357,798,837,759,0,0,0,0,0,0,14.89,14.30,13.87
$GC,2016,1.23,527.0,2852,3356,837,758,21.1,8.8,360,2047,0.00,2.35,22.60,0.821,11270,0.000,0.040,2853,1961,661,665,657,0,0,0,0,0,0,14.69,14.58,13.88
$GC,2109,1.23,530.3,2852,1961,666,644,13.7,9.8,377,2116,0.05,2.42,0.00,0.000,2564,0.252,0.071,2884,558,655,666,644,0,0,0,0,0,0,14.60,14.51,14.69
$GC,2153,1.23,530.3,2884,558,666,641,8.8,11.9,385,2160,0.00,2.30,0.00,0.000,1030,0.000,0.037,2884,1975,653,666,641,0,0,0,0,0,0,14.80,14.72,14.81
$STATE,2210,end climb,SURFACE_DEPTH_REACHED
$STATE,2210,begin surface coast
$FINISH,0.1,1.023694
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2263,7.57,0.611,0,0,599,542.59
$SM_GC,0.59,12.65,0.00,7.57,0.042,0.000,0.611,136,1977,599,-7.27,-1.05,542.59,0,0,0,0,0,0,14.83,15.02,14.01
$IRIDIUM_FIX,-3158.24,2912.18,200419,112524
$TT8_MAMPS,0.019474,0.911533
$HUMID,54.92
$INTERNAL_PRESSURE,9.19921
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,80.5,37.4
$SC_FREEKB,3774400
$24V_AH,12.93,161.868
$10V_AH,13.39,0.000
$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,28.250,57.150,550.075,7.575,0.000,22.239,17.091,227.137,0.750,0.000,56.077,734.204,295.380,599.054,1016.833,152.082,0.000,1048.055,0.000,608.740,0.000,7.165,0.000
$DEVICE_MAMPS,309.060,84.915,972.315,611.235,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2294.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.407,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13488,402
$CAP_FILE_SIZE,79230,0
$CFSIZE,1023623168,981450752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,131201,-3213.358,2907.443,18,1.2,58,-26.7,2.6,227.6,7,3.1