version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 293
start: 4 21 119 4 13 18
data:
$ID,573
$MISSION,30
$DIVE,293
$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,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
$GPS1,210419,040238,-3234.1272,2847.9324,19,1.0,22,-27.0,1.1,210.8,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-60.5
$GPS2,210419,041253,-3234.4392,2847.5117,17,1.0,18,-27.0,3.0,218.0,10,8.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3236.314,2834.887
$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,287.0,20000,-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,-194.6,72,1969,602,577,0.0,0.0,0,117,0.00,0.00,-93.12,0.000,16386,0.000,0.000,72,1969,3131,3133,3129,0,0,0,0,0,0,14.99,28.83,15.00
$GC,122,-0.82,-194.6,72,1970,3134,3129,3.0,-6.9,17,151,12.85,2.33,-8.23,0.000,18948,0.311,0.088,2217,608,3609,3677,3541,0,0,0,0,0,0,14.33,12.94,14.70
$GC,168,-0.82,-194.6,2217,607,3678,3541,19.0,-27.1,25,175,0.00,2.33,0.00,0.000,3078,0.000,0.047,2216,2008,3609,3678,3541,0,0,0,0,0,0,14.86,14.75,14.88
$GC,239,-0.82,-194.6,2215,2008,3678,3544,32.8,-19.0,38,245,0.00,2.42,0.00,0.000,2308,0.000,0.075,2211,3409,3609,3678,3541,0,0,0,0,0,0,15.03,14.57,15.04
$GC,302,-0.82,-194.6,2210,3409,3679,3541,44.5,-17.4,50,310,0.05,2.35,0.00,0.000,3078,0.332,0.042,2221,2005,3610,3679,3541,0,0,0,0,0,0,14.56,14.78,14.78
$GC,373,-0.82,-194.6,2221,2005,3679,3541,56.0,-12.8,63,380,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3411,3610,3679,3541,0,0,0,0,0,0,15.05,14.71,15.06
$GC,579,-0.82,-194.6,2217,3411,3679,3541,80.4,-11.8,103,586,0.00,2.33,0.00,0.000,3078,0.000,0.039,2217,2008,3610,3680,3541,0,0,0,0,0,0,14.79,14.69,14.80
$GC,650,-0.82,-194.6,2217,2008,3680,3541,89.1,-11.8,116,656,0.00,2.47,0.00,0.000,2308,0.000,0.074,2217,3410,3610,3680,3541,0,0,0,0,0,0,15.09,14.62,15.08
$GC,699,-0.82,-194.6,2217,3410,3680,3541,94.7,-10.5,125,705,0.00,2.33,0.00,0.000,3078,0.000,0.039,2217,2005,3611,3681,3541,0,0,0,0,0,0,14.92,14.83,14.92
$GC,770,-0.82,-194.6,2216,2005,3681,3541,102.0,-9.4,138,776,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3411,3611,3681,3541,0,0,0,0,0,0,15.09,14.66,15.10
$GC,799,-0.82,-194.6,2216,3410,3681,3541,104.7,-10.0,143,806,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2011,3611,3681,3541,0,0,0,0,0,0,14.81,14.71,14.81
$GC,871,-0.82,-194.6,2216,2011,3682,3540,111.6,-9.0,156,876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3611,3681,3541,0,0,0,0,0,0,15.09,15.10,15.09
$GC,939,-0.82,-194.6,2217,2011,3681,3541,119.4,-11.2,169,946,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3415,3611,3681,3541,0,0,0,0,0,0,15.10,14.59,15.11
$GC,998,-0.82,-194.6,2216,3414,3681,3541,126.0,-11.3,180,1005,0.00,2.33,0.00,0.000,3078,0.000,0.038,2217,2009,3611,3682,3541,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1069,-0.82,-194.6,2216,2008,3681,3541,133.9,-11.3,193,1075,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3411,3611,3682,3541,0,0,0,0,0,0,15.10,14.64,15.10
$STATE,1086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1086,begin apogee
$GC,1094,-0.19,0.0,2217,1946,3682,3541,136.2,-11.1,196,1249,1.02,0.00,146.27,1.008,10246,0.153,0.000,2422,1945,2811,2861,2762,0,0,0,0,0,0,14.59,14.26,13.77
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1253,0.82,194.6,2422,1944,2860,2762,144.4,0.0,224,1410,1.50,2.42,147.38,1.007,10756,0.098,0.072,2737,569,2018,2064,1972,0,0,0,0,0,0,14.46,14.24,13.76
$GC,1478,0.91,269.7,2736,569,2058,1972,133.2,7.4,264,1548,0.12,2.30,59.90,0.987,11270,0.119,0.040,2794,1971,1711,1763,1659,0,0,0,0,0,0,14.54,14.54,13.81
$GC,1611,0.91,269.7,2794,1971,1759,1657,120.1,10.8,288,1617,0.00,2.42,0.00,0.000,4356,0.000,0.068,2794,3358,1707,1758,1656,0,0,0,0,0,0,14.88,14.59,14.88
$GC,1644,0.91,269.7,2794,3358,1757,1655,116.1,12.0,294,1652,0.05,2.35,0.00,0.000,5126,0.334,0.042,2787,1964,1706,1757,1655,0,0,0,0,0,0,14.45,14.62,14.65
$GC,1714,0.91,269.7,2786,1966,1757,1655,108.4,10.8,307,1720,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1966,1705,1756,1655,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1782,0.91,269.7,2787,1966,1755,1655,101.5,10.3,320,1789,0.00,2.42,0.00,0.000,4612,0.000,0.076,2787,567,1705,1755,1655,0,0,0,0,0,0,15.01,14.69,15.01
$GC,1802,0.92,280.7,2786,567,1754,1655,99.8,9.6,323,1820,0.00,2.28,9.48,0.879,9222,0.000,0.040,2787,1961,1667,1719,1616,0,0,0,0,0,0,14.87,14.79,13.92
$GC,1883,0.93,282.4,2786,1961,1717,1615,91.6,9.9,338,1889,0.00,2.40,0.00,0.000,260,0.000,0.067,2787,3366,1665,1717,1614,0,0,0,0,0,0,15.01,14.60,15.02
$GC,1927,0.93,282.4,2786,3366,1717,1614,87.2,10.6,346,1933,0.00,2.33,0.00,0.000,1030,0.000,0.043,2787,1965,1665,1716,1614,0,0,0,0,0,0,14.87,14.78,14.90
$GC,1997,0.94,294.2,2786,1966,1717,1614,80.2,9.5,359,2016,0.00,2.47,12.68,0.867,10500,0.000,0.066,2786,3362,1611,1665,1558,0,0,0,0,0,0,15.04,14.73,13.95
$GC,2043,0.94,294.2,2786,3362,1663,1557,75.2,11.8,367,2050,0.00,2.33,0.00,0.000,3078,0.000,0.042,2786,1965,1610,1663,1557,0,0,0,0,0,0,14.74,14.64,14.76
$GC,2114,0.97,317.1,2786,1964,1662,1557,69.1,9.2,380,2137,0.00,0.00,20.05,0.927,10246,0.000,0.000,2786,1964,1518,1574,1463,0,0,0,0,0,0,15.04,14.65,13.97
$GC,2200,1.01,350.7,2786,1969,1571,1462,61.4,8.8,396,2236,0.00,2.53,28.60,0.920,10500,0.000,0.066,2786,3365,1381,1440,1323,0,0,0,0,0,0,15.01,14.61,13.96
$GC,2269,1.05,383.5,2786,3365,1437,1323,55.6,8.8,408,2305,0.10,2.35,27.33,0.924,11270,0.144,0.041,2838,1964,1248,1308,1188,0,0,0,0,0,0,14.66,14.66,13.93
$GC,2369,1.08,409.5,2838,1964,1308,1188,46.2,9.1,426,2398,0.00,2.45,22.38,0.904,8452,0.000,0.067,2838,3357,1143,1204,1082,0,0,0,0,0,0,14.93,14.38,13.90
$GC,2432,1.12,441.0,2838,3357,1203,1082,40.7,8.9,437,2467,0.00,2.33,27.52,0.887,11270,0.000,0.041,2838,1963,1015,1073,957,0,0,0,0,0,0,14.78,14.68,13.90
$GC,2530,1.17,480.0,2838,1963,1072,951,32.3,8.6,455,2570,0.00,2.47,33.00,0.897,10500,0.000,0.065,2838,3366,856,905,808,0,0,0,0,0,0,14.92,14.38,13.91
$GC,2583,1.21,513.8,2840,3366,904,806,27.5,8.8,464,2618,0.10,2.35,27.50,0.875,11270,0.141,0.041,2896,1965,716,738,694,0,0,0,0,0,0,14.54,14.54,13.91
$GC,2682,1.21,513.8,2895,1965,738,682,17.8,11.6,482,2689,0.08,2.42,0.00,0.000,4612,0.243,0.074,2872,562,710,738,682,0,0,0,0,0,0,14.57,14.62,14.66
$GC,2702,1.24,536.6,2872,562,738,681,16.0,9.2,485,2726,0.00,2.33,14.43,0.774,11270,0.000,0.037,2872,1980,621,628,615,0,0,0,0,0,0,14.80,14.71,13.96
$GC,2789,1.24,536.6,2871,1980,627,605,6.8,10.8,501,2796,0.00,2.47,0.00,0.000,2564,0.000,0.075,2872,560,615,627,604,0,0,0,0,0,0,14.95,14.60,14.96
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,1.4,1.023692
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2869,2.08,0.208,0,0,599,542.59
$SM_GC,0.69,12.73,2.42,2.08,0.054,0.044,0.208,136,1998,599,-7.27,-1.47,542.59,0,0,0,0,0,0,14.82,14.76,12.87
$IRIDIUM_FIX,-3218.62,2848.87,210419,024107
$TT8_MAMPS,0.019474,0.862099
$HUMID,57.75
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,110.2,40.6
$SC_FREEKB,3768224
$24V_AH,12.87,164.948
$10V_AH,13.43,0.000
$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,28.600,81.400,576.500,2.075,0.000,25.214,21.051,317.219,1.500,0.000,19.524,981.906,401.223,649.249,1264.357,192.568,0.000,1191.917,0.000,775.416,0.000,11.834,0.000
$DEVICE_MAMPS,334.305,87.975,1008.270,208.080,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.599,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16780,511
$CAP_FILE_SIZE,103066,0
$CFSIZE,1023623168,979894272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,050213,-3235.245,2846.212,22,0.8,25,-27.0,0.9,251.6,11,9.8