version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 294
start: 4 21 119 5 11 25
data:
$ID,573
$MISSION,30
$DIVE,294
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,210419,050213,-3235.2454,2846.2117,22,0.8,25,-27.0,0.9,251.6,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-61.2
$GPS2,210419,051058,-3235.5315,2845.8623,24,0.8,28,-27.0,1.0,218.6,11,9.9
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3237.407,2833.235
$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,22,-0.82,-194.6,72,2005,605,579,0.0,0.0,0,117,0.00,0.00,-92.82,0.000,16386,0.000,0.000,72,2005,3201,3215,3188,0,0,0,0,0,0,15.03,28.83,15.03
$GC,121,-0.82,-194.6,72,2005,3215,3188,4.1,-11.2,17,146,12.70,2.45,-6.32,0.000,18948,0.303,0.084,2217,602,3608,3673,3543,0,0,0,0,0,0,14.40,13.00,14.75
$GC,163,-0.82,-194.6,2217,602,3674,3543,21.6,-31.7,24,170,0.00,2.35,0.00,0.000,3078,0.000,0.047,2215,2017,3608,3674,3543,0,0,0,0,0,0,14.89,14.77,14.90
$GC,233,-0.82,-194.6,2214,2017,3675,3543,35.5,-18.1,37,240,0.00,2.42,0.00,0.000,2308,0.000,0.075,2210,3421,3609,3676,3543,0,0,0,0,0,0,15.05,14.73,15.05
$GC,479,-0.82,-194.6,2209,3420,3677,3542,70.0,-10.8,85,486,0.05,2.33,0.00,0.000,3078,0.324,0.038,2221,2012,3609,3677,3542,0,0,0,0,0,0,14.64,14.85,14.84
$GC,551,-0.82,-194.6,2220,2013,3677,3542,77.5,-11.1,98,558,0.00,2.47,0.00,0.000,2308,0.000,0.071,2221,3422,3609,3677,3542,0,0,0,0,0,0,15.11,14.76,15.11
$GC,653,-0.82,-194.6,2220,3422,3677,3541,88.9,-9.7,117,660,0.00,2.33,0.00,0.000,3078,0.000,0.037,2221,2011,3609,3677,3542,0,0,0,0,0,0,14.97,14.87,14.98
$GC,722,-0.82,-194.6,2220,2011,3678,3541,95.2,-10.1,130,728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3609,3677,3542,0,0,0,0,0,0,15.11,15.12,15.12
$GC,791,-0.82,-194.6,2220,2011,3678,3542,102.3,-9.9,143,797,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2011,3610,3678,3542,0,0,0,0,0,0,15.12,15.12,15.11
$GC,859,-0.82,-194.6,2220,2010,3677,3542,109.2,-9.8,156,866,0.00,2.45,0.00,0.000,2308,0.000,0.070,2221,3412,3610,3678,3542,0,0,0,0,0,0,15.12,14.64,15.13
$STATE,872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,872,begin apogee
$GC,879,-0.19,0.0,2220,1963,3678,3542,110.8,-10.2,158,1029,1.00,0.00,144.62,0.967,10246,0.153,0.000,2422,1961,2812,2861,2763,0,0,0,0,0,0,14.63,14.42,13.81
$STATE,1031,end apogee,CONTROL_FINISHED_OK
$STATE,1031,begin climb
$GC,1033,0.82,194.6,2422,1961,2860,2763,117.8,0.0,185,1190,1.50,2.47,147.05,0.962,10756,0.098,0.072,2737,556,2017,2062,1972,0,0,0,0,0,0,14.48,14.27,13.81
$GC,1238,0.89,252.6,2737,555,2058,1972,106.6,8.0,221,1290,0.08,2.33,45.70,0.939,11270,0.178,0.040,2784,1972,1782,1831,1734,0,0,0,0,0,0,14.50,14.56,13.85
$GC,1353,0.89,252.6,2783,1972,1826,1732,95.3,10.3,242,1360,0.00,2.42,0.00,0.000,4356,0.000,0.067,2784,3361,1779,1826,1732,0,0,0,0,0,0,14.90,14.52,14.90
$GC,1382,0.89,252.6,2783,3361,1825,1732,92.2,10.6,247,1389,0.00,2.35,0.00,0.000,5126,0.000,0.042,2784,1951,1778,1824,1732,0,0,0,0,0,0,14.81,14.70,14.81
$GC,1453,0.90,260.6,2784,1950,1825,1732,85.5,9.7,260,1467,0.00,2.45,7.60,0.806,12804,0.000,0.074,2784,558,1748,1796,1700,0,0,0,0,0,0,14.99,14.62,13.89
$GC,1511,0.94,290.6,2784,558,1795,1700,79.9,8.9,270,1546,0.00,2.30,25.42,0.911,11270,0.000,0.040,2784,1962,1630,1688,1572,0,0,0,0,0,0,14.87,14.78,13.97
$GC,1609,0.99,331.7,2784,1968,1676,1570,71.4,8.5,288,1649,0.00,2.47,34.12,0.915,10500,0.000,0.067,2783,3364,1458,1514,1403,0,0,0,0,0,0,14.97,14.53,13.95
$GC,1687,0.99,331.7,2784,3365,1512,1403,64.6,10.3,302,1694,0.00,2.35,0.00,0.000,3078,0.000,0.041,2784,1956,1457,1513,1402,0,0,0,0,0,0,14.80,14.69,14.81
$GC,1758,1.02,360.1,2784,1956,1510,1402,58.2,9.0,315,1788,0.05,2.50,23.88,0.894,10500,0.252,0.066,2830,3360,1343,1401,1285,0,0,0,0,0,0,14.69,14.65,13.97
$GC,1812,1.04,371.6,2826,3360,1399,1284,52.7,9.6,324,1830,0.00,2.33,10.73,0.839,13318,0.000,0.041,2828,1963,1295,1355,1236,0,0,0,0,0,0,14.81,14.71,13.90
$GC,1893,1.09,414.0,2827,1963,1354,1235,45.5,8.5,339,1933,0.00,2.50,34.83,0.884,10500,0.000,0.064,2828,3366,1123,1183,1064,0,0,0,0,0,0,14.97,14.54,13.97
$GC,1958,1.13,449.8,2827,3366,1184,1064,40.3,8.7,350,1998,0.00,2.35,30.77,0.887,11270,0.000,0.041,2827,1958,977,1034,921,0,0,0,0,0,0,14.66,14.57,13.92
$GC,2061,1.20,508.5,2827,1958,1034,917,32.3,7.9,369,2117,0.10,0.00,49.70,0.882,10758,0.145,0.000,2868,1958,738,769,707,0,0,0,0,0,0,14.61,14.56,13.88
$GC,2179,1.23,526.9,2868,1958,769,696,21.5,9.3,391,2198,0.00,0.00,11.60,0.775,10246,0.000,0.000,2868,1959,662,682,643,0,0,0,0,0,0,14.92,14.35,13.90
$GC,2261,1.23,526.9,2868,1958,683,633,13.7,10.9,406,2267,0.00,2.42,0.00,0.000,2564,0.000,0.072,2868,556,658,683,633,0,0,0,0,0,0,14.97,14.68,14.97
$GC,2365,1.25,548.6,2867,555,684,628,4.8,9.2,426,2384,0.00,2.30,8.68,0.645,11270,0.000,0.032,2868,1990,597,610,585,0,0,0,0,0,0,14.90,14.83,14.02
$STATE,2389,end climb,SURFACE_DEPTH_REACHED
$STATE,2389,begin surface coast
$FINISH,0.1,1.023727
$STATE,2416,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2498,0.00,0.000,0,0,592,544.56
$SM_GC,0.72,12.60,0.00,0.00,0.046,0.000,0.000,142,1992,592,-7.26,-0.59,544.56,0,0,0,0,0,0,14.80,15.05,14.88
$IRIDIUM_FIX,-3221.17,2850.10,210419,040628
$TT8_MAMPS,0.018725,0.890561
$HUMID,56.22
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,80.3,44.0
$SC_FREEKB,3767712
$24V_AH,13.00,165.161
$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,28.075,52.775,574.700,0.000,0.000,23.577,42.100,234.343,0.750,0.000,29.130,805.455,387.021,600.643,1075.969,161.472,0.000,1071.136,0.000,665.655,0.000,7.181,0.000
$DEVICE_MAMPS,323.595,84.150,966.960,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2470.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.728,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13448,435
$CAP_FILE_SIZE,83352,0
$CFSIZE,1023623168,979828736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,055401,-3236.287,2844.683,19,0.9,22,-27.0,2.2,240.3,9,9.4