version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 296
start: 4 21 119 6 47 0
data:
$ID,573
$MISSION,30
$DIVE,296
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,210419,063854,-3237.5405,2843.5110,21,0.9,23,-27.0,1.0,220.6,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-61.3
$GPS2,210419,064635,-3237.8008,2843.2378,23,0.9,25,-27.0,1.1,213.3,9,8.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3248.600,2843.238
$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,207.0,20000,-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,-194.6,72,1968,572,580,0.0,0.0,0,117,0.00,0.00,-93.00,0.000,16386,0.000,0.000,72,1968,3212,3222,3202,0,0,0,0,0,0,15.07,28.83,15.07
$GC,121,-0.82,-194.6,72,1969,3223,3202,4.1,-10.8,17,146,12.68,2.53,-6.20,0.000,18692,0.306,0.086,2205,3406,3609,3673,3546,0,0,0,0,0,0,14.42,13.13,14.63
$GC,248,-0.82,-194.6,2205,3406,3676,3546,38.2,-17.9,41,256,0.08,2.33,0.00,0.000,3078,0.267,0.041,2221,2003,3610,3676,3545,0,0,0,0,0,0,14.67,14.85,14.86
$GC,319,-0.82,-194.6,2221,2002,3677,3545,48.9,-13.4,54,326,0.00,2.38,0.00,0.000,2564,0.000,0.067,2222,605,3611,3677,3545,0,0,0,0,0,0,15.11,14.69,15.11
$GC,434,-0.82,-194.6,2221,605,3677,3545,63.9,-12.1,76,441,0.00,2.30,0.00,0.000,3078,0.000,0.045,2221,2016,3611,3677,3545,0,0,0,0,0,0,14.87,14.79,14.88
$GC,505,-0.82,-194.6,2221,2016,3677,3545,72.2,-11.8,89,510,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2016,3611,3678,3545,0,0,0,0,0,0,15.13,15.14,15.14
$GC,574,-0.82,-194.6,2221,2016,3677,3545,80.1,-9.9,102,580,0.00,2.38,0.00,0.000,2308,0.000,0.073,2221,3409,3611,3677,3545,0,0,0,0,0,0,15.14,14.70,15.14
$GC,645,-0.82,-194.6,2221,3409,3677,3545,86.6,-9.2,115,651,0.00,2.30,0.00,0.000,3078,0.000,0.037,2221,2006,3612,3679,3545,0,0,0,0,0,0,14.88,14.78,14.88
$GC,718,-0.82,-194.6,2221,2007,3677,3545,93.7,-10.5,128,724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2007,3611,3678,3545,0,0,0,0,0,0,15.14,15.14,15.14
$GC,787,-0.82,-194.6,2221,2007,3677,3545,100.1,-9.3,141,793,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2007,3611,3678,3545,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,853,begin apogee
$GC,860,-0.19,0.0,2221,2007,3677,3545,106.7,-10.5,154,1010,1.00,0.00,143.07,0.957,10246,0.148,0.000,2424,2005,2811,2861,2762,0,0,0,0,0,0,14.69,14.52,13.88
$STATE,1012,end apogee,CONTROL_FINISHED_OK
$STATE,1012,begin climb
$GC,1014,0.82,194.6,2425,2005,2860,2763,113.7,0.0,181,1171,1.48,2.50,145.23,0.957,10756,0.093,0.070,2742,563,2017,2062,1972,0,0,0,0,0,0,14.52,14.45,13.81
$GC,1219,0.91,272.3,2742,562,2057,1971,103.8,7.3,217,1289,0.10,2.33,60.42,0.941,11270,0.138,0.039,2796,1973,1701,1753,1650,0,0,0,0,0,0,14.57,14.59,13.88
$GC,1352,0.91,272.3,2796,1971,1749,1647,90.7,10.4,241,1357,0.00,0.00,0.00,0.000,4102,0.000,0.000,2796,1973,1698,1749,1647,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1420,0.91,272.3,2796,1973,1747,1646,83.6,10.6,254,1426,0.00,2.45,0.00,0.000,4612,0.000,0.071,2797,565,1696,1746,1646,0,0,0,0,0,0,14.99,14.62,14.99
$GC,1449,0.93,288.5,2796,560,1745,1646,80.9,9.4,259,1473,0.00,2.28,13.85,0.878,13318,0.000,0.039,2797,1963,1634,1686,1582,0,0,0,0,0,0,14.80,14.73,13.97
$GC,1535,0.95,304.8,2796,1962,1684,1580,72.8,9.4,275,1559,0.00,2.42,13.85,0.868,8452,0.000,0.067,2797,3361,1570,1624,1516,0,0,0,0,0,0,15.01,14.62,14.00
$GC,1603,0.95,304.8,2797,3360,1621,1516,65.9,10.8,287,1609,0.00,2.33,0.00,0.000,1030,0.000,0.041,2797,1953,1568,1621,1516,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1674,1.00,341.0,2797,1953,1621,1515,59.6,8.7,300,1708,0.00,0.00,30.48,0.900,10758,0.000,0.000,2797,1953,1421,1478,1364,0,0,0,0,0,0,15.04,14.66,14.03
$GC,1771,1.06,390.9,2797,1953,1475,1362,51.3,8.2,318,1818,0.05,2.45,40.17,0.890,10756,0.253,0.073,2844,563,1218,1278,1158,0,0,0,0,0,0,14.64,14.59,13.95
$GC,1851,1.10,421.2,2844,563,1278,1158,43.9,8.9,332,1886,0.00,2.30,25.85,0.881,13318,0.000,0.038,2845,1966,1094,1154,1035,0,0,0,0,0,0,14.81,14.71,13.97
$GC,1948,1.14,455.2,2844,1966,1153,1031,35.9,8.8,350,1983,0.00,2.42,28.48,0.874,10756,0.000,0.070,2845,565,956,1010,902,0,0,0,0,0,0,14.97,14.40,13.95
$GC,2008,1.15,466.0,2845,564,1010,899,30.1,9.6,360,2026,0.00,2.30,10.35,0.809,11270,0.000,0.037,2844,1977,911,964,859,0,0,0,0,0,0,14.81,14.73,13.98
$GC,2089,1.21,512.2,2844,1977,964,850,23.0,8.4,375,2125,0.05,2.38,30.48,0.830,10500,0.253,0.067,2879,3352,721,743,700,0,0,0,0,0,0,14.69,14.58,14.03
$GC,2213,1.21,512.2,2879,3352,743,685,10.1,11.0,398,2220,0.00,2.30,0.00,0.000,5126,0.000,0.042,2880,1964,714,743,685,0,0,0,0,0,0,14.87,14.76,14.88
$GC,2283,1.21,512.2,2879,1964,743,682,4.5,11.3,411,2290,0.00,2.40,0.00,0.000,4612,0.000,0.078,2880,566,712,743,682,0,0,0,0,0,0,15.03,14.74,15.03
$STATE,2295,end climb,SURFACE_DEPTH_REACHED
$STATE,2295,begin surface coast
$FINISH,0.3,1.023689
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2345,16.48,0.661,0,0,599,542.59
$SM_GC,0.72,12.62,2.40,16.48,0.049,0.039,0.661,144,2008,599,-7.26,-1.19,542.59,0,0,0,0,0,0,14.87,14.85,14.12
$IRIDIUM_FIX,-3223.72,2844.39,210419,055700
$TT8_MAMPS,0.019474,0.77147
$HUMID,56.18
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,90.3,30.9
$SC_FREEKB,3766688
$24V_AH,13.13,165.560
$10V_AH,13.58,0.000
$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,28.050,47.450,542.225,16.475,0.000,25.709,18.726,204.098,1.000,0.000,25.660,776.108,318.182,593.496,996.662,152.914,0.000,1047.194,0.000,635.851,0.000,8.709,0.000
$DEVICE_MAMPS,306.000,86.445,957.015,660.960,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2363.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.147,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13439,418
$CAP_FILE_SIZE,79456,0
$CFSIZE,1023623168,979648512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,072718,-3238.872,2842.315,14,0.9,17,-27.0,1.0,213.6,9,8.4