version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 297
start: 4 21 119 7 35 31
data:
$ID,573
$MISSION,30
$DIVE,297
$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,39
$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
$GPS1,210419,072718,-3238.8718,2842.3149,14,0.9,17,-27.0,1.0,213.6,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-60.8
$GPS2,210419,073506,-3239.1318,2842.0525,17,0.9,19,-27.1,1.4,244.7,9,9.2
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3249.931,2842.052
$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,207.1,20000,-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,-194.6,72,2021,598,571,0.0,0.0,0,117,0.00,0.00,-92.95,0.000,16386,0.000,0.000,72,2021,3195,3207,3184,0,0,0,0,0,0,15.07,28.83,15.07
$GC,121,-0.82,-194.6,72,2021,3207,3184,3.9,-10.3,17,146,12.62,2.45,-6.47,0.000,18692,0.302,0.092,2208,3413,3609,3674,3545,0,0,0,0,0,0,14.43,13.11,14.63
$GC,254,-0.82,-194.6,2207,3416,3677,3545,38.1,-16.6,42,262,0.08,2.33,0.00,0.000,3078,0.269,0.039,2221,2008,3611,3678,3544,0,0,0,0,0,0,14.55,14.72,14.73
$GC,326,-0.82,-194.6,2223,2008,3678,3544,47.6,-12.7,55,332,0.00,2.38,0.00,0.000,2564,0.000,0.067,2224,614,3611,3678,3544,0,0,0,0,0,0,15.11,14.76,15.11
$GC,449,-0.82,-194.6,2223,613,3678,3544,63.0,-11.6,79,456,0.00,2.30,0.00,0.000,3078,0.000,0.044,2223,2021,3611,3678,3544,0,0,0,0,0,0,14.85,14.74,14.87
$GC,520,-0.82,-194.6,2222,2021,3678,3551,70.9,-11.2,92,526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2021,3611,3678,3544,0,0,0,0,0,0,15.14,15.14,15.14
$GC,588,-0.82,-194.6,2223,2021,3678,3544,78.9,-11.2,105,594,0.00,2.38,0.00,0.000,2308,0.000,0.075,2223,3411,3611,3678,3544,0,0,0,0,0,0,15.16,14.82,15.16
$GC,674,-0.82,-194.6,2223,3411,3678,3544,87.9,-9.7,121,681,0.00,2.30,0.00,0.000,3078,0.000,0.037,2223,2008,3610,3678,3543,0,0,0,0,0,0,14.86,14.79,14.90
$GC,744,-0.82,-194.6,2223,2008,3678,3544,95.2,-10.2,134,751,0.00,2.35,0.00,0.000,2564,0.000,0.066,2223,614,3610,3678,3543,0,0,0,0,0,0,15.15,14.73,15.16
$GC,783,-0.82,-194.6,2223,613,3678,3541,99.8,-11.5,141,790,0.00,2.28,0.00,0.000,3078,0.000,0.044,2223,2016,3610,3678,3543,0,0,0,0,0,0,15.00,14.90,15.02
$GC,854,-0.82,-194.6,2223,2015,3678,3543,107.3,-10.8,154,859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2015,3611,3678,3544,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,920,begin apogee
$GC,928,-0.19,0.0,2223,1937,3678,3543,113.8,-9.3,167,1078,0.98,0.00,144.07,0.968,10246,0.151,0.000,2421,1935,2811,2860,2762,0,0,0,0,0,0,14.69,14.50,13.85
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1082,0.82,194.6,2421,1934,2859,2762,121.6,0.0,194,1239,1.50,2.33,145.62,0.967,10756,0.100,0.070,2740,580,2015,2061,1970,0,0,0,0,0,0,14.52,14.48,13.83
$GC,1327,0.86,228.9,2739,581,2055,1969,106.9,8.8,238,1362,0.00,2.28,27.27,0.926,11270,0.000,0.041,2740,1975,1876,1923,1830,0,0,0,0,0,0,14.72,14.64,13.94
$GC,1426,0.92,275.5,2742,1975,1919,1828,98.7,8.3,256,1471,0.08,0.00,37.53,0.934,10246,0.181,0.000,2794,1976,1689,1743,1636,0,0,0,0,0,0,14.66,14.59,13.96
$GC,1534,0.92,275.5,2793,1976,1734,1632,87.4,10.8,276,1540,0.00,2.40,0.00,0.000,4612,0.000,0.071,2797,589,1683,1734,1632,0,0,0,0,0,0,14.96,14.64,15.00
$GC,1573,0.92,275.5,2797,590,1732,1632,83.1,11.0,283,1579,0.00,2.25,0.00,0.000,5126,0.000,0.039,2797,1971,1682,1732,1633,0,0,0,0,0,0,14.76,14.67,14.77
$GC,1643,0.92,275.5,2796,1971,1732,1632,75.9,10.7,296,1650,0.00,2.40,0.00,0.000,4356,0.000,0.067,2797,3363,1681,1731,1632,0,0,0,0,0,0,15.05,14.66,15.09
$GC,1687,0.92,275.5,2796,3363,1731,1631,70.8,11.3,304,1694,0.00,2.28,0.00,0.000,5126,0.000,0.041,2797,1980,1681,1731,1631,0,0,0,0,0,0,14.93,14.83,14.94
$GC,1758,0.93,284.4,2796,1980,1731,1631,64.0,9.6,317,1771,0.00,2.47,7.70,0.815,12804,0.000,0.073,2792,556,1652,1703,1601,0,0,0,0,0,0,15.09,14.73,13.99
$GC,1815,0.95,303.6,2797,555,1702,1601,58.4,9.3,327,1839,0.00,2.30,17.23,0.862,9222,0.000,0.040,2797,1972,1573,1628,1518,0,0,0,0,0,0,14.94,14.86,14.00
$GC,1903,1.00,338.5,2796,1973,1624,1516,50.9,8.8,343,1938,0.00,2.42,29.20,0.907,10500,0.000,0.068,2797,3358,1430,1487,1374,0,0,0,0,0,0,15.05,14.62,14.02
$GC,1957,1.04,376.5,2797,3358,1485,1373,46.5,8.6,352,1997,0.00,2.30,30.95,0.885,11270,0.000,0.041,2797,1961,1277,1338,1217,0,0,0,0,0,0,14.85,14.75,13.95
$GC,2060,1.17,484.6,2797,1961,1336,1215,39.6,6.2,371,2157,0.20,2.53,87.72,0.898,10500,0.095,0.067,2883,3366,834,880,789,0,0,0,0,0,0,14.65,14.50,13.88
$GC,2210,1.17,484.6,2882,3366,880,781,25.2,10.6,398,2217,0.05,2.35,0.00,0.000,5126,0.331,0.041,2870,1964,830,880,781,0,0,0,0,0,0,14.53,14.69,14.72
$GC,2280,1.17,484.6,2870,1964,881,779,18.4,10.2,411,2287,0.00,2.42,0.00,0.000,4612,0.000,0.079,2870,568,830,881,779,0,0,0,0,0,0,15.01,14.70,15.01
$GC,2334,1.18,490.0,2867,568,881,777,13.5,9.8,421,2342,0.00,2.25,2.25,0.360,9222,0.000,0.033,2870,1974,813,862,765,0,0,0,0,0,0,14.84,14.77,13.90
$GC,2404,1.22,522.7,2869,1974,863,760,6.1,8.8,434,2433,0.00,2.40,19.15,0.709,10500,0.000,0.063,2870,3348,678,692,664,0,0,0,0,0,0,15.06,14.70,14.12
$STATE,2438,end climb,SURFACE_DEPTH_REACHED
$STATE,2438,begin surface coast
$FINISH,0.5,1.023682
$STATE,2465,end surface coast,CONTROL_FINISHED_OK
$STATE,2465,begin surface
$SM_CCo,2490,10.60,0.639,0,0,599,542.59
$SM_GC,0.44,12.52,2.25,10.60,0.041,0.038,0.639,140,2008,599,-7.28,0.99,542.59,0,0,0,0,0,0,14.83,14.83,14.12
$IRIDIUM_FIX,-3223.72,2844.39,210419,064144
$TT8_MAMPS,0.020223,0.890561
$HUMID,56.37
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.6
$ALTIM_BOTTOM_PING,80.1,48.7
$SC_FREEKB,3766176
$24V_AH,13.11,165.766
$10V_AH,13.08,0.000
$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,28.025,56.450,548.700,10.600,0.000,26.387,46.083,194.000,0.750,0.000,19.677,835.221,347.231,599.062,1041.601,158.681,0.000,1074.349,0.000,675.139,0.000,7.210,0.000
$DEVICE_MAMPS,331.245,143.820,967.725,638.775,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2511.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.732,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13463,445
$CAP_FILE_SIZE,84371,0
$CFSIZE,1023623168,979533824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,081831,-3240.269,2841.129,19,0.8,40,-27.1,0.9,229.8,10,8.4