version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 298
start: 4 21 119 8 27 47
data:
$ID,573
$MISSION,30
$DIVE,298
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,210419,081831,-3240.2688,2841.1292,19,0.8,40,-27.1,0.9,229.8,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-63.2
$GPS2,210419,082721,-3240.5581,2840.8674,19,0.9,19,-27.1,2.0,224.5,9,8.3
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3251.357,2840.867
$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,22,-0.82,-194.6,72,2005,599,571,0.0,0.0,0,111,0.00,0.00,-86.95,0.000,16386,0.000,0.000,72,2004,2979,2992,2966,0,0,0,0,0,0,15.07,28.83,15.07
$GC,116,-0.82,-194.6,71,2004,2993,2966,3.0,-5.8,16,146,12.50,2.42,-10.75,0.000,19204,0.295,0.093,2208,3396,3607,3677,3538,0,0,0,0,0,0,14.43,13.88,14.64
$GC,184,-0.82,-194.6,2207,3396,3678,3536,22.4,-20.7,28,191,0.08,2.28,0.00,0.000,3078,0.284,0.039,2223,2008,3607,3677,3538,0,0,0,0,0,0,14.64,14.86,14.85
$GC,255,-0.82,-194.6,2222,2008,3678,3538,35.3,-18.7,41,261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2008,3608,3678,3538,0,0,0,0,0,0,15.10,15.11,15.11
$GC,323,-0.82,-194.6,2222,2008,3678,3538,47.9,-17.4,54,330,0.00,2.38,0.00,0.000,2564,0.000,0.068,2223,610,3608,3678,3538,0,0,0,0,0,0,15.12,14.82,15.13
$GC,412,-0.82,-194.6,2223,610,3677,3538,61.6,-12.6,71,419,0.00,2.28,0.00,0.000,3078,0.000,0.044,2223,2001,3608,3678,3538,0,0,0,0,0,0,15.00,14.89,15.01
$GC,482,-0.82,-194.6,2223,2001,3678,3538,70.5,-12.5,84,489,0.00,2.42,0.00,0.000,2308,0.000,0.074,2223,3410,3608,3679,3538,0,0,0,0,0,0,15.12,14.81,15.12
$GC,507,-0.82,-194.6,2222,3410,3678,3538,73.5,-11.4,88,513,0.00,2.30,0.00,0.000,3078,0.000,0.037,2223,2008,3608,3678,3538,0,0,0,0,0,0,15.00,14.94,15.01
$GC,577,-0.82,-194.6,2223,2008,3678,3538,81.1,-11.2,101,583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2008,3608,3678,3538,0,0,0,0,0,0,15.14,15.14,15.14
$GC,646,-0.82,-194.6,2222,2008,3678,3538,88.1,-9.7,114,652,0.00,2.45,0.00,0.000,2308,0.000,0.072,2223,3412,3608,3679,3538,0,0,0,0,0,0,15.16,14.77,15.14
$GC,727,-0.82,-194.6,2223,3412,3679,3538,96.9,-11.2,129,734,0.00,2.30,0.00,0.000,3078,0.000,0.037,2223,2007,3610,3679,3542,0,0,0,0,0,0,15.01,14.92,15.02
$GC,798,-0.82,-194.6,2223,2006,3679,3538,103.6,-10.2,142,804,0.00,2.35,0.00,0.000,2564,0.000,0.066,2223,611,3608,3679,3538,0,0,0,0,0,0,15.14,14.85,15.15
$GC,851,-0.82,-194.6,2222,611,3679,3538,109.8,-11.1,152,858,0.00,2.30,0.00,0.000,3078,0.000,0.044,2223,2018,3608,3679,3538,0,0,0,0,0,0,15.00,14.90,15.02
$GC,922,-0.82,-194.6,2222,2018,3679,3538,117.3,-11.2,165,927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2019,3608,3679,3538,0,0,0,0,0,0,15.15,15.15,15.15
$GC,990,-0.82,-194.6,2222,2018,3679,3538,125.2,-11.2,178,996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2018,3609,3679,3539,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1043,-0.19,0.0,2223,1940,3679,3538,130.9,-11.2,187,1192,0.98,0.00,143.65,0.991,10246,0.148,0.000,2422,1939,2811,2861,2761,0,0,0,0,0,0,14.65,14.52,13.86
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,0.82,194.6,2422,1939,2860,2762,137.9,0.0,214,1353,1.50,2.35,146.05,0.988,10756,0.099,0.068,2739,581,2018,2064,1972,0,0,0,0,0,0,14.52,14.30,13.83
$GC,1396,0.91,270.8,2739,580,2059,1972,128.1,7.3,249,1465,0.10,2.28,59.97,0.968,11270,0.145,0.040,2795,1967,1706,1758,1655,0,0,0,0,0,0,14.67,14.69,13.85
$GC,1528,0.91,270.8,2794,1969,1752,1652,114.4,10.9,273,1534,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,1968,1701,1752,1651,0,0,0,0,0,0,14.93,14.93,14.93
$GC,1596,0.91,270.8,2794,1972,1750,1651,107.2,10.3,286,1603,0.00,2.40,0.00,0.000,4612,0.000,0.070,2797,578,1700,1750,1651,0,0,0,0,0,0,15.00,14.61,15.01
$GC,1646,0.91,270.8,2796,577,1750,1651,102.1,10.8,295,1653,0.05,2.25,0.00,0.000,5126,0.312,0.041,2786,1965,1700,1749,1651,0,0,0,0,0,0,14.63,14.82,14.83
$GC,1717,0.92,277.2,2785,1966,1749,1650,95.2,9.7,308,1730,0.00,2.38,5.43,0.696,12548,0.000,0.068,2785,3358,1681,1732,1631,0,0,0,0,0,0,15.07,14.73,13.91
$GC,1752,0.92,277.2,2785,3358,1732,1631,91.3,10.0,314,1759,0.00,2.28,0.00,0.000,1030,0.000,0.041,2785,1982,1681,1732,1631,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1823,0.99,333.7,2785,1981,1731,1631,85.4,8.0,327,1874,0.00,0.00,46.85,0.952,10246,0.000,0.000,2786,1982,1450,1507,1394,0,0,0,0,0,0,15.09,14.62,13.97
$GC,1936,1.06,395.1,2785,1982,1503,1392,76.5,7.8,348,1993,0.10,2.47,49.12,0.939,10756,0.145,0.073,2845,556,1200,1262,1139,0,0,0,0,0,0,14.76,14.41,13.95
$GC,2017,1.06,395.1,2844,557,1262,1139,68.6,10.4,362,2024,0.00,2.33,0.00,0.000,5126,0.000,0.040,2845,1968,1200,1262,1139,0,0,0,0,0,0,14.73,14.63,14.74
$GC,2088,1.06,395.1,2845,1968,1261,1138,62.1,10.1,375,2094,0.00,2.42,0.00,0.000,4356,0.000,0.069,2844,3362,1199,1261,1138,0,0,0,0,0,0,14.99,14.66,14.99
$GC,2112,1.06,395.1,2844,3362,1261,1137,59.2,11.5,379,2118,0.00,2.33,0.00,0.000,5126,0.000,0.041,2845,1960,1199,1261,1137,0,0,0,0,0,0,14.75,14.65,14.76
$GC,2182,1.16,472.8,2844,1960,1261,1137,53.2,7.3,392,2255,0.00,2.42,63.97,0.924,10756,0.000,0.075,2845,555,882,932,832,0,0,0,0,0,0,15.05,14.54,13.98
$GC,2313,1.19,497.0,2845,555,933,826,43.0,9.1,416,2343,0.00,2.33,21.02,0.881,11270,0.000,0.037,2845,1972,784,825,743,0,0,0,0,0,0,14.83,14.74,13.99
$GC,2405,1.19,497.0,2845,1972,826,735,34.3,10.5,433,2412,0.00,2.40,0.00,0.000,2308,0.000,0.068,2845,3361,780,826,734,0,0,0,0,0,0,15.00,14.71,15.02
$GC,2464,1.21,512.8,2844,3361,826,732,28.2,9.4,444,2484,0.05,2.33,14.00,0.847,11270,0.252,0.041,2893,1958,720,753,687,0,0,0,0,0,0,14.69,14.79,14.03
$GC,2546,1.34,616.1,2893,1958,753,678,21.3,6.4,459,2574,0.00,2.40,20.38,0.822,10756,0.000,0.074,2893,565,597,595,600,0,0,0,0,0,0,15.02,14.66,14.05
$GC,2627,1.40,665.5,2893,564,594,590,14.5,8.3,473,2635,0.12,2.28,0.00,0.000,3078,0.122,0.035,2952,1971,591,594,589,0,0,0,0,0,0,14.70,14.71,14.78
$GC,2698,1.40,665.5,2952,1972,595,583,5.5,16.1,486,2705,0.00,2.35,0.00,0.000,4356,0.000,0.063,2952,3345,589,595,583,0,0,0,0,0,0,15.05,14.77,15.06
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,-0.1,1.023654
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2817,0.00,0.000,0,0,587,545.78
$SM_GC,0.69,12.93,2.22,0.00,0.041,0.037,0.000,119,2017,587,-7.31,1.22,545.78,0,0,0,0,0,0,14.88,14.84,14.95
$IRIDIUM_FIX,-3226.28,2839.90,210419,073017
$TT8_MAMPS,0.019474,0.86135
$HUMID,57.60
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,90.1,55.3
$SC_FREEKB,3765664
$24V_AH,13.83,165.989
$10V_AH,13.07,0.000
$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,28.400,65.750,570.450,0.000,0.000,26.372,48.925,246.970,1.000,0.000,20.517,937.391,448.256,626.404,1168.560,176.041,0.000,1149.478,0.000,746.616,0.000,8.772,0.000
$DEVICE_MAMPS,312.120,139.995,990.675,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2779.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.697,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,16778,492
$CAP_FILE_SIZE,94938,0
$CFSIZE,1023623168,979419136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,091541,-3241.774,2839.868,20,0.7,21,-27.1,1.8,215.9,12,7.1