version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 301
start: 4 21 119 11 11 49
data:
$ID,573
$MISSION,30
$DIVE,301
$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,61
$R_STBD_OVSHOOT,51
$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
$GPS1,210419,110329,-3244.5242,2836.9783,44,0.9,47,-27.1,1.1,232.0,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-62.1
$GPS2,210419,111124,-3244.6873,2836.6548,25,0.9,27,-27.1,1.9,255.1,8,8.2
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3255.487,2836.655
$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,-194.6,71,1980,593,573,0.0,0.0,0,117,0.00,0.00,-92.88,0.000,16386,0.000,0.000,71,1981,3186,3199,3173,0,0,0,0,0,0,15.09,28.83,15.09
$GC,122,-0.82,-194.6,71,1981,3198,3173,3.7,-9.6,17,149,12.57,2.45,-6.62,0.000,18692,0.303,0.088,2214,3405,3609,3675,3544,0,0,0,0,0,0,14.45,13.05,14.64
$GC,232,-0.82,-194.6,2207,3406,3677,3544,33.8,-19.7,37,240,0.08,2.25,0.00,0.000,3078,0.281,0.038,2222,2023,3610,3677,3544,0,0,0,0,0,0,14.67,14.86,14.88
$GC,305,-0.82,-194.6,2222,2023,3677,3543,46.0,-17.1,50,311,0.00,2.38,0.00,0.000,2564,0.000,0.066,2222,624,3610,3677,3544,0,0,0,0,0,0,15.13,14.71,15.13
$GC,403,-0.82,-194.6,2222,624,3677,3541,62.6,-16.2,69,410,0.00,2.25,0.00,0.000,3078,0.000,0.046,2221,2002,3610,3678,3543,0,0,0,0,0,0,15.00,14.90,15.02
$GC,474,-0.82,-194.6,2220,2002,3677,3543,72.1,-12.6,82,480,0.00,2.40,0.00,0.000,2308,0.000,0.073,2221,3411,3610,3678,3543,0,0,0,0,0,0,15.14,14.83,15.14
$GC,528,-0.82,-194.6,2220,3411,3677,3543,78.7,-12.3,92,534,0.00,2.28,0.00,0.000,3078,0.000,0.037,2221,2020,3610,3678,3542,0,0,0,0,0,0,15.01,14.92,15.02
$GC,598,-0.82,-194.6,2220,2020,3678,3542,86.6,-11.6,105,605,0.00,2.38,0.00,0.000,2564,0.000,0.065,2221,610,3610,3678,3543,0,0,0,0,0,0,15.14,14.85,15.15
$GC,630,-0.82,-194.6,2220,609,3678,3542,90.4,-12.1,110,637,0.00,2.30,0.00,0.000,3078,0.000,0.044,2220,2021,3610,3678,3542,0,0,0,0,0,0,14.91,14.79,14.93
$GC,700,-0.82,-194.6,2220,2021,3678,3542,97.3,-10.3,123,706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2021,3610,3678,3542,0,0,0,0,0,0,15.16,15.16,15.16
$GC,769,-0.82,-194.6,2220,2021,3678,3542,104.5,-11.1,136,775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2021,3610,3678,3542,0,0,0,0,0,0,15.17,15.18,15.18
$STATE,809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,810,begin apogee
$GC,815,-0.19,0.0,2220,1933,3678,3542,109.4,-11.7,144,966,0.98,0.00,143.98,0.952,10246,0.138,0.000,2422,1932,2812,2860,2764,0,0,0,0,0,0,14.60,14.47,13.86
$STATE,967,end apogee,CONTROL_FINISHED_OK
$STATE,968,begin climb
$GC,970,0.82,194.6,2421,1932,2858,2764,114.1,0.0,171,1127,1.48,2.33,146.48,0.946,10756,0.104,0.070,2733,585,2016,2061,1972,0,0,0,0,0,0,14.53,14.46,13.88
$GC,1165,0.88,241.6,2732,585,2058,1971,105.8,8.3,205,1211,0.08,2.28,37.12,0.918,11270,0.175,0.038,2786,1977,1826,1873,1779,0,0,0,0,0,0,14.54,14.58,13.93
$GC,1275,0.95,298.7,2785,1978,1869,1777,96.4,8.0,225,1331,0.00,2.45,45.97,0.916,10756,0.000,0.070,2786,594,1594,1648,1540,0,0,0,0,0,0,14.95,14.56,13.97
$GC,1354,0.99,337.4,2786,594,1644,1540,89.5,8.6,239,1394,0.00,2.25,31.92,0.900,11270,0.000,0.038,2786,1973,1435,1492,1379,0,0,0,0,0,0,14.80,14.71,13.95
$GC,1457,0.99,337.4,2786,1973,1488,1379,79.5,10.0,258,1462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1973,1433,1488,1379,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1525,1.04,376.2,2785,1973,1487,1379,73.5,8.6,271,1560,0.08,0.00,31.62,0.894,10246,0.177,0.000,2846,1972,1278,1338,1219,0,0,0,0,0,0,14.80,14.59,13.97
$GC,1623,1.08,406.8,2846,1973,1338,1219,63.5,8.9,289,1658,0.00,2.40,25.88,0.881,12548,0.000,0.067,2846,3352,1154,1214,1094,0,0,0,0,0,0,15.00,14.58,14.01
$GC,1687,1.09,415.8,2846,3352,1213,1094,57.5,9.6,300,1705,0.00,2.25,9.25,0.803,13318,0.000,0.040,2847,1992,1116,1174,1059,0,0,0,0,0,0,14.85,14.76,13.97
$GC,1768,1.29,575.3,2847,1993,1174,1058,52.2,4.5,315,1887,0.12,2.50,106.95,0.890,10756,0.119,0.072,2917,568,597,580,615,0,0,0,0,0,0,14.76,14.53,13.93
$GC,1950,1.29,575.3,2916,568,578,602,33.2,11.8,348,1957,0.00,2.28,0.00,0.000,5126,0.000,0.037,2917,1969,590,579,602,0,0,0,0,0,0,14.72,14.64,14.73
$GC,2021,1.29,575.3,2916,1970,579,595,25.2,12.2,361,2028,0.05,2.38,0.00,0.000,4356,0.327,0.063,2907,3361,586,579,594,0,0,0,0,0,0,14.66,14.66,14.81
$GC,2040,1.29,575.3,2907,3361,579,594,22.5,11.9,364,2047,0.00,2.30,0.00,0.000,5126,0.000,0.041,2907,1969,587,580,594,0,0,0,0,0,0,14.81,14.72,14.83
$GC,2111,1.29,575.3,2907,1969,580,591,15.1,10.8,377,2118,0.00,2.42,0.00,0.000,4612,0.000,0.076,2907,564,585,580,590,0,0,0,0,0,0,15.06,14.72,15.07
$GC,2155,1.29,575.3,2906,564,580,587,10.1,11.3,385,2162,0.00,2.28,0.00,0.000,5126,0.000,0.038,2904,1964,583,580,587,0,0,0,0,0,0,14.83,14.74,14.84
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$FINISH,0.0,1.023500
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2327,0.00,0.000,0,0,581,547.26
$SM_GC,0.82,12.57,0.00,0.00,0.040,0.000,0.000,140,1967,581,-7.26,-1.30,547.26,0,0,0,0,0,0,14.93,15.13,14.99
$IRIDIUM_FIX,-3228.84,2839.90,210419,101445
$TT8_MAMPS,0.018725,0.904043
$HUMID,55.94
$INTERNAL_PRESSURE,9.30664
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.0
$ALTIM_BOTTOM_PING,90.4,33.6
$SC_FREEKB,3764128
$24V_AH,13.05,166.633
$10V_AH,13.06,0.000
$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,28.000,46.850,579.175,0.000,0.000,22.939,18.341,221.935,1.000,0.000,27.574,721.398,350.013,604.983,978.933,156.728,0.000,1059.474,0.000,610.410,0.000,8.724,0.000
$DEVICE_MAMPS,326.655,139.230,952.425,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.672,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13437,402
$CAP_FILE_SIZE,77863,0
$CFSIZE,1023623168,979156992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,133.46,0x236098,0,24
$GPS,210419,115133,-3245.755,2835.570,16,0.8,21,-27.1,1.7,253.4,9,9.1