version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 303
start: 4 21 119 12 47 17
data:
$ID,573
$MISSION,30
$DIVE,303
$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,46
$R_STBD_OVSHOOT,18
$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
$GPS1,210419,123914,-3246.9368,2834.1196,15,1.0,55,-27.1,0.9,214.2,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-61.4
$GPS2,210419,124652,-3247.1018,2833.7729,17,0.9,18,-27.2,0.0,224.0,8,7.2
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3257.901,2833.773
$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,207.2,20000,-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,-194.6,71,1990,608,572,0.0,0.0,0,117,0.00,0.00,-92.70,0.000,16386,0.000,0.000,71,1991,3181,3190,3172,0,0,0,0,0,0,15.09,28.83,15.10
$GC,122,-0.82,-194.6,72,1991,3190,3172,3.6,-9.1,17,146,12.55,0.00,-6.82,0.000,18950,0.301,0.000,2214,1991,3607,3673,3542,0,0,0,0,0,0,14.46,13.21,14.66
$GC,209,-0.82,-194.6,2214,1991,3676,3542,28.9,-18.8,33,214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,1991,3609,3676,3542,0,0,0,0,0,0,15.12,15.13,15.13
$GC,277,-0.82,-194.6,2214,1991,3675,3542,42.3,-19.4,46,283,0.00,2.47,0.00,0.000,2308,0.000,0.071,2210,3433,3609,3676,3542,0,0,0,0,0,0,15.15,14.83,15.15
$GC,301,-0.82,-194.6,2210,3432,3676,3542,47.2,-20.0,50,308,0.05,2.33,0.00,0.000,3078,0.338,0.039,2222,2017,3609,3676,3542,0,0,0,0,0,0,14.63,14.84,14.83
$GC,372,-0.82,-194.6,2222,2017,3676,3542,59.7,-17.2,63,378,0.00,2.38,0.00,0.000,2564,0.000,0.065,2222,610,3609,3676,3542,0,0,0,0,0,0,15.15,14.85,15.15
$GC,466,-0.82,-194.6,2221,610,3683,3541,73.7,-12.6,81,472,0.00,2.33,0.00,0.000,3078,0.000,0.044,2221,2037,3608,3676,3541,0,0,0,0,0,0,14.95,14.85,14.97
$GC,539,-0.82,-194.6,2220,2038,3676,3542,82.1,-12.9,94,546,0.00,2.42,0.00,0.000,2564,0.000,0.063,2221,605,3609,3677,3542,0,0,0,0,0,0,15.16,14.76,15.16
$GC,624,-0.82,-194.6,2220,604,3677,3542,93.0,-13.2,110,630,0.00,2.30,0.00,0.000,3078,0.000,0.044,2220,2024,3609,3677,3542,0,0,0,0,0,0,15.02,14.91,15.03
$GC,694,-0.82,-194.6,2220,2024,3677,3541,100.8,-11.6,123,700,0.00,2.35,0.00,0.000,2308,0.000,0.074,2220,3408,3609,3677,3542,0,0,0,0,0,0,15.16,14.73,15.17
$STATE,776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,776,begin apogee
$GC,784,-0.19,0.0,2220,1954,3677,3542,109.4,-9.3,139,934,1.00,0.00,143.88,0.940,10246,0.146,0.000,2425,1953,2810,2858,2763,0,0,0,0,0,0,14.73,14.55,13.92
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,938,0.82,194.6,2425,1953,2858,2763,115.6,0.0,166,1096,1.45,2.40,145.95,0.937,10756,0.096,0.069,2736,554,2016,2060,1972,0,0,0,0,0,0,14.56,14.52,13.89
$GC,1118,0.94,293.7,2735,554,2058,1971,106.4,6.5,197,1204,0.17,2.30,77.22,0.929,11270,0.093,0.038,2810,1974,1612,1666,1559,0,0,0,0,0,0,14.61,14.65,13.91
$GC,1267,0.94,293.7,2810,1974,1661,1558,91.4,11.0,224,1274,0.08,2.35,0.00,0.000,4356,0.257,0.063,2790,3351,1608,1661,1556,0,0,0,0,0,0,14.54,14.69,14.65
$GC,1296,0.94,293.7,2789,3351,1660,1556,88.1,10.0,229,1303,0.00,2.30,0.00,0.000,1030,0.000,0.041,2790,1956,1608,1660,1556,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1367,0.96,306.8,2789,1956,1659,1556,81.2,9.5,242,1386,0.00,2.38,11.20,0.841,10756,0.000,0.070,2787,564,1560,1612,1508,0,0,0,0,0,0,15.04,14.51,14.02
$GC,1408,1.01,352.2,2790,563,1611,1508,77.5,8.4,249,1454,0.00,2.25,37.38,0.903,11270,0.000,0.038,2790,1959,1375,1432,1318,0,0,0,0,0,0,14.79,14.71,14.01
$GC,1517,1.12,436.0,2790,1959,1429,1317,69.4,7.1,269,1593,0.12,2.47,67.55,0.903,10756,0.122,0.070,2862,561,1033,1092,974,0,0,0,0,0,0,14.78,14.57,13.96
$GC,1635,1.14,456.8,2862,560,1092,973,58.6,9.2,290,1660,0.00,2.30,18.02,0.855,13318,0.000,0.037,2863,1972,948,1003,894,0,0,0,0,0,0,14.82,14.73,13.97
$GC,1722,1.14,456.8,2862,1972,1003,889,50.6,10.1,306,1728,0.00,0.00,0.00,0.000,4102,0.000,0.000,2863,1972,945,1003,888,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1790,1.15,464.9,2862,1972,1003,888,43.9,9.7,319,1804,0.00,2.47,7.68,0.768,12804,0.000,0.071,2862,558,917,972,862,0,0,0,0,0,0,15.05,14.68,14.03
$GC,1836,1.15,464.9,2862,558,972,860,39.7,10.0,327,1843,0.00,2.28,0.00,0.000,5126,0.000,0.038,2862,1967,915,972,859,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1907,1.17,477.9,2862,1967,972,859,32.6,9.5,340,1926,0.00,2.42,12.90,0.811,10500,0.000,0.067,2863,3360,861,911,812,0,0,0,0,0,0,15.07,14.78,14.08
$GC,1953,1.17,477.9,2862,3364,911,808,28.1,10.7,348,1960,0.00,2.30,0.00,0.000,1030,0.000,0.041,2862,1961,859,911,808,0,0,0,0,0,0,14.81,14.72,14.82
$GC,2024,1.23,531.2,2862,1960,913,806,22.4,8.1,361,2066,0.00,2.40,35.25,0.809,10756,0.000,0.073,2862,564,643,642,644,0,0,0,0,0,0,15.09,14.54,14.09
$GC,2099,1.29,577.7,2862,564,641,635,16.0,8.4,374,2112,0.10,2.28,6.25,0.653,11270,0.140,0.035,2920,1980,599,590,608,0,0,0,0,0,0,14.71,14.71,14.07
$GC,2175,1.29,577.7,2919,1979,590,596,7.2,12.6,388,2182,0.08,2.35,0.00,0.000,4356,0.261,0.063,2900,3359,593,590,596,0,0,0,0,0,0,14.57,14.74,14.67
$STATE,2212,end climb,SURFACE_DEPTH_REACHED
$STATE,2212,begin surface coast
$FINISH,0.0,1.023540
$STATE,2239,end surface coast,CONTROL_FINISHED_OK
$STATE,2239,begin surface
$SM_CCo,2324,0.00,0.000,0,0,589,545.29
$SM_GC,0.70,12.57,2.25,0.00,0.037,0.041,0.000,123,2022,589,-7.30,1.24,545.29,0,0,0,0,0,0,14.86,14.83,14.94
$IRIDIUM_FIX,-3233.95,2835.40,210419,115432
$TT8_MAMPS,0.019474,0.62916
$HUMID,55.94
$INTERNAL_PRESSURE,9.33594
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,80.3,43.9
$SC_FREEKB,3763104
$24V_AH,13.21,167.036
$10V_AH,13.10,0.000
$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,28.175,56.475,563.275,0.000,0.000,24.288,41.183,188.834,0.750,0.000,18.659,734.474,351.446,590.457,962.539,154.220,0.000,1038.306,0.000,606.359,0.000,7.190,0.000
$DEVICE_MAMPS,338.130,74.205,940.185,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2285.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.515,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13451,400
$CAP_FILE_SIZE,78778,0
$CFSIZE,1023623168,978960384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,132658,-3248.064,2832.640,19,1.0,21,-27.2,1.5,220.1,8,8.9