version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 14
start: 3 30 119 18 3 16
data:
$ID,573
$MISSION,30
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$T_ABORT,197
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$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,532.59473
$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,1
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$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
$GPS1,300319,174859,-2844.0400,3223.0391,15,1.0,17,-23.5,0.7,144.7,9,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.7
$GPS2,300319,180252,-2844.2314,3223.0354,16,0.9,17,-23.5,0.6,186.7,9,7.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2847.007,3211.128
$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,278.6,20000,-18.2,-9.980,-21.01,2240
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,73,1982,628,625,0.0,0.0,0,109,0.00,0.00,-86.47,0.000,16386,0.000,0.000,74,1983,3014,3019,3009,0,0,0,0,0,0,14.95,28.83,14.95
$GC,112,-0.85,-146.0,73,1983,3018,3010,3.1,-7.3,15,139,12.60,2.40,-6.90,0.000,18948,0.305,0.080,2205,579,3409,3443,3375,0,0,0,0,0,0,14.44,13.44,14.63
$GC,361,-0.85,-146.0,2205,579,3445,3375,53.0,-14.8,63,367,0.00,2.35,0.00,0.000,3078,0.000,0.047,2204,1999,3410,3445,3375,0,0,0,0,0,0,14.83,14.72,14.83
$GC,430,-0.85,-146.0,2204,1999,3445,3375,63.4,-15.2,76,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1999,3410,3445,3375,0,0,0,0,0,0,15.04,15.05,15.05
$GC,498,-0.85,-146.0,2204,1999,3445,3376,74.0,-14.9,89,505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1999,3410,3445,3375,0,0,0,0,0,0,15.07,15.07,15.07
$GC,567,-0.85,-146.0,2204,1999,3445,3375,83.7,-13.6,102,573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1999,3410,3446,3375,0,0,0,0,0,0,15.09,15.09,15.09
$GC,634,-0.85,-146.0,2203,1999,3446,3375,93.4,-14.6,115,641,0.00,2.38,0.00,0.000,2308,0.000,0.070,2204,3396,3410,3445,3375,0,0,0,0,0,0,15.07,14.61,15.09
$GC,723,-0.85,-146.0,2203,3396,3445,3375,105.1,-12.3,132,729,0.00,2.33,0.00,0.000,3078,0.000,0.039,2204,1976,3410,3446,3375,0,0,0,0,0,0,14.92,14.82,14.93
$GC,792,-0.85,-146.0,2203,1976,3446,3375,114.3,-14.6,145,799,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1976,3410,3446,3375,0,0,0,0,0,0,15.08,15.08,15.07
$GC,861,-0.85,-146.0,2203,1976,3446,3375,125.4,-16.0,158,868,0.00,2.42,0.00,0.000,2308,0.000,0.068,2204,3390,3410,3445,3375,0,0,0,0,0,0,15.09,14.76,15.09
$GC,949,-0.85,-146.0,2204,3390,3445,3374,138.0,-13.4,175,956,0.00,2.30,0.00,0.000,3078,0.000,0.039,2204,1986,3409,3445,3374,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1019,-0.85,-146.0,2203,1982,3446,3374,147.6,-12.4,188,1025,0.00,2.40,0.00,0.000,2308,0.000,0.068,2204,3389,3410,3446,3374,0,0,0,0,0,0,15.09,14.62,15.09
$GC,1074,-0.85,-146.0,2203,3389,3446,3374,154.6,-12.5,198,1081,0.00,2.30,0.00,0.000,3078,0.000,0.040,2204,1984,3410,3446,3374,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1143,-0.85,-146.0,2204,1984,3446,3374,162.4,-10.8,211,1149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1983,3410,3446,3374,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1210,-0.85,-146.0,2203,1983,3446,3374,169.3,-11.0,224,1217,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3392,3409,3446,3373,0,0,0,0,0,0,15.09,14.69,15.09
$GC,1269,-0.85,-146.0,2203,3392,3445,3373,176.0,-11.7,235,1276,0.00,2.30,0.00,0.000,3078,0.000,0.041,2204,1983,3409,3445,3373,0,0,0,0,0,0,14.78,14.66,14.79
$GC,1340,-0.85,-146.0,2203,1983,3445,3373,184.7,-12.0,248,1346,0.00,2.42,0.00,0.000,2308,0.000,0.069,2203,3387,3410,3446,3374,0,0,0,0,0,0,15.09,14.62,15.09
$GC,1404,-0.85,-146.0,2203,3389,3446,3373,192.1,-10.6,260,1411,0.00,2.30,0.00,0.000,3078,0.000,0.039,2203,1987,3409,3446,3373,0,0,0,0,0,0,14.77,14.67,14.78
$GC,1474,-0.85,-146.0,2203,1987,3446,3373,200.5,-12.6,273,1482,0.00,2.40,0.00,0.000,2308,0.000,0.070,2202,3388,3409,3445,3373,0,0,0,0,0,0,15.08,14.76,15.08
$GC,1559,-0.85,-146.0,2202,3389,3445,3373,211.3,-12.1,289,1567,0.00,2.30,0.00,0.000,3078,0.000,0.041,2203,1980,3409,3445,3373,0,0,0,0,0,0,14.77,14.64,14.79
$GC,1631,-0.85,-146.0,2202,1979,3445,3374,220.0,-11.6,302,1638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1979,3409,3446,3373,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1701,-0.85,-146.0,2202,1978,3446,3371,220.8,0.1,315,1707,0.00,2.45,0.00,0.000,2308,0.000,0.069,2202,3396,3409,3446,3372,0,0,0,0,0,0,15.11,14.69,15.12
$STATE,1788,end dive,NO_VERTICAL_VELOCITY
$STATE,1789,begin apogee
$GC,1795,-0.19,0.0,2202,1986,3446,3371,220.8,0.0,332,1914,1.02,0.00,110.03,1.209,10246,0.086,0.000,2431,1986,2811,2852,2771,0,0,0,0,0,0,14.74,14.35,13.93
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1917,0.85,146.0,2431,1986,2852,2771,220.7,0.0,353,2043,1.48,2.50,112.57,1.188,11012,0.076,0.065,2751,3388,2215,2258,2173,0,0,0,0,0,0,14.47,14.30,13.84
$GC,2080,0.87,155.1,2751,3390,2255,2172,216.7,9.6,380,2100,0.00,2.38,8.43,1.020,11270,0.000,0.043,2756,1985,2179,2221,2137,0,0,0,0,0,0,14.59,14.50,13.86
$GC,2162,0.87,155.1,2755,1985,2218,2136,207.9,11.5,395,2168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2756,1985,2177,2218,2136,0,0,0,0,0,0,14.84,14.85,14.85
$GC,2229,0.87,155.1,2762,1985,2216,2136,199.2,12.5,408,2236,0.00,2.45,0.00,0.000,2564,0.000,0.076,2756,575,2175,2216,2135,0,0,0,0,0,0,14.90,14.57,14.91
$GC,2292,0.87,155.1,2755,574,2214,2136,191.7,11.1,420,2299,0.00,2.35,0.00,0.000,3078,0.000,0.046,2756,1988,2175,2215,2135,0,0,0,0,0,0,14.77,14.71,14.77
$GC,2362,0.87,155.1,2755,1988,2215,2135,184.8,10.2,433,2369,0.00,2.40,0.00,0.000,2308,0.000,0.068,2756,3393,2174,2214,2135,0,0,0,0,0,0,14.97,14.69,14.97
$GC,2466,0.87,155.1,2756,3394,2214,2135,173.6,10.7,453,2473,0.00,2.35,0.00,0.000,3078,0.000,0.045,2756,1982,2174,2213,2135,0,0,0,0,0,0,14.86,14.74,14.88
$GC,2536,0.87,155.1,2755,1982,2213,2134,166.2,10.7,466,2543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2756,1982,2173,2213,2134,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2605,0.87,155.1,2756,1982,2213,2134,158.8,10.4,479,2612,0.00,2.45,0.00,0.000,2308,0.000,0.069,2756,3396,2172,2210,2134,0,0,0,0,0,0,15.04,14.72,15.04
$GC,2639,0.87,159.3,2755,3396,2213,2134,155.4,9.8,485,2652,0.00,2.35,4.00,0.789,11270,0.000,0.043,2755,1985,2162,2201,2124,0,0,0,0,0,0,14.83,14.71,14.05
$GC,2715,0.91,189.2,2755,1986,2201,2126,148.4,8.6,499,2745,0.00,0.00,25.00,1.121,10246,0.000,0.000,2756,1985,2039,2084,1995,0,0,0,0,0,0,15.06,14.69,14.14
$GC,2807,0.94,218.3,2755,1985,2082,1994,140.1,8.6,516,2837,0.08,0.00,24.48,1.103,10246,0.181,0.000,2804,1985,1919,1965,1874,0,0,0,0,0,0,14.68,14.63,14.09
$GC,2898,0.94,218.3,2804,1985,1962,1872,129.4,11.2,533,2905,0.00,2.45,0.00,0.000,4356,0.000,0.068,2805,3395,1917,1962,1872,0,0,0,0,0,0,14.90,14.58,14.91
$GC,2947,0.94,218.3,2804,3395,1960,1872,123.9,11.9,542,2955,0.08,2.35,0.00,0.000,5126,0.292,0.045,2796,1981,1915,1960,1870,0,0,0,0,0,0,14.54,14.69,14.73
$GC,3017,0.97,242.4,2795,1981,1960,1870,117.3,8.9,555,3041,0.00,0.00,19.83,1.072,10246,0.000,0.000,2796,1981,1822,1870,1774,0,0,0,0,0,0,14.98,14.69,14.14
$GC,3104,1.01,275.1,2796,1981,1868,1773,109.2,8.5,571,3134,0.00,0.00,27.02,1.075,10502,0.000,0.000,2796,1981,1690,1743,1637,0,0,0,0,0,0,14.94,14.61,14.07
$GC,3195,1.04,293.9,2796,1981,1740,1634,101.3,9.1,588,3214,0.00,0.00,16.27,1.029,10246,0.000,0.000,2796,1981,1612,1667,1557,0,0,0,0,0,0,14.90,14.62,14.07
$GC,3277,1.11,352.6,2795,1981,1665,1555,94.9,7.3,603,3331,0.10,2.50,47.53,1.064,10500,0.147,0.067,2848,3387,1373,1430,1317,0,0,0,0,0,0,14.64,14.51,13.99
$GC,3358,1.11,352.6,2847,3387,1429,1316,86.6,11.1,617,3365,0.00,2.38,0.00,0.000,5126,0.000,0.047,2848,1987,1372,1428,1316,0,0,0,0,0,0,14.59,14.50,14.60
$GC,3428,1.14,378.3,2848,1987,1427,1314,80.2,8.8,630,3459,0.00,2.47,21.55,1.017,10756,0.000,0.080,2849,584,1268,1326,1211,0,0,0,0,0,0,14.87,14.55,14.06
$GC,3483,1.18,413.7,2848,584,1326,1211,76.0,8.4,639,3519,0.00,2.33,29.35,1.024,11270,0.000,0.044,2849,1986,1124,1183,1065,0,0,0,0,0,0,14.64,14.57,13.97
$GC,3581,1.18,413.7,2855,1986,1184,1062,65.5,11.6,657,3587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2849,1985,1122,1183,1062,0,0,0,0,0,0,14.84,14.85,14.85
$GC,3648,1.18,413.7,2848,1986,1183,1061,56.4,13.4,670,3656,0.00,2.45,0.00,0.000,2564,0.000,0.078,2848,583,1122,1183,1061,0,0,0,0,0,0,14.90,14.54,14.90
$GC,3682,1.18,413.7,2848,583,1184,1061,52.0,12.9,676,3689,0.00,2.33,0.00,0.000,3078,0.000,0.043,2849,1991,1122,1183,1061,0,0,0,0,0,0,14.81,14.72,14.82
$GC,3751,1.18,413.7,2848,1990,1183,1060,42.0,15.4,689,3758,0.00,2.47,0.00,0.000,2564,0.000,0.079,2849,579,1122,1183,1061,0,0,0,0,0,0,14.96,14.66,14.96
$GC,3815,1.18,413.7,2848,579,1183,1061,32.0,15.0,701,3822,0.00,2.33,0.00,0.000,3078,0.000,0.044,2848,1985,1121,1183,1060,0,0,0,0,0,0,14.86,14.76,14.87
$GC,3884,1.18,413.7,2848,1987,1183,1060,23.5,11.5,714,3891,0.00,2.40,0.00,0.000,2308,0.000,0.068,2849,3391,1121,1182,1060,0,0,0,0,0,0,15.02,14.67,15.01
$GC,3975,1.18,413.7,2847,3391,1181,1060,12.2,11.6,731,3982,0.00,2.35,0.00,0.000,3078,0.000,0.047,2849,1985,1120,1182,1059,0,0,0,0,0,0,14.89,14.77,14.90
$GC,4044,1.18,413.7,2848,1984,1181,1060,4.9,10.0,744,4051,0.00,2.42,0.00,0.000,2564,0.000,0.081,2849,585,1120,1181,1060,0,0,0,0,0,0,15.04,14.67,15.04
$STATE,4066,end climb,SURFACE_DEPTH_REACHED
$STATE,4066,begin surface coast
$FINISH,2.1,1.023197
$STATE,4072,end surface coast,CONTROL_FINISHED_OK
$STATE,4072,begin surface
$SM_CCo,4095,70.72,0.799,0,0,638,532.78
$SM_GC,0.52,12.85,2.38,70.72,0.074,0.048,0.799,147,1997,638,-7.26,-0.82,532.78,0,0,0,0,0,0,14.81,14.81,14.23
$IRIDIUM_FIX,-2833.46,3225.07,300319,162052
$TT8_MAMPS,0.019474,0.845621
$HUMID,59.68
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$SC_FREEKB,3915904
$24V_AH,13.44,88.709
$10V_AH,13.59,0.000
$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,28.200,90.650,446.050,70.725,0.000,50.333,32.244,470.690,3.500,0.000,18.848,1662.291,682.249,684.791,1820.190,154.007,0.000,1374.335,0.000,1126.806,0.000,23.867,0.000
$DEVICE_MAMPS,305.235,81.090,1209.465,798.660,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.476,0.000,0.000,0.000
$MEM,339576
$DATA_FILE_SIZE,23428,749
$CAP_FILE_SIZE,142004,0
$CFSIZE,1023623168,1019314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189,190.61,1
$GPS,300319,191344,-2844.787,3222.370,20,0.8,25,-23.5,0.4,152.5,10,8.9