version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 43
start: 4 1 119 16 47 35
data:
$ID,573
$MISSION,30
$DIVE,43
$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,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,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,31
$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,4
$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
$GPS1,010419,163010,-2859.0762,3214.1360,22,0.8,46,-23.8,0.8,315.7,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-59.1
$GPS2,010419,164710,-2858.7957,3213.9712,22,0.8,32,-23.8,0.4,316.3,10,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2854.576,3202.615
$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,316.8,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,71,2000,599,576,0.0,0.0,0,112,0.00,0.00,-90.20,0.000,16386,0.000,0.000,72,2000,3160,3168,3153,0,0,0,0,0,0,14.90,28.83,14.91
$GC,116,-0.85,-146.0,72,2001,3168,3153,4.0,-9.6,15,141,12.82,2.40,-4.00,0.000,18948,0.315,0.084,2210,573,3410,3442,3378,0,0,0,0,0,0,14.40,13.35,14.71
$GC,334,-0.85,-146.0,2210,573,3444,3378,57.6,-15.7,57,342,0.00,2.35,0.00,0.000,3078,0.000,0.047,2210,1993,3411,3444,3378,0,0,0,0,0,0,14.71,14.59,14.72
$GC,405,-0.85,-146.0,2210,1992,3445,3378,68.2,-15.6,70,412,0.00,2.42,0.00,0.000,2308,0.000,0.071,2211,3392,3411,3444,3378,0,0,0,0,0,0,15.00,14.63,15.00
$GC,594,-0.85,-146.0,2210,3392,3445,3378,98.3,-15.3,107,601,0.00,2.35,0.00,0.000,3078,0.000,0.040,2210,1979,3411,3445,3377,0,0,0,0,0,0,14.75,14.66,14.76
$GC,664,-0.85,-146.0,2210,1978,3445,3377,108.1,-14.3,120,670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1978,3411,3445,3378,0,0,0,0,0,0,15.04,15.04,15.04
$GC,733,-0.85,-146.0,2210,1978,3445,3378,118.0,-13.7,133,740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1978,3411,3445,3377,0,0,0,0,0,0,15.04,15.04,15.04
$GC,802,-0.85,-146.0,2210,1978,3445,3378,127.5,-13.9,146,808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1978,3411,3445,3378,0,0,0,0,0,0,15.05,15.06,15.06
$GC,871,-0.85,-146.0,2210,1978,3445,3378,136.8,-13.8,159,878,0.00,2.45,0.00,0.000,2308,0.000,0.067,2210,3387,3411,3445,3377,0,0,0,0,0,0,15.06,14.72,15.06
$GC,915,-0.85,-146.0,2210,3388,3445,3378,142.6,-13.4,167,921,0.00,2.33,0.00,0.000,3078,0.000,0.039,2210,1980,3411,3446,3377,0,0,0,0,0,0,14.77,14.66,14.78
$GC,985,-0.85,-146.0,2210,1980,3446,3377,151.3,-11.8,180,991,0.00,2.38,0.00,0.000,2564,0.000,0.067,2210,582,3411,3445,3377,0,0,0,0,0,0,15.05,14.65,15.05
$GC,1019,-0.85,-146.0,2210,582,3445,3377,156.0,-13.3,186,1026,0.00,2.33,0.00,0.000,3078,0.000,0.045,2210,1994,3411,3446,3377,0,0,0,0,0,0,14.74,14.64,14.75
$GC,1089,-0.85,-146.0,2210,1993,3445,3377,164.6,-12.1,199,1095,0.00,2.38,0.00,0.000,2308,0.000,0.070,2212,3384,3410,3445,3376,0,0,0,0,0,0,15.06,14.57,15.06
$GC,1188,-0.85,-146.0,2210,3385,3445,3383,176.8,-12.8,218,1195,0.00,2.30,0.00,0.000,3078,0.000,0.039,2210,1981,3411,3446,3376,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1261,-0.85,-146.0,2209,1980,3446,3376,185.6,-11.8,231,1267,0.00,2.45,0.00,0.000,2308,0.000,0.069,2210,3386,3410,3445,3376,0,0,0,0,0,0,15.09,14.71,15.07
$GC,1314,-0.85,-146.0,2210,3386,3449,3376,191.7,-11.0,241,1321,0.00,2.30,0.00,0.000,3078,0.000,0.039,2210,1987,3411,3446,3376,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1385,-0.85,-146.0,2209,1986,3446,3377,200.0,-12.0,254,1391,0.00,2.42,0.00,0.000,2308,0.000,0.069,2210,3386,3410,3446,3375,0,0,0,0,0,0,15.07,14.61,15.07
$GC,1443,-0.85,-146.0,2210,3387,3445,3375,207.2,-11.3,265,1451,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,1980,3409,3445,3374,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1514,-0.85,-146.0,2210,1979,3445,3374,214.8,-10.2,278,1521,0.00,2.42,0.00,0.000,2308,0.000,0.070,2210,3387,3410,3445,3375,0,0,0,0,0,0,15.08,14.60,15.09
$STATE,1718,end dive,NO_VERTICAL_VELOCITY
$STATE,1718,begin apogee
$GC,1725,-0.19,0.0,2210,1978,3445,3374,221.5,0.0,318,1844,1.02,0.00,111.05,1.193,10246,0.125,0.000,2424,1976,2810,2850,2771,0,0,0,0,0,0,14.63,14.29,13.86
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1847,0.85,146.0,2425,1977,2850,2771,221.7,0.0,339,1971,1.58,2.42,112.43,1.179,10756,0.105,0.071,2752,581,2214,2257,2171,0,0,0,0,0,0,14.40,14.26,13.77
$GC,2038,0.90,180.9,2749,581,2251,2171,210.4,8.4,372,2075,0.00,2.35,27.98,1.131,11270,0.000,0.043,2749,1987,2074,2119,2029,0,0,0,0,0,0,14.62,14.53,13.85
$GC,2138,0.92,195.1,2748,1987,2117,2028,201.8,9.3,390,2157,0.08,2.47,13.12,1.066,10500,0.180,0.067,2800,3387,2014,2060,1969,0,0,0,0,0,0,14.57,14.52,13.88
$GC,2219,0.92,195.1,2801,3387,2058,1968,191.9,12.9,405,2227,0.10,2.35,0.00,0.000,5126,0.258,0.044,2786,1989,2012,2058,1967,0,0,0,0,0,0,14.43,14.58,14.61
$GC,2289,0.92,195.1,2785,1989,2057,1966,183.9,10.3,418,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1989,2011,2057,1966,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2356,0.92,195.1,2785,1990,2056,1966,176.9,10.6,431,2363,0.00,2.42,0.00,0.000,260,0.000,0.066,2786,3396,2011,2056,1966,0,0,0,0,0,0,14.93,14.65,14.94
$GC,2385,0.92,195.1,2785,3396,2056,1966,173.4,11.4,436,2392,0.00,2.35,0.00,0.000,1030,0.000,0.043,2785,1989,2010,2054,1966,0,0,0,0,0,0,14.79,14.69,14.81
$GC,2454,0.93,209.5,2785,1988,2055,1965,166.7,9.3,449,2474,0.00,2.42,11.95,1.005,8452,0.000,0.064,2785,3396,1959,2005,1914,0,0,0,0,0,0,14.97,14.54,14.05
$GC,2500,0.98,248.2,2785,3397,2005,1913,162.9,8.2,457,2543,0.00,2.35,32.50,1.121,11270,0.000,0.044,2785,1984,1799,1848,1751,0,0,0,0,0,0,14.82,14.72,14.03
$GC,2605,0.98,251.2,2785,1984,1846,1749,153.2,9.8,476,2619,0.00,2.45,3.62,0.565,10500,0.000,0.065,2785,3383,1788,1836,1740,0,0,0,0,0,0,14.87,14.56,13.90
$GC,2631,0.98,251.2,2785,3383,1835,1740,150.5,10.5,480,2637,0.00,2.35,0.00,0.000,3078,0.000,0.044,2785,1981,1792,1844,1740,0,0,0,0,0,0,14.75,14.65,14.76
$GC,2700,0.98,251.2,2785,1980,1836,1739,142.5,11.3,493,2707,0.00,2.45,0.00,0.000,2564,0.000,0.078,2785,577,1786,1834,1739,0,0,0,0,0,0,14.92,14.63,14.92
$GC,2734,0.98,251.2,2785,577,1833,1739,138.5,11.2,499,2740,0.00,2.35,0.00,0.000,3078,0.000,0.043,2785,1994,1786,1833,1739,0,0,0,0,0,0,14.76,14.67,14.78
$GC,2803,0.98,251.2,2785,1994,1833,1738,131.5,10.1,512,2809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2785,1995,1785,1833,1738,0,0,0,0,0,0,14.96,14.97,14.97
$GC,2871,1.00,264.7,2785,1995,1833,1736,125.3,9.4,525,2890,0.00,0.00,12.52,1.030,10246,0.000,0.000,2785,1994,1731,1781,1681,0,0,0,0,0,0,15.00,14.57,14.07
$GC,2952,1.06,312.6,2785,1995,1781,1680,118.3,7.8,540,2994,0.08,0.00,39.60,1.086,10502,0.183,0.000,2837,1994,1536,1591,1482,0,0,0,0,0,0,14.71,14.59,14.02
$GC,3056,1.06,312.6,2837,1994,1588,1479,104.5,15.1,559,3062,0.00,2.42,0.00,0.000,4356,0.000,0.068,2837,3394,1533,1588,1479,0,0,0,0,0,0,14.86,14.59,14.86
$GC,3079,1.06,312.6,2837,3394,1587,1479,100.7,16.7,563,3085,0.00,2.38,0.00,0.000,5126,0.000,0.046,2838,1985,1533,1587,1479,0,0,0,0,0,0,14.71,14.64,14.72
$GC,3148,1.06,312.6,2837,1985,1587,1479,91.4,12.3,576,3155,0.00,2.45,0.00,0.000,4612,0.000,0.077,2839,583,1533,1587,1479,0,0,0,0,0,0,14.92,14.59,14.93
$GC,3172,1.06,312.6,2838,583,1591,1479,88.6,10.9,580,3178,0.00,2.33,0.00,0.000,5126,0.000,0.044,2838,1987,1535,1586,1485,0,0,0,0,0,0,14.81,14.72,14.83
$GC,3241,1.08,328.8,2838,1987,1585,1479,81.3,9.2,593,3261,0.00,2.47,14.07,0.994,8452,0.000,0.067,2838,3393,1470,1524,1416,0,0,0,0,0,0,14.96,14.67,14.07
$GC,3283,1.08,328.8,2838,3393,1524,1415,76.9,10.5,600,3290,0.00,2.35,0.00,0.000,1030,0.000,0.045,2839,1988,1469,1523,1415,0,0,0,0,0,0,14.69,14.60,14.70
$GC,3352,1.08,328.8,2838,1987,1524,1414,69.7,11.2,613,3359,0.00,2.42,0.00,0.000,516,0.000,0.079,2838,584,1468,1523,1414,0,0,0,0,0,0,14.95,14.66,14.95
$GC,3385,1.08,328.8,2838,584,1522,1414,65.9,11.2,619,3392,0.00,2.33,0.00,0.000,1030,0.000,0.044,2838,1987,1467,1521,1414,0,0,0,0,0,0,14.83,14.75,14.83
$GC,3455,1.08,328.8,2838,1987,1520,1414,58.2,10.8,632,3461,0.00,0.00,0.00,0.000,4102,0.000,0.000,2838,1987,1467,1521,1414,0,0,0,0,0,0,14.99,15.00,14.99
$GC,3523,1.08,328.8,2838,1987,1520,1414,50.6,10.9,645,3530,0.00,2.40,0.00,0.000,260,0.000,0.067,2839,3390,1467,1520,1414,0,0,0,0,0,0,15.00,14.60,15.00
$GC,3576,1.08,328.8,2838,3390,1519,1413,44.3,12.1,655,3583,0.00,2.35,0.00,0.000,1030,0.000,0.045,2838,1977,1466,1519,1413,0,0,0,0,0,0,14.86,14.76,14.88
$GC,3647,1.08,328.8,2838,1977,1519,1413,37.4,11.8,668,3653,0.00,2.38,0.00,0.000,516,0.000,0.076,2839,577,1466,1520,1413,0,0,0,0,0,0,15.02,14.71,15.02
$GC,3660,1.08,328.8,2838,577,1520,1413,36.1,10.2,670,3667,0.00,2.33,0.00,0.000,5126,0.000,0.044,2839,1985,1466,1520,1413,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3730,1.19,422.2,2838,1987,1519,1413,30.9,5.7,683,3809,0.08,0.00,71.65,0.985,10758,0.183,0.000,2887,1987,1088,1144,1032,0,0,0,0,0,0,14.67,14.57,14.07
$GC,3873,1.24,458.6,2887,1986,1144,1029,19.7,8.3,708,3903,0.00,2.47,22.67,0.877,8708,0.000,0.076,2888,584,941,991,891,0,0,0,0,0,0,14.83,14.40,14.01
$GC,3932,1.32,521.8,2887,584,991,888,13.4,7.1,718,3980,0.00,2.35,40.05,0.835,11270,0.000,0.042,2888,1999,680,678,682,0,0,0,0,0,0,14.71,14.62,14.02
$STATE,4011,end climb,SURFACE_DEPTH_REACHED
$STATE,4011,begin surface coast
$FINISH,0.5,1.023363
$STATE,4027,end surface coast,CONTROL_FINISHED_OK
$STATE,4027,begin surface
$SM_CCo,4048,11.65,0.707,0,0,599,542.59
$SM_GC,0.50,12.90,0.00,11.65,0.049,0.000,0.707,145,2002,599,-7.27,0.37,542.59,0,0,0,0,0,0,14.62,14.83,14.06
$IRIDIUM_FIX,-2848.21,3215.99,010419,141219
$TT8_MAMPS,0.018725,0.875581
$HUMID,56.85
$INTERNAL_PRESSURE,9.23828
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.5
$ALTIM_BOTTOM_PING,180.1,62.8
$SC_FREEKB,3900832
$24V_AH,13.35,96.390
$10V_AH,13.64,0.000
$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,28.650,100.125,513.225,11.650,0.000,23.420,43.479,677.959,2.750,0.000,33.017,1604.205,598.546,679.522,2024.539,171.541,0.000,1373.844,0.000,1104.767,0.000,21.282,0.000
$DEVICE_MAMPS,315.180,84.150,1192.635,706.860,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4116.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.801,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,23441,735
$CAP_FILE_SIZE,143655,0
$CFSIZE,1023623168,1015578624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3799.60,0x236098,1,24
$CURRENT,0.044,273.02,1
$GPS,010419,175656,-2858.581,3213.329,64,1.1,64,-23.8,0.0,0.0,8,8.9