version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 98
start: 4 4 119 11 54 41
data:
$ID,573
$MISSION,30
$DIVE,98
$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,333
$T_MISSION,343
$T_ABORT,358
$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,270
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$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
$GPS1,040419,114811,-2905.7710,3208.0312,27,1.0,28,-23.9,1.0,222.6,8,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-53.0
$GPS2,040419,115417,-2905.8589,3207.9995,16,1.0,19,-23.9,0.3,154.6,8,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2910.962,3218.900
$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,142.1,20000,-18.3,-10.010,-21.05,2234
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,92,1990,587,576,0.0,0.0,0,121,0.00,0.00,-98.32,0.000,16386,0.000,0.000,81,1989,3227,3238,3216,0,0,0,0,0,0,15.02,28.83,15.02
$GC,125,-0.86,-146.0,81,1990,3239,3216,3.3,-8.7,17,150,12.62,2.42,-3.15,0.000,18948,0.314,0.083,2203,572,3411,3443,3379,0,0,0,0,0,0,14.41,13.37,14.60
$GC,162,-0.86,-146.0,2203,572,3445,3379,17.9,-32.4,23,169,0.00,2.33,0.00,0.000,3078,0.000,0.043,2203,1994,3411,3444,3379,0,0,0,0,0,0,14.91,14.81,14.92
$GC,231,-0.86,-146.0,2203,1988,3445,3379,32.7,-22.1,36,237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1988,3412,3445,3380,0,0,0,0,0,0,15.06,15.06,15.06
$GC,299,-0.86,-146.0,2203,1988,3445,3380,44.4,-16.0,49,307,0.00,2.40,0.00,0.000,2308,0.000,0.069,2203,3379,3411,3445,3378,0,0,0,0,0,0,15.06,14.65,15.07
$GC,379,-0.86,-146.0,2203,3379,3445,3379,56.0,-14.2,64,386,0.00,2.30,0.00,0.000,3078,0.000,0.038,2203,1979,3412,3446,3379,0,0,0,0,0,0,14.82,14.73,14.83
$GC,449,-0.86,-146.0,2203,1979,3446,3380,66.6,-15.5,77,456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1979,3412,3446,3379,0,0,0,0,0,0,15.11,15.11,15.11
$GC,518,-0.86,-146.0,2201,1979,3447,3379,76.5,-13.6,90,525,0.00,2.40,0.00,0.000,2308,0.000,0.066,2203,3382,3412,3446,3379,0,0,0,0,0,0,15.11,14.81,15.11
$GC,583,-0.86,-146.0,2201,3382,3446,3379,85.5,-15.1,102,589,0.00,2.28,0.00,0.000,3078,0.000,0.038,2203,1985,3413,3447,3379,0,0,0,0,0,0,14.96,14.86,14.98
$GC,654,-0.86,-146.0,2203,1985,3447,3379,95.4,-13.5,115,660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1985,3413,3447,3379,0,0,0,0,0,0,15.11,15.11,15.11
$GC,722,-0.86,-146.0,2203,1985,3447,3380,105.0,-12.0,128,729,0.00,2.40,0.00,0.000,2308,0.000,0.066,2203,3386,3413,3447,3379,0,0,0,0,0,0,15.12,14.81,15.13
$GC,746,-0.86,-146.0,2198,3386,3447,3386,107.6,-10.9,132,752,0.00,2.33,0.00,0.000,3078,0.000,0.037,2203,1976,3413,3447,3379,0,0,0,0,0,0,14.91,14.81,14.92
$GC,815,-0.86,-146.0,2202,1977,3447,3379,116.2,-12.7,145,821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1977,3413,3447,3379,0,0,0,0,0,0,15.11,15.12,15.12
$GC,884,-0.86,-146.0,2202,1977,3447,3379,125.1,-11.9,158,890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1977,3413,3447,3379,0,0,0,0,0,0,15.12,15.13,15.13
$GC,953,-0.86,-146.0,2203,1977,3447,3379,133.9,-12.1,171,959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1977,3413,3447,3379,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1021,-0.86,-146.0,2202,1977,3447,3379,142.2,-12.7,184,1027,0.00,2.40,0.00,0.000,2308,0.000,0.064,2203,3383,3413,3447,3379,0,0,0,0,0,0,15.13,14.76,15.14
$GC,1049,-0.86,-146.0,2202,3384,3447,3378,145.8,-12.4,189,1057,0.00,2.30,0.00,0.000,3078,0.000,0.039,2203,1975,3413,3447,3379,0,0,0,0,0,0,14.83,14.71,14.85
$GC,1120,-0.86,-146.0,2202,1975,3447,3378,154.6,-12.8,202,1126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1975,3413,3447,3379,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1188,-0.86,-146.0,2203,1975,3447,3379,163.5,-12.6,215,1194,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1975,3412,3447,3378,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1256,-0.86,-146.0,2202,1975,3447,3379,170.5,-11.1,228,1262,0.00,2.35,0.00,0.000,2564,0.000,0.066,2203,585,3412,3446,3378,0,0,0,0,0,0,15.13,14.75,15.14
$GC,1294,-0.86,-146.0,2203,585,3447,3378,175.1,-12.5,235,1300,0.00,2.28,0.00,0.000,3078,0.000,0.044,2202,1985,3412,3447,3378,0,0,0,0,0,0,14.97,14.87,14.99
$GC,1363,-0.86,-146.0,2202,1985,3447,3378,183.7,-12.4,248,1370,0.00,2.38,0.00,0.000,2308,0.000,0.069,2203,3383,3416,3447,3385,0,0,0,0,0,0,15.12,14.81,15.13
$GC,1382,-0.86,-146.0,2203,3384,3447,3378,186.0,-10.7,251,1389,0.00,2.28,0.00,0.000,3078,0.000,0.038,2203,1991,3412,3447,3378,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,1450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1450,begin apogee
$GC,1454,-0.19,0.0,2203,1990,3447,3378,193.7,-12.4,264,1569,1.10,0.00,109.80,1.149,10246,0.168,0.000,2419,1988,2811,2850,2773,0,0,0,0,0,0,14.62,14.47,13.92
$STATE,1571,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1573,0.86,146.0,2419,1988,2850,2772,199.9,0.0,284,1695,1.58,2.45,111.50,1.140,10756,0.097,0.073,2750,584,2213,2257,2170,0,0,0,0,0,0,14.49,14.29,13.86
$GC,1717,0.91,190.7,2750,586,2253,2170,195.2,8.0,308,1761,0.05,2.33,35.90,1.104,11270,0.251,0.043,2784,1981,2033,2079,1987,0,0,0,0,0,0,14.45,14.54,13.85
$GC,1822,0.91,190.7,2783,1982,2074,1984,183.3,12.0,327,1829,0.00,2.40,0.00,0.000,260,0.000,0.070,2784,3385,2029,2074,1984,0,0,0,0,0,0,14.83,14.58,14.83
$GC,1866,0.91,190.7,2784,3385,2073,1983,177.5,12.7,335,1873,0.00,2.35,0.00,0.000,5126,0.000,0.044,2787,1982,2028,2073,1983,0,0,0,0,0,0,14.77,14.68,14.78
$GC,1935,0.91,190.7,2786,1982,2072,1983,169.9,10.8,348,1942,0.00,2.42,0.00,0.000,4612,0.000,0.075,2787,577,2026,2070,1983,0,0,0,0,0,0,14.95,14.67,14.95
$GC,2059,0.91,190.7,2787,577,2068,1982,156.5,10.6,372,2066,0.00,2.33,0.00,0.000,5126,0.000,0.044,2787,1982,2025,2069,1982,0,0,0,0,0,0,14.81,14.70,14.83
$GC,2129,0.91,190.7,2786,1982,2068,1982,149.0,10.8,385,2136,0.00,2.40,0.00,0.000,4356,0.000,0.067,2787,3393,2025,2068,1982,0,0,0,0,0,0,15.04,14.66,15.04
$GC,2188,0.91,190.7,2786,3393,2068,1981,141.7,11.8,396,2195,0.00,2.35,0.00,0.000,5126,0.000,0.044,2787,1981,2024,2068,1981,0,0,0,0,0,0,14.81,14.71,14.82
$GC,2258,0.91,190.7,2786,1980,2068,1981,134.4,10.8,409,2265,0.00,2.38,0.00,0.000,4612,0.000,0.075,2787,583,2023,2067,1980,0,0,0,0,0,0,15.07,14.67,15.07
$GC,2308,0.91,190.7,2787,583,2067,1980,128.9,11.1,418,2314,0.00,2.30,0.00,0.000,5126,0.000,0.043,2787,1987,2023,2067,1980,0,0,0,0,0,0,14.94,14.85,14.96
$GC,2378,0.91,190.7,2786,1987,2067,1980,121.4,10.4,431,2384,0.00,0.00,0.00,0.000,4102,0.000,0.000,2787,1987,2023,2067,1980,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2446,0.91,190.7,2786,1987,2067,1980,114.7,10.1,444,2452,0.00,2.40,0.00,0.000,4612,0.000,0.073,2787,587,2023,2067,1980,0,0,0,0,0,0,15.10,14.77,15.10
$GC,2534,0.91,190.7,2786,587,2066,1980,105.5,10.7,461,2542,0.00,2.30,0.00,0.000,5126,0.000,0.044,2787,1986,2023,2066,1980,0,0,0,0,0,0,14.88,14.75,14.90
$GC,2605,0.91,190.7,2786,1986,2066,1979,98.3,10.2,474,2612,0.00,2.40,0.00,0.000,4356,0.000,0.066,2787,3399,2022,2066,1979,0,0,0,0,0,0,15.10,14.77,15.11
$GC,2674,0.91,190.7,2786,3399,2066,1980,90.3,11.7,487,2680,0.00,2.33,0.00,0.000,5126,0.000,0.043,2790,1987,2022,2066,1979,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2743,0.91,190.7,2790,1987,2066,1979,83.0,10.4,500,2750,0.00,2.40,0.00,0.000,4612,0.000,0.075,2790,586,2022,2066,1979,0,0,0,0,0,0,15.11,14.64,15.11
$GC,2802,0.91,190.7,2790,586,2065,1979,77.0,10.4,511,2808,0.00,2.30,0.00,0.000,5126,0.000,0.042,2790,1990,2022,2065,1979,0,0,0,0,0,0,14.96,14.87,14.98
$GC,2871,0.91,190.7,2790,1989,2066,1979,69.4,10.3,524,2878,0.00,2.38,0.00,0.000,4356,0.000,0.067,2790,3392,2022,2065,1979,0,0,0,0,0,0,15.10,14.80,15.11
$GC,2979,0.91,190.7,2790,3392,2066,1979,57.2,10.7,545,2986,0.00,2.33,0.00,0.000,5126,0.000,0.044,2790,1985,2021,2065,1978,0,0,0,0,0,0,14.83,14.73,14.85
$GC,3050,0.93,209.4,2790,1985,2065,1978,50.7,9.1,558,3075,0.00,2.40,14.68,0.988,8708,0.000,0.074,2790,591,1955,2001,1910,0,0,0,0,0,0,15.11,14.78,14.20
$GC,3113,0.93,209.4,2790,591,1998,1910,45.0,10.1,569,3120,0.00,2.30,0.00,0.000,1030,0.000,0.043,2790,1992,1954,1998,1910,0,0,0,0,0,0,14.91,14.84,14.93
$GC,3184,0.93,209.4,2790,1992,1998,1908,37.8,10.7,582,3190,0.00,2.38,0.00,0.000,260,0.000,0.067,2790,3394,1953,1998,1908,0,0,0,0,0,0,15.07,14.67,15.07
$GC,3263,0.93,209.4,2790,3394,1997,1907,29.2,10.1,597,3270,0.00,2.33,0.00,0.000,1030,0.000,0.043,2790,1981,1952,1998,1907,0,0,0,0,0,0,14.81,14.71,14.83
$GC,3334,0.98,242.7,2790,1981,1998,1906,22.6,8.5,610,3358,0.00,0.00,19.58,0.930,10246,0.000,0.000,2790,1981,1820,1869,1772,0,0,0,0,0,0,15.09,14.80,14.23
$GC,3422,1.12,356.8,2790,1981,1865,1767,17.4,4.8,626,3493,0.12,0.00,65.18,0.897,10758,0.123,0.000,2852,1981,1355,1413,1297,0,0,0,0,0,0,14.76,14.62,14.14
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,0.0,1.023916
$STATE,3578,end surface coast,CONTROL_FINISHED_OK
$STATE,3578,begin surface
$SM_CCo,3599,102.32,0.767,0,0,599,542.59
$SM_GC,0.50,12.60,0.00,102.32,0.048,0.000,0.767,147,1979,599,-7.27,-0.20,542.59,0,0,0,0,0,0,14.71,14.95,14.09
$IRIDIUM_FIX,-2853.13,3209.73,040419,110845
$TT8_MAMPS,0.019474,0.904792
$HUMID,58.07
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,150.2,58.4
$SC_FREEKB,3873312
$24V_AH,13.37,108.861
$10V_AH,13.41,0.000
$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,28.075,84.750,356.625,102.325,0.000,23.968,16.083,159.170,2.500,0.000,19.572,1459.772,552.816,643.202,1303.769,123.215,0.000,1257.521,0.000,986.230,0.000,18.104,0.000
$DEVICE_MAMPS,313.650,82.620,1149.030,766.530,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3609.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.903,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,23405,654
$CAP_FILE_SIZE,121096,0
$CFSIZE,1023623168,1009434624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,213.92,1
$GPS,040419,125717,-2906.234,3208.377,17,0.8,18,-24.0,1.4,209.4,9,9.4