version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 149
start: 4 8 119 7 12 43
data:
$ID,573
$MISSION,30
$DIVE,149
$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,0
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,42
$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,2
$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
$GPS1,080419,070303,-2937.9976,3142.3110,16,0.8,21,-24.5,0.3,193.2,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-63.6
$GPS2,080419,071219,-2938.0774,3142.2588,20,0.8,21,-24.5,0.5,237.0,10,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2938.077,3129.834
$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,294.5,20000,-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,-146.0,78,2016,574,582,0.0,0.0,0,121,0.00,0.00,-98.60,0.000,16386,0.000,0.000,73,2017,3325,3342,3308,0,0,0,0,0,0,15.00,28.83,15.00
$GC,124,-0.86,-146.0,73,2017,3341,3308,4.4,-12.3,18,144,12.70,2.42,-1.38,0.000,18948,0.311,0.080,2206,607,3410,3438,3383,0,0,0,0,0,0,14.38,13.25,14.71
$GC,351,-0.86,-146.0,2206,607,3441,3382,59.1,-15.1,62,358,0.00,2.33,0.00,0.000,3078,0.000,0.044,2200,2012,3411,3441,3382,0,0,0,0,0,0,14.92,14.81,14.94
$GC,421,-0.86,-146.0,2199,2012,3442,3382,68.8,-14.8,75,428,0.00,2.40,0.00,0.000,2308,0.000,0.070,2192,3410,3412,3442,3382,0,0,0,0,0,0,15.08,14.77,15.08
$GC,444,-0.86,-146.0,2192,3410,3442,3382,72.4,-14.3,79,452,0.08,2.30,0.00,0.000,3078,0.282,0.038,2207,2014,3412,3442,3382,0,0,0,0,0,0,14.49,14.70,14.71
$GC,513,-0.86,-146.0,2206,2013,3442,3382,82.0,-14.6,92,519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2014,3411,3442,3381,0,0,0,0,0,0,15.11,15.10,15.10
$GC,582,-0.86,-146.0,2207,2014,3443,3381,92.3,-16.0,105,589,0.00,2.42,0.00,0.000,2308,0.000,0.067,2200,3415,3412,3443,3381,0,0,0,0,0,0,15.12,14.79,15.12
$GC,676,-0.86,-146.0,2199,3415,3441,3381,106.5,-14.1,123,682,0.00,2.33,0.00,0.000,3078,0.000,0.037,2200,2005,3412,3443,3381,0,0,0,0,0,0,14.93,14.81,14.95
$GC,747,-0.86,-146.0,2200,2006,3443,3381,116.0,-14.1,136,753,0.00,2.42,0.00,0.000,2308,0.000,0.067,2200,3417,3412,3443,3381,0,0,0,0,0,0,15.11,14.79,15.11
$GC,816,-0.86,-146.0,2200,3417,3443,3386,125.8,-13.7,149,823,0.00,2.33,0.00,0.000,3078,0.000,0.037,2200,2007,3412,3444,3381,0,0,0,0,0,0,14.96,14.86,14.98
$GC,886,-0.86,-146.0,2199,2007,3444,3381,136.0,-15.1,162,891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2007,3412,3444,3381,0,0,0,0,0,0,15.11,15.11,15.11
$GC,955,-0.86,-146.0,2199,2007,3444,3381,146.8,-15.8,175,960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,2007,3412,3444,3381,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1022,-0.86,-146.0,2200,2007,3444,3381,157.5,-15.1,188,1029,0.00,2.42,0.00,0.000,2308,0.000,0.068,2200,3410,3412,3444,3381,0,0,0,0,0,0,15.13,14.80,15.13
$GC,1076,-0.86,-146.0,2199,3410,3444,3381,165.6,-15.8,198,1082,0.00,2.30,0.00,0.000,3078,0.000,0.037,2200,2015,3412,3444,3381,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1145,-0.86,-146.0,2199,2015,3444,3381,176.8,-16.1,211,1152,0.00,2.42,0.00,0.000,2308,0.000,0.067,2197,3413,3412,3444,3381,0,0,0,0,0,0,15.12,14.73,15.12
$GC,1197,-0.86,-146.0,2197,3413,3444,3381,185.0,-14.0,220,1205,0.05,2.30,0.00,0.000,3078,0.321,0.037,2208,2008,3412,3444,3381,0,0,0,0,0,0,14.65,14.88,14.85
$GC,1266,-0.86,-146.0,2208,2007,3444,3381,193.5,-11.1,233,1273,0.00,2.38,0.00,0.000,2564,0.000,0.065,2208,611,3412,3444,3381,0,0,0,0,0,0,15.13,14.80,15.13
$GC,1295,-0.86,-146.0,2208,605,3445,3381,197.4,-11.5,238,1302,0.00,2.33,0.00,0.000,3078,0.000,0.044,2207,2026,3413,3445,3381,0,0,0,0,0,0,14.90,14.78,14.92
$GC,1365,-0.86,-146.0,2207,2025,3444,3381,206.1,-13.1,251,1371,0.00,2.38,0.00,0.000,2308,0.000,0.069,2207,3412,3412,3444,3381,0,0,0,0,0,0,15.14,14.69,15.14
$GC,1434,-0.86,-146.0,2207,3412,3444,3381,215.1,-12.0,264,1441,0.00,2.30,0.00,0.000,3078,0.000,0.037,2207,2004,3412,3443,3381,0,0,0,0,0,0,14.81,14.71,14.83
$STATE,1451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1451,begin apogee
$GC,1455,-0.19,0.0,2205,2003,3444,3385,217.5,-12.4,267,1572,1.10,0.00,111.25,1.143,10246,0.169,0.000,2423,2001,2811,2849,2773,0,0,0,0,0,0,14.49,14.52,13.90
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1574,begin climb
$GC,1576,0.86,146.0,2422,2001,2849,2773,222.4,0.0,288,1698,1.55,2.53,111.97,1.138,10756,0.099,0.069,2749,559,2215,2258,2172,0,0,0,0,0,0,14.48,14.28,13.83
$GC,1715,0.92,195.2,2749,559,2256,2171,216.5,7.7,312,1762,0.08,2.35,39.78,1.101,11270,0.177,0.041,2793,1974,2015,2062,1968,0,0,0,0,0,0,14.50,14.52,13.84
$GC,1824,0.92,195.2,2793,1975,2057,1964,204.4,12.5,332,1830,0.00,2.40,0.00,0.000,4356,0.000,0.066,2794,3356,2010,2056,1965,0,0,0,0,0,0,14.84,14.58,14.84
$GC,1863,0.92,195.2,2793,3356,2055,1964,199.4,12.8,339,1870,0.08,2.33,0.00,0.000,5126,0.292,0.041,2791,1957,2009,2055,1964,0,0,0,0,0,0,14.50,14.62,14.69
$GC,1932,0.92,195.2,2788,1957,2054,1963,191.3,11.4,352,1938,0.00,0.00,0.00,0.000,4102,0.000,0.000,2788,1957,2008,2054,1963,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1999,0.92,195.2,2788,1957,2054,1963,183.9,11.3,365,2006,0.00,2.40,0.00,0.000,4612,0.000,0.074,2791,570,2011,2054,1969,0,0,0,0,0,0,15.00,14.71,15.00
$GC,2028,0.92,195.2,2790,569,2053,1964,180.5,11.2,370,2035,0.00,2.28,0.00,0.000,5126,0.000,0.041,2791,1960,2008,2053,1963,0,0,0,0,0,0,14.88,14.78,14.89
$GC,2099,0.94,213.3,2790,1960,2053,1963,173.8,9.2,383,2122,0.00,2.38,15.32,1.039,8452,0.000,0.066,2791,3361,1939,1986,1893,0,0,0,0,0,0,15.02,14.73,14.07
$GC,2160,0.95,219.6,2790,3362,1983,1892,168.3,9.7,394,2173,0.00,2.30,6.25,0.900,9222,0.000,0.042,2791,1966,1916,1963,1869,0,0,0,0,0,0,14.85,14.76,13.97
$GC,2236,0.97,241.4,2791,1966,1960,1868,161.4,9.0,408,2259,0.00,0.00,19.08,1.047,10246,0.000,0.000,2791,1966,1826,1875,1778,0,0,0,0,0,0,15.00,14.68,14.04
$GC,2321,1.01,268.1,2791,1966,1870,1774,153.7,8.8,424,2349,0.00,0.00,22.42,1.037,10246,0.000,0.000,2791,1966,1718,1771,1666,0,0,0,0,0,0,14.98,14.47,14.00
$GC,2411,1.02,280.1,2791,1966,1768,1664,145.8,9.5,441,2428,0.00,0.00,11.00,0.944,10246,0.000,0.000,2791,1966,1669,1722,1616,0,0,0,0,0,0,14.95,14.50,13.98
$GC,2490,1.02,281.9,2791,1966,1718,1614,138.5,9.9,456,2496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2791,1966,1666,1719,1614,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2558,1.02,281.9,2791,1966,1718,1613,131.5,10.3,469,2564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2791,1966,1665,1718,1613,0,0,0,0,0,0,15.01,15.01,15.01
$GC,2626,1.02,281.9,2791,1966,1718,1612,124.2,10.9,482,2632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1965,1664,1717,1612,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2694,1.02,281.9,2791,1966,1717,1612,116.9,11.2,495,2700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2791,1966,1664,1717,1612,0,0,0,0,0,0,15.05,15.06,15.06
$GC,2761,1.02,281.9,2791,1966,1717,1612,109.1,11.2,508,2768,0.00,2.42,0.00,0.000,2308,0.000,0.063,2791,3368,1664,1716,1612,0,0,0,0,0,0,15.06,14.68,15.07
$GC,2790,1.02,281.9,2790,3369,1716,1611,105.8,12.1,513,2796,0.00,2.33,0.00,0.000,3078,0.000,0.044,2791,1966,1663,1715,1611,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2859,1.02,281.9,2791,1965,1716,1611,97.8,10.0,526,2865,0.00,0.00,0.00,0.000,2054,0.000,0.000,2791,1966,1663,1716,1611,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2927,1.02,281.9,2790,1965,1715,1611,90.8,10.3,539,2933,0.00,0.00,0.00,0.000,2054,0.000,0.000,2791,1965,1663,1716,1611,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2995,1.03,285.8,2791,1965,1715,1611,83.7,9.8,552,3003,0.00,0.00,5.28,0.728,10246,0.000,0.000,2791,1965,1646,1699,1594,0,0,0,0,0,0,15.09,14.78,14.02
$GC,3066,1.06,312.1,2791,1965,1698,1593,77.6,8.8,565,3096,0.08,2.45,23.17,0.999,10756,0.182,0.076,2842,569,1538,1592,1485,0,0,0,0,0,0,14.83,14.73,14.13
$GC,3119,1.06,312.1,2842,566,1590,1485,71.2,12.0,574,3126,0.00,2.30,0.00,0.000,5126,0.000,0.041,2842,1970,1535,1586,1484,0,0,0,0,0,0,14.87,14.78,14.88
$GC,3189,1.06,312.1,2842,1970,1593,1483,62.9,12.1,587,3194,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1971,1535,1588,1482,0,0,0,0,0,0,15.03,15.04,15.03
$GC,3257,1.06,312.1,2842,1971,1588,1482,54.8,11.9,600,3262,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1970,1534,1587,1482,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3324,1.06,312.1,2842,1970,1588,1481,47.3,10.8,613,3331,0.00,2.40,0.00,0.000,4356,0.000,0.067,2842,3364,1534,1587,1481,0,0,0,0,0,0,15.07,14.77,15.07
$GC,3353,1.08,331.0,2842,3364,1585,1480,44.5,9.1,618,3377,0.00,2.33,16.23,0.946,13318,0.000,0.043,2845,1965,1461,1515,1408,0,0,0,0,0,0,14.92,14.81,14.14
$GC,3439,1.13,365.5,2845,1961,1507,1406,37.9,8.4,634,3474,0.00,2.47,28.62,0.953,10756,0.000,0.076,2851,559,1320,1377,1264,0,0,0,0,0,0,15.04,14.67,14.07
$GC,3497,1.17,398.5,2845,559,1377,1264,32.7,8.5,644,3532,0.00,2.33,27.48,0.933,11270,0.000,0.040,2845,1971,1186,1244,1129,0,0,0,0,0,0,14.77,14.69,14.03
$GC,3594,1.19,420.5,2844,1972,1244,1125,24.2,9.0,662,3612,0.00,0.00,14.07,0.864,10246,0.000,0.000,2844,1971,1096,1155,1038,0,0,0,0,0,0,14.93,14.57,14.00
$GC,3674,1.25,462.8,2844,1972,1154,1033,16.7,8.1,677,3703,0.10,0.00,25.20,0.833,10246,0.142,0.000,2900,1972,924,976,873,0,0,0,0,0,0,14.64,14.62,14.08
$GC,3765,1.25,462.8,2900,1973,976,866,4.4,13.8,694,3771,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,1972,920,976,865,0,0,0,0,0,0,14.94,14.94,14.94
$STATE,3776,end climb,SURFACE_DEPTH_REACHED
$STATE,3776,begin surface coast
$FINISH,0.3,1.023813
$STATE,3793,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3814,45.83,0.733,0,0,598,542.59
$SM_GC,0.53,12.95,0.00,45.83,0.054,0.000,0.733,144,1973,598,-7.26,-1.13,542.59,0,0,0,0,0,0,14.75,14.99,14.12
$IRIDIUM_FIX,-2925.24,3142.46,080419,054744
$TT8_MAMPS,0.019474,0.927262
$HUMID,57.32
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,180.6,51.4
$SC_FREEKB,3846336
$24V_AH,13.25,121.991
$10V_AH,13.51,0.000
$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,28.750,75.750,477.125,45.825,0.000,26.202,40.915,278.071,3.250,0.000,21.477,1450.180,625.999,659.916,1540.728,146.900,0.000,1329.825,0.000,1050.925,0.000,22.748,0.000
$DEVICE_MAMPS,321.300,79.560,1142.910,732.870,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3857.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.515,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23392,699
$CAP_FILE_SIZE,133610,0
$CFSIZE,1023623168,1002110976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080419,081821,-2938.220,3141.675,18,1.0,40,-24.5,0.4,165.3,9,9.2