version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 188
start: 4 11 119 5 39 42
data:
$ID,573
$MISSION,30
$DIVE,188
$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,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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,110419,052900,-2959.0752,3105.9983,19,0.8,21,-24.8,0.7,230.2,11,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-64.3
$GPS2,110419,053917,-2959.2146,3105.8081,17,0.8,25,-24.8,0.9,264.9,11,9.5
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.215,3053.340
$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,294.8,20000,-18.2,-9.950,-20.98,2247
$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,21,-0.85,-146.0,98,2017,580,582,0.0,0.0,0,122,0.00,0.00,-98.22,0.000,16386,0.000,0.000,87,2019,3315,3332,3299,0,0,0,0,0,0,14.99,28.83,15.00
$GC,125,-0.85,-146.0,87,2018,3334,3300,4.2,-11.1,18,145,12.65,2.45,-1.48,0.000,18692,0.308,0.080,2195,3415,3409,3438,3381,0,0,0,0,0,0,14.31,13.23,14.50
$GC,197,-0.85,-146.0,2194,3416,3442,3381,26.7,-19.5,31,204,0.08,2.35,0.00,0.000,3078,0.288,0.037,2210,2005,3411,3441,3381,0,0,0,0,0,0,14.54,14.77,14.76
$GC,267,-0.85,-146.0,2209,2005,3441,3381,39.6,-18.8,44,274,0.00,2.45,0.00,0.000,2308,0.000,0.069,2209,3408,3411,3442,3381,0,0,0,0,0,0,15.04,14.72,15.04
$GC,381,-0.85,-146.0,2208,3408,3442,3381,56.4,-13.0,66,388,0.00,2.30,0.00,0.000,3078,0.000,0.036,2209,2019,3412,3443,3381,0,0,0,0,0,0,14.91,14.79,14.92
$GC,451,-0.85,-146.0,2209,2014,3443,3381,64.4,-11.4,79,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2014,3412,3443,3381,0,0,0,0,0,0,15.07,15.07,15.07
$GC,519,-0.85,-146.0,2209,2014,3444,3381,73.2,-14.5,92,525,0.00,2.40,0.00,0.000,2308,0.000,0.067,2204,3407,3412,3444,3380,0,0,0,0,0,0,15.08,14.73,15.08
$GC,633,-0.85,-146.0,2202,3408,3445,3380,88.4,-12.8,114,640,0.00,2.30,0.00,0.000,3078,0.000,0.036,2204,2003,3413,3445,3381,0,0,0,0,0,0,14.93,14.83,14.95
$GC,703,-0.85,-146.0,2203,2003,3446,3381,97.2,-12.0,127,709,0.00,2.42,0.00,0.000,2308,0.000,0.067,2203,3405,3413,3445,3381,0,0,0,0,0,0,15.09,14.76,15.09
$GC,791,-0.85,-146.0,2203,3406,3445,3380,107.4,-12.1,144,797,0.00,2.30,0.00,0.000,3078,0.000,0.036,2204,2013,3413,3446,3380,0,0,0,0,0,0,14.91,14.78,14.93
$GC,860,-0.85,-146.0,2203,2013,3446,3380,115.3,-11.1,157,865,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2013,3413,3446,3380,0,0,0,0,0,0,15.10,15.10,15.10
$GC,927,-0.85,-146.0,2203,2013,3446,3380,123.3,-11.5,170,933,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2013,3413,3446,3380,0,0,0,0,0,0,15.11,15.11,15.11
$GC,995,-0.85,-146.0,2203,2013,3446,3380,130.9,-11.8,183,1001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2013,3413,3446,3380,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1063,-0.85,-146.0,2203,2013,3446,3380,139.0,-11.4,196,1069,0.00,2.40,0.00,0.000,2308,0.000,0.068,2203,3407,3413,3446,3380,0,0,0,0,0,0,15.11,14.76,15.11
$GC,1132,-0.85,-146.0,2202,3407,3446,3380,146.6,-11.1,209,1139,0.00,2.30,0.00,0.000,3078,0.000,0.037,2202,2010,3413,3446,3380,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1203,-0.85,-146.0,2202,2016,3445,3380,154.8,-11.5,222,1208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2010,3413,3446,3380,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1273,-0.85,-146.0,2202,2010,3446,3380,163.0,-12.6,235,1279,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2010,3413,3446,3380,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1341,-0.85,-146.0,2202,2010,3446,3380,170.5,-11.4,248,1347,0.00,2.45,0.00,0.000,2308,0.000,0.067,2202,3409,3412,3446,3379,0,0,0,0,0,0,15.11,14.76,15.11
$GC,1374,-0.85,-146.0,2202,3413,3446,3379,174.3,-11.3,254,1381,0.03,2.30,0.00,0.000,3078,0.471,0.037,2209,2010,3412,3446,3379,0,0,0,0,0,0,14.53,14.71,14.68
$GC,1444,-0.85,-146.0,2208,2010,3445,3379,182.1,-11.2,267,1451,0.00,2.42,0.00,0.000,2308,0.000,0.069,2207,3405,3412,3446,3379,0,0,0,0,0,0,15.11,14.59,15.11
$STATE,1486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1487,begin apogee
$GC,1494,-0.19,0.0,2207,1955,3446,3379,187.1,-11.0,275,1611,1.08,0.00,109.95,1.100,10246,0.161,0.000,2421,1953,2810,2850,2771,0,0,0,0,0,0,14.57,14.47,13.88
$STATE,1613,end apogee,CONTROL_FINISHED_OK
$STATE,1613,begin climb
$GC,1615,0.85,146.0,2420,1953,2851,2772,191.2,0.0,296,1737,1.55,2.42,111.57,1.093,10756,0.099,0.072,2749,557,2213,2257,2170,0,0,0,0,0,0,14.47,14.40,13.82
$GC,1781,0.88,169.0,2748,557,2253,2170,182.6,8.9,325,1805,0.00,2.35,19.12,1.030,11270,0.000,0.041,2749,1968,2122,2167,2078,0,0,0,0,0,0,14.59,14.50,13.84
$GC,1868,0.94,219.8,2749,1968,2162,2076,175.4,7.6,341,1919,0.08,2.45,41.15,1.053,10500,0.177,0.065,2798,3359,1911,1958,1865,0,0,0,0,0,0,14.57,14.45,13.88
$GC,1951,0.94,219.8,2798,3359,1956,1863,165.6,13.0,356,1958,0.00,2.35,0.00,0.000,5126,0.000,0.043,2807,1965,1909,1956,1863,0,0,0,0,0,0,14.66,14.57,14.67
$GC,2022,0.94,219.8,2807,1964,1955,1862,157.0,12.6,369,2028,0.03,0.00,0.00,0.000,4102,0.506,0.000,2798,1964,1908,1955,1862,0,0,0,0,0,0,14.46,14.64,14.60
$GC,2091,0.94,219.8,2798,1964,1951,1862,148.6,11.8,382,2098,0.00,2.45,0.00,0.000,4612,0.000,0.076,2798,556,1907,1953,1862,0,0,0,0,0,0,14.96,14.62,14.97
$GC,2115,0.94,219.8,2798,555,1952,1862,145.5,12.3,386,2121,0.00,2.33,0.00,0.000,5126,0.000,0.041,2798,1972,1907,1953,1862,0,0,0,0,0,0,14.72,14.65,14.71
$GC,2184,0.94,219.8,2798,1972,1952,1861,137.8,11.2,399,2190,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,1972,1906,1952,1861,0,0,0,0,0,0,15.00,15.01,15.01
$GC,2252,0.94,219.8,2798,1972,1950,1861,130.0,11.0,412,2259,0.00,2.40,0.00,0.000,4356,0.000,0.064,2798,3361,1906,1951,1861,0,0,0,0,0,0,15.04,14.73,15.04
$GC,2296,0.94,219.8,2798,3361,1950,1861,124.6,12.9,420,2303,0.00,2.35,0.00,0.000,5126,0.000,0.044,2804,1961,1905,1950,1860,0,0,0,0,0,0,14.83,14.72,14.85
$GC,2366,0.94,219.8,2804,1961,1950,1859,115.6,13.1,433,2373,0.00,2.42,0.00,0.000,4612,0.000,0.076,2804,556,1904,1949,1859,0,0,0,0,0,0,15.05,14.68,15.05
$GC,2400,0.94,219.8,2804,556,1948,1859,111.1,13.5,439,2406,0.00,2.30,0.00,0.000,5126,0.000,0.041,2804,1964,1904,1949,1859,0,0,0,0,0,0,14.78,14.70,14.79
$GC,2469,0.94,219.8,2804,1964,1948,1859,102.5,12.9,452,2476,0.00,2.38,0.00,0.000,4356,0.000,0.065,2804,3360,1903,1948,1859,0,0,0,0,0,0,15.08,14.76,15.08
$GC,2523,0.94,219.8,2804,3360,1948,1859,95.1,13.8,462,2529,0.00,2.33,0.00,0.000,5126,0.000,0.044,2805,1963,1903,1948,1859,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2593,0.94,219.8,2805,1959,1948,1858,86.1,12.0,475,2598,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1960,1901,1948,1855,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2660,0.94,219.8,2805,1960,1948,1858,78.3,10.8,488,2667,0.00,2.42,0.00,0.000,4356,0.000,0.063,2805,3371,1903,1948,1858,0,0,0,0,0,0,15.08,14.65,15.08
$GC,2689,0.94,219.8,2805,3371,1948,1858,75.2,10.4,493,2696,0.08,2.33,0.00,0.000,5126,0.298,0.043,2797,1962,1903,1948,1858,0,0,0,0,0,0,14.59,14.81,14.84
$GC,2759,0.94,219.8,2797,1962,1948,1858,68.0,10.3,506,2764,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,1962,1903,1948,1858,0,0,0,0,0,0,15.10,15.09,15.10
$GC,2827,0.94,219.8,2797,1962,1947,1858,60.7,11.1,519,2833,0.00,0.00,0.00,0.000,4102,0.000,0.000,2798,1962,1902,1948,1857,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2895,0.94,219.8,2797,1962,1948,1857,52.7,11.3,532,2901,0.00,2.40,0.00,0.000,4356,0.000,0.063,2797,3361,1902,1948,1857,0,0,0,0,0,0,15.09,14.61,15.09
$GC,2918,0.94,219.8,2797,3359,1948,1857,50.3,10.0,536,2925,0.00,2.33,0.00,0.000,5126,0.000,0.044,2799,1961,1902,1948,1857,0,0,0,0,0,0,14.91,14.81,14.95
$GC,2989,1.01,271.2,2798,1964,1948,1857,44.1,7.6,549,3034,0.00,0.00,40.20,0.965,10758,0.000,0.000,2798,1964,1705,1758,1653,0,0,0,0,0,0,15.11,14.70,14.10
$GC,3096,1.11,351.3,2798,1964,1753,1648,36.0,6.3,569,3170,0.08,2.47,62.95,0.949,10500,0.181,0.063,2847,3358,1379,1436,1323,0,0,0,0,0,0,14.71,14.46,13.98
$GC,3183,1.13,368.5,2847,3358,1436,1323,29.0,9.2,584,3206,0.00,2.35,14.23,0.883,9222,0.000,0.042,2852,1963,1308,1366,1251,0,0,0,0,0,0,14.68,14.59,13.92
$GC,3269,1.13,368.5,2852,1963,1364,1251,19.5,10.7,600,3276,0.00,2.40,0.00,0.000,516,0.000,0.076,2852,565,1308,1366,1251,0,0,0,0,0,0,14.86,14.59,14.88
$GC,3298,1.13,368.5,2852,566,1366,1251,16.1,10.7,605,3305,0.00,2.30,0.00,0.000,1030,0.000,0.039,2852,1966,1308,1366,1251,0,0,0,0,0,0,14.77,14.69,14.78
$GC,3368,1.13,368.5,2852,1966,1365,1251,7.7,11.8,618,3374,0.00,2.38,0.00,0.000,260,0.000,0.062,2852,3358,1308,1365,1251,0,0,0,0,0,0,14.95,14.67,14.96
$GC,3401,1.13,368.5,2852,3358,1364,1251,3.3,13.0,624,3407,0.00,2.33,0.00,0.000,1030,0.000,0.043,2852,1964,1307,1364,1251,0,0,0,0,0,0,14.78,14.68,14.79
$STATE,3412,end climb,SURFACE_DEPTH_REACHED
$STATE,3412,begin surface coast
$FINISH,-0.2,1.023679
$STATE,3434,end surface coast,CONTROL_FINISHED_OK
$STATE,3434,begin surface
$SM_CCo,3455,95.93,0.734,0,0,599,542.59
$SM_GC,0.62,12.70,0.00,95.93,0.052,0.000,0.734,141,1962,599,-7.27,-1.44,542.59,0,0,0,0,0,0,14.76,15.02,14.10
$IRIDIUM_FIX,-2945.08,3106.79,110419,035929
$TT8_MAMPS,0.019474,0.886816
$HUMID,56.85
$INTERNAL_PRESSURE,9.26758
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,160.2,41.4
$SC_FREEKB,3826304
$24V_AH,13.23,132.195
$10V_AH,13.26,0.000
$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,28.325,85.500,399.175,95.925,0.000,23.576,51.201,306.174,3.000,0.000,25.958,1311.193,562.327,655.549,1486.315,157.444,0.000,1266.638,0.000,953.063,0.000,22.504,0.000
$DEVICE_MAMPS,505.665,80.325,1100.070,734.400,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.789,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20118,630
$CAP_FILE_SIZE,123005,0
$CFSIZE,1023623168,996245504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,064011,-2959.555,3104.844,31,0.8,40,-24.8,0.6,188.3,10,8.0