version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 194
start: 4 11 119 11 9 14
data:
$ID,573
$MISSION,30
$DIVE,194
$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,120
$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,30
$R_STBD_OVSHOOT,52
$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
$GPS1,110419,110017,-3002.4517,3102.5525,18,1.1,20,-24.8,0.8,172.7,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-64.1
$GPS2,110419,110849,-3002.6150,3102.5208,19,1.2,59,-24.8,0.6,225.7,7,2.8
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3008.015,3113.334
$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,144.8,20000,-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,-146.0,72,2010,585,579,0.0,0.0,0,121,0.00,0.00,-98.20,0.000,16386,0.000,0.000,72,2010,3326,3343,3309,0,0,0,0,0,0,15.05,28.83,15.07
$GC,125,-0.85,-146.0,72,2010,3346,3309,4.3,-12.0,18,144,12.52,2.42,-1.30,0.000,18948,0.301,0.080,2206,599,3409,3437,3382,0,0,0,0,0,0,14.38,13.24,14.59
$GC,247,-0.85,-146.0,2206,599,3440,3382,33.9,-13.5,41,254,0.00,2.33,0.00,0.000,3078,0.000,0.043,2202,2010,3411,3441,3381,0,0,0,0,0,0,14.94,14.83,14.95
$GC,317,-0.85,-146.0,2202,2010,3441,3382,42.5,-12.1,54,323,0.00,2.40,0.00,0.000,2308,0.000,0.070,2199,3415,3411,3441,3381,0,0,0,0,0,0,15.09,14.79,15.08
$GC,385,-0.85,-146.0,2198,3415,3441,3381,51.0,-12.6,67,393,0.05,2.35,0.00,0.000,3078,0.330,0.037,2210,1997,3411,3441,3381,0,0,0,0,0,0,14.58,14.81,14.80
$GC,456,-0.85,-146.0,2209,1997,3443,3381,59.7,-11.7,80,463,0.00,2.45,0.00,0.000,2308,0.000,0.067,2210,3415,3411,3442,3381,0,0,0,0,0,0,15.13,14.81,15.12
$GC,485,-0.85,-146.0,2209,3415,3442,3381,63.1,-10.4,85,491,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2010,3411,3442,3381,0,0,0,0,0,0,14.84,14.76,14.85
$GC,553,-0.85,-146.0,2209,2010,3443,3381,71.6,-12.2,98,560,0.00,2.35,0.00,0.000,2564,0.000,0.066,2210,611,3411,3442,3381,0,0,0,0,0,0,15.12,14.81,15.13
$GC,602,-0.85,-146.0,2210,611,3443,3381,78.2,-13.5,107,609,0.00,2.30,0.00,0.000,3078,0.000,0.043,2210,2025,3412,3443,3381,0,0,0,0,0,0,14.97,14.88,14.99
$GC,672,-0.85,-146.0,2210,2025,3447,3381,86.4,-12.1,120,677,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,2025,3412,3443,3381,0,0,0,0,0,0,15.13,15.13,15.13
$GC,740,-0.85,-146.0,2207,2025,3444,3381,94.9,-12.2,133,747,0.00,2.38,0.00,0.000,2308,0.000,0.070,2210,3415,3412,3443,3381,0,0,0,0,0,0,15.13,14.75,15.13
$GC,794,-0.85,-146.0,2209,3414,3443,3381,101.3,-11.9,143,801,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2010,3412,3444,3381,0,0,0,0,0,0,14.84,14.76,14.85
$GC,864,-0.85,-146.0,2210,2009,3444,3381,109.4,-11.3,156,870,0.00,2.42,0.00,0.000,2308,0.000,0.067,2210,3415,3412,3444,3381,0,0,0,0,0,0,15.14,14.67,15.14
$GC,943,-0.85,-146.0,2209,3416,3443,3381,118.5,-11.8,171,949,0.00,2.30,0.00,0.000,3078,0.000,0.036,2210,2002,3414,3448,3381,0,0,0,0,0,0,14.99,14.89,15.00
$GC,1012,-0.85,-146.0,2209,2003,3444,3381,125.4,-10.4,184,1019,0.00,2.45,0.00,0.000,2308,0.000,0.067,2209,3415,3412,3444,3381,0,0,0,0,0,0,15.14,14.81,15.14
$GC,1072,-0.85,-146.0,2209,3415,3444,3380,132.0,-12.0,195,1079,0.00,2.30,0.00,0.000,3078,0.000,0.037,2209,2006,3412,3444,3380,0,0,0,0,0,0,14.99,14.90,15.00
$GC,1142,-0.85,-146.0,2209,2005,3444,3380,139.2,-11.4,208,1152,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2005,3412,3444,3380,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1215,-0.85,-146.0,2209,2005,3444,3380,147.0,-10.9,221,1222,0.00,2.42,0.00,0.000,2308,0.000,0.069,2208,3406,3412,3444,3380,0,0,0,0,0,0,15.14,14.75,15.14
$GC,1249,-0.85,-146.0,2208,3407,3443,3379,150.7,-9.6,227,1256,0.00,2.28,0.00,0.000,3078,0.000,0.037,2208,2016,3411,3444,3379,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1319,-0.85,-146.0,2208,2015,3443,3380,158.0,-10.0,240,1326,0.00,2.40,0.00,0.000,2308,0.000,0.068,2207,3406,3411,3443,3380,0,0,0,0,0,0,15.14,14.66,15.14
$GC,1338,-0.85,-146.0,2206,3406,3444,3379,160.0,-10.7,243,1344,0.00,2.28,0.00,0.000,3078,0.000,0.037,2207,2012,3411,3444,3379,0,0,0,0,0,0,14.98,14.89,15.00
$GC,1407,-0.85,-146.0,2206,2012,3444,3380,167.8,-11.5,256,1413,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2013,3411,3443,3379,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1475,-0.85,-146.0,2206,2012,3443,3379,175.1,-10.5,269,1482,0.00,2.42,0.00,0.000,2308,0.000,0.067,2207,3406,3411,3443,3379,0,0,0,0,0,0,15.14,14.74,15.14
$STATE,1503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1503,begin apogee
$GC,1509,-0.19,0.0,2206,1965,3443,3379,178.0,-9.5,274,1626,1.08,0.00,108.57,1.095,10246,0.164,0.000,2421,1963,2810,2849,2772,0,0,0,0,0,0,14.62,14.38,13.91
$STATE,1628,end apogee,CONTROL_FINISHED_OK
$STATE,1628,begin climb
$GC,1629,0.85,146.0,2421,1963,2849,2772,182.1,0.0,295,1752,1.52,2.47,110.30,1.087,10756,0.096,0.071,2749,559,2213,2256,2170,0,0,0,0,0,0,14.52,14.43,13.84
$GC,1800,0.90,182.2,2749,559,2252,2170,173.5,8.3,325,1835,0.00,2.33,28.95,1.048,11270,0.000,0.039,2749,1968,2067,2114,2021,0,0,0,0,0,0,14.62,14.54,13.88
$GC,1898,0.95,224.2,2749,1968,2110,2019,166.0,8.0,343,1939,0.08,2.47,33.90,1.049,10500,0.177,0.064,2803,3364,1895,1942,1848,0,0,0,0,0,0,14.61,14.53,13.89
$GC,1961,0.95,224.2,2807,3364,1939,1845,158.6,12.8,354,1968,0.08,2.38,0.00,0.000,5126,0.291,0.043,2797,1950,1892,1939,1845,0,0,0,0,0,0,14.44,14.58,14.62
$GC,2030,0.95,224.2,2796,1950,1937,1844,150.0,13.7,367,2037,0.00,2.42,0.00,0.000,4612,0.000,0.076,2797,563,1890,1936,1844,0,0,0,0,0,0,14.93,14.55,14.93
$GC,2069,0.95,224.2,2796,563,1934,1844,145.2,11.8,374,2076,0.00,2.30,0.00,0.000,5126,0.000,0.041,2797,1960,1889,1935,1844,0,0,0,0,0,0,14.84,14.75,14.85
$GC,2139,0.95,224.2,2796,1961,1934,1843,137.5,11.6,387,2146,0.00,2.40,0.00,0.000,4356,0.000,0.065,2797,3362,1888,1934,1843,0,0,0,0,0,0,15.01,14.73,15.01
$GC,2183,0.95,224.2,2797,3362,1932,1844,132.1,12.5,395,2190,0.00,2.33,0.00,0.000,5126,0.000,0.043,2805,1961,1888,1933,1843,0,0,0,0,0,0,14.90,14.79,14.91
$GC,2253,0.95,224.2,2805,1962,1933,1843,122.8,13.0,408,2259,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1962,1888,1933,1843,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2321,0.95,224.2,2805,1961,1933,1842,114.1,12.8,421,2327,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1961,1887,1932,1843,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2389,0.95,224.2,2804,1961,1932,1842,105.8,12.3,434,2394,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1961,1887,1932,1842,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2456,0.95,224.2,2805,1961,1932,1842,97.5,11.3,447,2463,0.00,2.42,0.00,0.000,4356,0.000,0.063,2805,3362,1887,1932,1842,0,0,0,0,0,0,15.09,14.79,15.11
$GC,2495,0.95,224.2,2805,3362,1931,1841,92.8,11.9,454,2502,0.00,2.33,0.00,0.000,5126,0.000,0.044,2805,1966,1886,1931,1841,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2565,0.95,224.2,2805,1966,1931,1839,85.4,10.6,467,2572,0.00,2.42,0.00,0.000,4612,0.000,0.076,2805,554,1885,1930,1841,0,0,0,0,0,0,15.10,14.70,15.11
$GC,2624,0.95,224.2,2805,554,1929,1841,79.2,10.2,478,2631,0.00,2.30,0.00,0.000,5126,0.000,0.041,2805,1972,1885,1929,1841,0,0,0,0,0,0,14.96,14.87,14.98
$GC,2694,0.95,224.2,2805,1972,1928,1840,72.1,10.9,491,2700,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,1972,1884,1929,1840,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2762,0.95,224.2,2805,1972,1929,1840,64.1,11.0,504,2769,0.00,2.42,0.00,0.000,4612,0.000,0.072,2810,562,1884,1929,1840,0,0,0,0,0,0,15.12,14.78,15.12
$GC,2801,0.95,224.2,2811,561,1927,1840,59.8,11.1,511,2808,0.08,2.30,0.00,0.000,5126,0.272,0.041,2796,1971,1884,1929,1840,0,0,0,0,0,0,14.60,14.78,14.83
$GC,2871,0.95,224.2,2796,1972,1929,1840,52.8,10.2,524,2878,0.00,2.38,0.00,0.000,260,0.000,0.063,2796,3360,1884,1928,1840,0,0,0,0,0,0,15.11,14.74,15.11
$GC,2980,0.97,238.5,2796,3360,1928,1840,41.2,9.3,545,2999,0.00,2.33,11.32,0.912,9222,0.000,0.042,2797,1953,1837,1885,1790,0,0,0,0,0,0,14.82,14.71,14.14
$GC,3061,1.01,274.0,2797,1953,1882,1789,34.8,8.3,560,3097,0.00,2.42,28.90,0.936,10756,0.000,0.074,2797,567,1693,1745,1642,0,0,0,0,0,0,15.09,14.67,14.15
$GC,3159,1.09,339.0,2797,567,1742,1641,27.8,7.0,578,3211,0.10,2.30,43.10,0.933,11270,0.144,0.041,2850,1979,1429,1484,1375,0,0,0,0,0,0,14.77,14.78,14.07
$GC,3273,1.09,339.0,2850,1978,1481,1372,16.7,11.0,599,3280,0.00,2.38,0.00,0.000,4356,0.000,0.064,2853,3355,1426,1480,1372,0,0,0,0,0,0,14.95,14.67,14.95
$GC,3322,1.09,339.0,2850,3354,1478,1371,10.7,11.6,608,3328,0.00,2.33,0.00,0.000,5126,0.000,0.043,2852,1964,1424,1478,1371,0,0,0,0,0,0,14.85,14.74,14.86
$GC,3392,1.09,339.0,2852,1964,1478,1370,3.3,10.7,621,3398,0.00,2.42,0.00,0.000,4612,0.000,0.073,2852,561,1423,1477,1370,0,0,0,0,0,0,15.02,14.71,15.02
$STATE,3403,end climb,SURFACE_DEPTH_REACHED
$STATE,3403,begin surface coast
$FINISH,0.0,1.004112
$STATE,3430,end surface coast,CONTROL_FINISHED_OK
$STATE,3430,begin surface
$SM_CCo,3453,109.70,0.736,0,0,598,542.59
$SM_GC,0.56,12.65,2.40,109.70,0.053,0.038,0.736,131,1999,598,-7.30,-1.44,542.59,0,0,0,0,0,0,14.81,14.83,14.12
$IRIDIUM_FIX,-2950.05,3102.52,110419,100631
$TT8_MAMPS,0.019474,0.68159
$HUMID,57.60
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,140.2,52.3
$SC_FREEKB,3823232
$24V_AH,13.24,133.295
$10V_AH,13.21,0.000
$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,28.150,99.500,365.050,109.700,0.000,24.748,40.376,216.474,2.250,0.000,59.643,1326.939,575.818,646.431,1390.124,149.018,0.000,1255.148,0.000,949.413,0.000,17.357,0.000
$DEVICE_MAMPS,330.480,80.325,1094.715,735.930,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3478.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.006,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20128,628
$CAP_FILE_SIZE,121959,0
$CFSIZE,1023623168,995639296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110419,120936,-3003.216,3102.569,20,0.9,21,-24.9,0.4,194.3,8,8.9