version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 215
start: 4 13 119 9 44 43
data:
$ID,573
$MISSION,30
$DIVE,215
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,130419,093455,-3038.6501,3041.3440,21,0.8,42,-25.4,1.5,193.4,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-63.2
$GPS2,130419,094419,-3039.1187,3041.1565,18,0.7,21,-25.4,1.6,196.8,11,9.8
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3039.119,3028.604
$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,295.4,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,103,2025,583,581,0.0,0.0,0,121,0.00,0.00,-97.65,0.000,16386,0.000,0.000,96,2021,3278,3291,3265,0,0,0,0,0,0,14.99,28.83,15.00
$GC,125,-0.85,-146.0,96,2025,3292,3265,4.1,-10.7,18,149,12.60,2.42,-2.12,0.000,19204,0.311,0.085,2194,3398,3409,3438,3380,0,0,0,0,0,0,14.29,13.16,14.50
$GC,392,-0.85,-146.0,2193,3398,3442,3380,52.9,-12.5,70,399,0.08,2.30,0.00,0.000,3078,0.279,0.039,2209,2011,3410,3442,3379,0,0,0,0,0,0,14.59,14.82,14.80
$GC,463,-0.85,-146.0,2209,2011,3443,3379,61.3,-12.3,83,470,0.00,2.38,0.00,0.000,2564,0.000,0.067,2209,609,3411,3443,3379,0,0,0,0,0,0,15.08,14.76,15.08
$GC,482,-0.85,-146.0,2209,609,3443,3379,64.4,-13.5,86,489,0.00,2.30,0.00,0.000,3078,0.000,0.044,2209,2007,3411,3443,3379,0,0,0,0,0,0,14.92,14.83,14.94
$GC,552,-0.85,-146.0,2209,2009,3444,3379,72.6,-12.3,99,559,0.00,2.40,0.00,0.000,2308,0.000,0.069,2209,3410,3414,3444,3384,0,0,0,0,0,0,15.08,14.76,15.08
$GC,877,-0.85,-146.0,2209,3410,3445,3379,106.6,-10.1,163,884,0.00,2.33,0.00,0.000,3078,0.000,0.038,2209,2001,3412,3446,3379,0,0,0,0,0,0,14.95,14.85,14.96
$GC,947,-0.85,-146.0,2209,2000,3446,3379,112.6,-9.0,176,953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2000,3413,3447,3379,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1015,-0.85,-146.0,2209,2000,3447,3379,119.6,-10.5,189,1023,0.00,2.45,0.00,0.000,2308,0.000,0.068,2207,3413,3413,3447,3379,0,0,0,0,0,0,15.10,14.71,15.11
$GC,1101,-0.85,-146.0,2207,3413,3443,3379,128.6,-9.5,205,1107,0.00,2.33,0.00,0.000,3078,0.000,0.037,2207,2006,3413,3447,3379,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1172,-0.85,-146.0,2207,2005,3447,3379,135.8,-10.7,218,1178,0.00,2.45,0.00,0.000,2308,0.000,0.067,2207,3412,3416,3447,3386,0,0,0,0,0,0,15.11,14.78,15.11
$GC,1255,-0.85,-146.0,2207,3412,3447,3379,144.1,-9.8,234,1262,0.00,2.33,0.00,0.000,3078,0.000,0.039,2207,2015,3412,3446,3379,0,0,0,0,0,0,14.87,14.77,14.89
$GC,1326,-0.85,-146.0,2207,2017,3447,3379,151.1,-9.0,247,1332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2018,3412,3447,3378,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1395,-0.85,-146.0,2207,2017,3447,3379,157.7,-9.6,260,1401,0.00,2.45,0.00,0.000,2308,0.000,0.067,2207,3418,3412,3447,3378,0,0,0,0,0,0,15.11,14.66,15.11
$GC,1444,-0.85,-146.0,2206,3418,3446,3378,162.7,-9.8,269,1451,0.00,2.33,0.00,0.000,3078,0.000,0.038,2207,2006,3412,3447,3378,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1513,-0.85,-146.0,2206,2006,3446,3378,169.8,-10.5,282,1519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2006,3412,3446,3378,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1581,-0.85,-146.0,2207,2006,3447,3378,176.8,-10.6,295,1587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,2006,3412,3447,3378,0,0,0,0,0,0,15.11,15.12,15.11
$GC,1649,-0.85,-146.0,2207,2006,3447,3378,183.6,-9.9,308,1656,0.00,2.47,0.00,0.000,2308,0.000,0.070,2206,3415,3412,3446,3378,0,0,0,0,0,0,15.11,14.64,15.11
$STATE,1707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1708,begin apogee
$GC,1715,-0.19,0.0,2207,1963,3446,3377,189.6,-9.8,319,1838,1.10,0.00,112.88,1.118,10246,0.165,0.000,2423,1961,2812,2853,2771,0,0,0,0,0,0,14.40,14.35,13.83
$STATE,1839,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1841,0.85,146.0,2423,1961,2852,2771,192.1,0.0,341,1964,1.52,0.00,114.47,1.105,10758,0.081,0.000,2751,1962,2214,2261,2168,0,0,0,0,0,0,14.49,14.34,13.76
$GC,2026,0.90,180.3,2751,1961,2254,2167,182.4,8.4,374,2062,0.00,2.47,28.48,1.066,10500,0.000,0.063,2751,3363,2074,2122,2026,0,0,0,0,0,0,14.81,14.32,13.82
$GC,2095,0.91,191.7,2751,3363,2119,2025,176.2,9.4,386,2114,0.00,2.38,10.25,0.981,11270,0.000,0.045,2756,1962,2029,2078,1980,0,0,0,0,0,0,14.69,14.59,13.85
$GC,2175,0.93,207.9,2755,1962,2075,1978,169.2,9.2,401,2194,0.05,0.00,14.25,1.014,10758,0.250,0.000,2794,1961,1964,2013,1915,0,0,0,0,0,0,14.56,14.56,13.88
$GC,2256,0.93,207.9,2794,1961,2009,1913,160.3,11.1,416,2262,0.00,2.42,0.00,0.000,4612,0.000,0.076,2798,563,1960,2009,1912,0,0,0,0,0,0,14.92,14.63,14.92
$GC,2274,0.93,207.9,2797,563,2008,1913,158.5,10.6,419,2281,0.00,2.33,0.00,0.000,5126,0.000,0.043,2798,1966,1959,2008,1911,0,0,0,0,0,0,14.80,14.70,14.81
$GC,2345,0.93,207.9,2797,1966,2007,1912,150.9,10.5,432,2351,0.00,2.45,0.00,0.000,4356,0.000,0.069,2798,3365,1959,2007,1912,0,0,0,0,0,0,14.96,14.68,14.96
$GC,2373,0.93,207.9,2797,3365,2001,1912,148.0,10.5,437,2381,0.03,2.38,0.00,0.000,5126,0.513,0.046,2795,1964,1959,2007,1912,0,0,0,0,0,0,14.51,14.68,14.74
$GC,2444,0.94,218.4,2794,1964,2006,1910,141.4,9.5,450,2463,0.00,2.50,9.77,0.926,12548,0.000,0.067,2795,3363,1919,1967,1871,0,0,0,0,0,0,15.02,14.67,13.91
$GC,2485,0.94,218.4,2795,3363,1966,1870,137.3,10.6,457,2492,0.00,2.35,0.00,0.000,5126,0.000,0.046,2797,1963,1917,1966,1869,0,0,0,0,0,0,14.85,14.73,14.86
$GC,2554,0.94,218.5,2797,1963,1966,1869,130.2,9.9,470,2560,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1963,1917,1965,1869,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2623,0.95,221.2,2797,1963,1963,1869,123.5,9.8,483,2629,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1963,1916,1965,1868,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2691,0.95,221.2,2797,1963,1964,1868,116.3,11.0,496,2696,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1962,1916,1964,1868,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2759,0.95,221.2,2796,1963,1964,1868,108.8,11.6,509,2765,0.00,2.47,0.00,0.000,4356,0.000,0.066,2797,3366,1915,1963,1868,0,0,0,0,0,0,15.06,14.74,15.07
$GC,2782,0.95,221.2,2797,3366,1963,1868,106.1,11.8,513,2789,0.00,2.38,0.00,0.000,5126,0.000,0.047,2798,1958,1915,1963,1868,0,0,0,0,0,0,14.81,14.66,14.83
$GC,2853,0.97,244.9,2797,1958,1963,1868,100.2,8.9,526,2882,0.00,2.45,22.58,1.019,10500,0.000,0.063,2797,3369,1811,1861,1762,0,0,0,0,0,0,15.08,14.52,14.00
$GC,2916,0.97,244.9,2797,3369,1858,1760,93.9,11.0,537,2922,0.00,2.38,0.00,0.000,3078,0.000,0.047,2798,1957,1809,1858,1760,0,0,0,0,0,0,14.84,14.73,14.85
$GC,2986,0.97,244.9,2798,1957,1857,1759,86.1,10.1,550,2992,0.00,2.45,0.00,0.000,2308,0.000,0.063,2797,3363,1808,1857,1759,0,0,0,0,0,0,15.00,14.71,15.01
$GC,3039,0.97,244.9,2798,3364,1855,1758,79.7,11.7,560,3046,0.00,2.35,0.00,0.000,3078,0.000,0.045,2798,1960,1806,1855,1758,0,0,0,0,0,0,14.87,14.75,14.89
$GC,3109,0.98,247.5,2798,1960,1856,1757,72.9,9.8,573,3116,0.00,2.45,0.00,0.000,2308,0.000,0.064,2798,3361,1806,1855,1757,0,0,0,0,0,0,15.03,14.73,15.04
$GC,3138,0.98,247.5,2798,3363,1854,1757,69.7,11.9,578,3145,0.00,2.35,0.00,0.000,1030,0.000,0.046,2802,1967,1805,1855,1756,0,0,0,0,0,0,14.83,14.71,14.84
$GC,3208,0.98,247.5,2802,1967,1855,1756,62.1,10.8,591,3214,0.00,2.42,0.00,0.000,260,0.000,0.065,2802,3365,1805,1854,1756,0,0,0,0,0,0,15.04,14.68,15.05
$GC,3257,0.98,247.5,2801,3365,1854,1756,56.8,10.6,600,3263,0.00,2.35,0.00,0.000,1030,0.000,0.047,2803,1964,1805,1854,1756,0,0,0,0,0,0,14.73,14.62,14.75
$GC,3327,0.98,247.5,2803,1964,1854,1755,49.5,11.0,613,3333,0.00,2.42,0.00,0.000,260,0.000,0.065,2803,3361,1804,1854,1755,0,0,0,0,0,0,15.07,14.59,15.07
$GC,3511,1.04,294.4,2803,3361,1854,1754,32.4,7.8,649,3558,0.00,2.35,40.12,0.971,11270,0.000,0.045,2807,1953,1610,1667,1554,0,0,0,0,0,0,14.78,14.67,14.03
$GC,3620,1.08,332.7,2804,1953,1663,1551,24.2,8.2,669,3650,0.05,2.53,23.60,0.914,10500,0.253,0.065,2841,3366,1455,1512,1399,0,0,0,0,0,0,14.62,14.59,13.97
$GC,3672,1.08,332.7,2841,3366,1510,1398,18.6,11.2,678,3679,0.00,2.38,0.00,0.000,5126,0.000,0.047,2842,1963,1454,1510,1398,0,0,0,0,0,0,14.68,14.58,14.69
$GC,3743,1.08,332.7,2841,1963,1508,1397,11.5,10.5,691,3749,0.00,0.00,0.00,0.000,4102,0.000,0.000,2842,1963,1452,1508,1396,0,0,0,0,0,0,14.96,14.96,14.96
$GC,3812,1.09,341.8,2841,1963,1507,1396,4.7,9.5,704,3824,0.00,2.47,4.20,0.564,8452,0.000,0.064,2842,3367,1417,1475,1360,0,0,0,0,0,0,15.00,14.67,14.00
$STATE,3829,end climb,SURFACE_DEPTH_REACHED
$STATE,3830,begin surface coast
$FINISH,-0.2,1.023502
$STATE,3862,end surface coast,CONTROL_FINISHED_OK
$STATE,3862,begin surface
$SM_CCo,3886,109.53,0.747,0,0,599,542.59
$SM_GC,0.49,12.73,2.30,109.53,0.055,0.041,0.747,125,2015,599,-7.31,1.05,542.59,0,0,0,0,0,0,14.77,14.77,14.04
$IRIDIUM_FIX,-3024.96,3042.79,130419,081508
$TT8_MAMPS,0.019474,0.90629
$HUMID,57.60
$INTERNAL_PRESSURE,9.24804
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,150.2,54.3
$SC_FREEKB,3811968
$24V_AH,13.16,139.385
$10V_AH,13.17,0.000
$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,28.150,91.150,380.600,109.525,0.000,25.302,15.924,292.292,2.500,0.000,22.197,1509.758,671.742,652.765,1552.651,178.369,0.000,1308.955,0.000,1080.509,0.000,18.078,0.000
$DEVICE_MAMPS,513.315,84.915,1117.665,746.640,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.710,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23446,713
$CAP_FILE_SIZE,132357,0
$CFSIZE,1023623168,992296960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130419,105218,-3040.131,3040.095,18,1.1,21,-25.5,1.5,202.1,8,9.1