version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 237
start: 4 16 119 8 57 51
data:
$ID,573
$MISSION,30
$DIVE,237
$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,200
$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,300
$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,29
$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,4
$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
$GPS1,160419,084334,-3111.2905,3014.2622,18,0.9,40,-25.9,0.0,45.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-60.2
$GPS2,160419,085725,-3111.2847,3014.4138,18,0.7,19,-25.9,0.0,27.4,12,8.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3105.885,3003.492
$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,325.9,20000,-15.6,-9.950,-18.64,2991
$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,19,begin dive
$GC,21,-0.82,-194.6,73,2037,582,584,0.0,0.0,0,122,0.00,0.00,-98.10,0.000,16386,0.000,0.000,73,2038,3243,3259,3227,0,0,0,0,0,0,14.90,28.83,14.90
$GC,126,-0.82,-194.6,73,2038,3259,3227,3.6,-9.7,18,151,13.00,2.55,-5.85,0.000,18948,0.314,0.090,2219,605,3607,3673,3541,0,0,0,0,0,0,14.23,13.08,14.61
$GC,198,-0.82,-194.6,2219,605,3676,3541,24.6,-16.3,31,205,0.00,2.33,0.00,0.000,3078,0.000,0.046,2217,1996,3608,3675,3541,0,0,0,0,0,0,14.77,14.66,14.79
$GC,269,-0.82,-194.6,2217,1997,3676,3541,34.4,-13.5,44,275,0.00,2.50,0.00,0.000,2308,0.000,0.076,2217,3419,3608,3676,3541,0,0,0,0,0,0,14.96,14.41,14.96
$GC,332,-0.82,-194.6,2217,3419,3677,3541,43.3,-12.4,56,339,0.00,2.35,0.00,0.000,3078,0.000,0.038,2217,2005,3609,3677,3541,0,0,0,0,0,0,14.81,14.71,14.83
$GC,403,-0.82,-194.6,2216,2005,3676,3540,51.9,-13.7,69,409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2006,3609,3677,3541,0,0,0,0,0,0,14.98,14.98,14.98
$GC,471,-0.82,-194.6,2217,2005,3677,3541,60.4,-11.7,82,477,0.00,2.53,0.00,0.000,2308,0.000,0.074,2217,3416,3610,3678,3542,0,0,0,0,0,0,15.00,14.62,15.00
$GC,605,-0.82,-194.6,2216,3417,3677,3541,75.0,-9.7,108,612,0.00,2.38,0.00,0.000,3078,0.000,0.037,2217,2007,3609,3678,3541,0,0,0,0,0,0,14.76,14.66,14.78
$GC,676,-0.82,-194.6,2216,2007,3678,3541,81.5,-9.7,121,682,0.00,2.53,0.00,0.000,2308,0.000,0.073,2216,3421,3609,3678,3541,0,0,0,0,0,0,15.02,14.64,15.03
$GC,709,-0.82,-194.6,2216,3421,3679,3541,84.9,-9.4,127,716,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2014,3609,3678,3541,0,0,0,0,0,0,14.69,14.59,14.71
$GC,780,-0.82,-194.6,2216,2014,3678,3541,92.1,-10.4,140,785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2014,3610,3679,3541,0,0,0,0,0,0,15.03,15.03,15.03
$GC,848,-0.82,-194.6,2216,2014,3679,3541,99.2,-9.7,153,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2014,3610,3679,3541,0,0,0,0,0,0,15.04,15.04,15.04
$GC,917,-0.82,-194.6,2216,2015,3679,3541,105.2,-9.1,166,924,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3413,3610,3679,3541,0,0,0,0,0,0,15.02,14.65,15.02
$GC,977,-0.82,-194.6,2216,3413,3679,3541,111.3,-9.6,177,984,0.00,2.33,0.00,0.000,3078,0.000,0.038,2216,2015,3610,3679,3541,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1048,-0.82,-194.6,2216,2015,3679,3541,118.2,-9.9,190,1054,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2015,3609,3678,3541,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1118,-0.82,-194.6,2216,2015,3679,3541,125.2,-9.9,203,1124,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3416,3610,3679,3541,0,0,0,0,0,0,15.04,14.66,15.04
$GC,1162,-0.82,-194.6,2215,3416,3679,3541,129.6,-9.7,211,1169,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2007,3610,3679,3541,0,0,0,0,0,0,14.86,14.75,14.88
$GC,1233,-0.82,-194.6,2216,2006,3679,3541,136.6,-10.0,224,1240,0.00,2.40,0.00,0.000,2564,0.000,0.070,2216,608,3609,3679,3540,0,0,0,0,0,0,15.04,14.67,15.04
$GC,1256,-0.82,-194.6,2216,609,3679,3541,138.9,-9.8,228,1263,0.00,2.35,0.00,0.000,3078,0.000,0.047,2216,2018,3610,3679,3541,0,0,0,0,0,0,14.86,14.74,14.88
$GC,1327,-0.82,-194.6,2216,2018,3678,3540,146.2,-11.3,241,1333,0.00,2.45,0.00,0.000,2308,0.000,0.076,2216,3416,3609,3678,3541,0,0,0,0,0,0,15.04,14.65,15.05
$GC,1388,-0.82,-194.6,2215,3417,3678,3541,152.8,-10.7,252,1394,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2004,3609,3679,3540,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1457,-0.82,-194.6,2216,2004,3679,3541,160.2,-12.0,265,1464,0.00,2.40,0.00,0.000,2564,0.000,0.070,2216,610,3609,3679,3540,0,0,0,0,0,0,15.04,14.67,15.04
$GC,1491,-0.82,-194.6,2216,610,3678,3540,164.6,-12.0,271,1498,0.00,2.35,0.00,0.000,3078,0.000,0.046,2216,2018,3609,3678,3541,0,0,0,0,0,0,14.88,14.74,14.89
$STATE,1560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1560,begin apogee
$GC,1565,-0.19,0.0,2216,1929,3678,3540,172.3,-11.0,284,1721,1.05,0.00,148.85,1.095,10246,0.154,0.000,2424,1928,2811,2861,2762,0,0,0,0,0,0,14.31,14.32,13.67
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1725,0.82,194.6,2424,1928,2860,2762,177.6,0.0,312,1886,1.50,2.38,150.32,1.086,10756,0.099,0.074,2736,582,2016,2063,1969,0,0,0,0,0,0,14.34,14.29,13.66
$GC,1944,0.83,202.1,2735,581,2058,1968,165.7,9.7,351,1957,0.00,2.33,6.88,0.894,11270,0.000,0.041,2736,1972,1987,2035,1940,0,0,0,0,0,0,14.62,14.53,13.71
$GC,2020,0.83,202.1,2735,1971,2031,1939,157.7,10.6,365,2025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2736,1972,1985,2031,1939,0,0,0,0,0,0,14.83,14.83,14.83
$GC,2088,0.83,202.1,2736,1971,2030,1939,150.4,10.4,378,2094,0.00,2.45,0.00,0.000,2564,0.000,0.076,2736,586,1984,2030,1939,0,0,0,0,0,0,14.89,14.58,14.90
$GC,2111,0.83,202.1,2735,585,2030,1939,147.9,11.0,382,2118,0.00,2.30,0.00,0.000,3078,0.000,0.041,2736,1968,1984,2030,1938,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2182,0.85,218.4,2735,1968,2029,1938,141.0,9.4,395,2206,0.00,2.47,14.40,0.990,10500,0.000,0.071,2736,3355,1919,1966,1873,0,0,0,0,0,0,14.94,14.57,13.91
$GC,2213,0.85,220.2,2736,3355,1965,1873,137.9,9.9,400,2220,0.00,2.30,0.00,0.000,3078,0.000,0.044,2735,1988,1918,1965,1872,0,0,0,0,0,0,14.76,14.66,14.78
$GC,2283,0.90,258.3,2736,1988,1964,1870,131.8,8.6,413,2324,0.08,2.50,33.15,1.036,10756,0.179,0.076,2790,564,1758,1809,1707,0,0,0,0,0,0,14.61,14.37,13.84
$GC,2338,0.90,258.3,2790,563,1807,1707,125.9,11.9,422,2344,0.00,2.35,0.00,0.000,5126,0.000,0.042,2790,1966,1757,1807,1707,0,0,0,0,0,0,14.71,14.61,14.71
$GC,2408,0.90,258.3,2790,1966,1805,1705,117.3,12.1,435,2414,0.00,2.47,0.00,0.000,4356,0.000,0.071,2790,3370,1755,1805,1705,0,0,0,0,0,0,14.88,14.59,14.88
$GC,2441,0.90,258.3,2789,3370,1803,1705,113.0,12.5,441,2449,0.08,2.38,0.00,0.000,5126,0.288,0.044,2779,1965,1754,1804,1705,0,0,0,0,0,0,14.42,14.60,14.62
$GC,2511,0.90,258.3,2779,1966,1804,1704,105.3,11.1,454,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1966,1754,1804,1704,0,0,0,0,0,0,14.94,14.95,14.94
$GC,2579,0.90,258.3,2779,1965,1803,1704,97.7,11.5,467,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1966,1753,1803,1704,0,0,0,0,0,0,14.97,14.97,14.96
$GC,2647,0.90,258.3,2779,1965,1802,1704,88.9,12.2,480,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1966,1753,1803,1704,0,0,0,0,0,0,15.01,14.99,14.99
$GC,2715,0.90,258.3,2778,1966,1802,1703,81.1,10.7,493,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1966,1752,1802,1703,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2784,0.93,285.8,2779,1965,1802,1703,75.0,9.0,506,2813,0.00,2.47,23.20,0.971,10756,0.000,0.078,2780,559,1645,1698,1593,0,0,0,0,0,0,15.02,14.41,13.90
$GC,2841,0.98,329.7,2779,559,1695,1593,69.8,8.4,516,2887,0.00,2.35,37.15,0.992,11270,0.000,0.042,2780,1968,1466,1522,1410,0,0,0,0,0,0,14.74,14.65,13.88
$GC,2949,1.10,420.9,2779,1969,1517,1408,61.8,6.8,536,3034,0.15,2.50,73.72,0.979,10500,0.111,0.069,2843,3353,1095,1154,1037,0,0,0,0,0,0,14.63,14.40,13.77
$GC,3057,1.10,420.9,2843,3353,1154,1037,48.8,13.4,555,3063,0.00,2.38,0.00,0.000,5126,0.000,0.046,2845,1964,1095,1154,1037,0,0,0,0,0,0,14.57,14.46,14.59
$GC,3126,1.10,420.9,2845,1964,1154,1035,40.6,11.5,568,3133,0.00,2.50,0.00,0.000,4612,0.000,0.081,2845,558,1094,1154,1035,0,0,0,0,0,0,14.84,14.49,14.88
$GC,3155,1.10,420.9,2845,558,1153,1035,37.4,11.0,573,3162,0.00,2.35,0.00,0.000,5126,0.000,0.041,2845,1968,1094,1154,1035,0,0,0,0,0,0,14.61,14.52,14.62
$GC,3225,1.10,420.9,2845,1968,1153,1033,29.7,11.7,586,3232,0.00,2.45,0.00,0.000,4356,0.000,0.069,2845,3360,1093,1153,1033,0,0,0,0,0,0,14.92,14.51,14.92
$GC,3249,1.10,420.9,2845,3360,1152,1032,26.7,11.4,590,3256,0.00,2.35,0.00,0.000,5126,0.000,0.046,2844,1963,1092,1152,1032,0,0,0,0,0,0,14.78,14.66,14.80
$GC,3319,1.10,420.9,2845,1964,1153,1032,19.1,12.5,603,3325,0.00,2.47,0.00,0.000,4612,0.000,0.081,2845,561,1092,1153,1032,0,0,0,0,0,0,14.97,14.64,14.97
$GC,3368,1.10,420.9,2845,560,1152,1032,13.9,11.0,612,3375,0.00,2.33,0.00,0.000,5126,0.000,0.038,2845,1976,1091,1151,1032,0,0,0,0,0,0,14.83,14.73,14.85
$GC,3438,1.10,420.9,2845,1976,1152,1031,6.0,10.9,625,3444,0.00,0.00,0.00,0.000,4102,0.000,0.000,2845,1976,1091,1152,1031,0,0,0,0,0,0,14.99,14.99,14.99
$STATE,3464,end climb,SURFACE_DEPTH_REACHED
$STATE,3464,begin surface coast
$FINISH,0.3,1.023818
$STATE,3490,end surface coast,CONTROL_FINISHED_OK
$STATE,3491,begin surface
$SM_CCo,3513,68.82,0.751,0,0,598,542.59
$SM_GC,0.49,12.50,0.00,68.82,0.046,0.000,0.751,146,1979,598,-7.26,-0.96,542.59,0,0,0,0,0,0,14.76,15.03,14.03
$IRIDIUM_FIX,-3100.07,3017.20,160419,052758
$TT8_MAMPS,0.018725,0.847868
$HUMID,55.55
$INTERNAL_PRESSURE,9.17968
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,150.0,36.9
$SC_FREEKB,3798912
$24V_AH,13.08,147.733
$10V_AH,13.33,0.000
$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,28.350,91.625,487.675,68.825,0.000,24.241,30.145,461.701,2.500,0.000,20.000,1288.958,551.472,698.274,1653.205,211.544,0.000,1332.317,0.000,954.263,0.000,18.025,0.000
$DEVICE_MAMPS,314.415,113.985,1095.480,751.230,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.202,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20102,635
$CAP_FILE_SIZE,128737,0
$CFSIZE,1023623168,988217344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160419,095830,-3110.824,3014.377,15,0.9,18,-25.9,0.0,39.5,9,9.4