version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 238
start: 4 16 119 10 7 48
data:
$ID,573
$MISSION,30
$DIVE,238
$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,180
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,160419,095830,-3110.8245,3014.3774,15,0.9,18,-25.9,0.0,39.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-60.1
$GPS2,160419,100722,-3110.8135,3014.4854,14,0.8,15,-25.9,0.0,0.0,11,10.0
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3121.613,3014.485
$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,205.9,20000,-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,18,begin dive
$GC,20,-0.82,-194.6,107,1985,578,581,0.0,0.0,0,121,0.00,0.00,-98.25,0.000,16386,0.000,0.000,95,1985,3286,3304,3269,0,0,0,0,0,0,14.95,28.83,14.96
$GC,125,-0.82,-194.6,94,1985,3306,3269,4.1,-11.6,18,150,12.70,2.33,-5.05,0.000,18948,0.310,0.083,2217,602,3609,3674,3545,0,0,0,0,0,0,14.29,13.75,14.51
$GC,162,-0.82,-194.6,2216,602,3675,3545,19.3,-32.3,24,169,0.00,2.35,0.00,0.000,3078,0.000,0.047,2215,2015,3610,3676,3545,0,0,0,0,0,0,14.84,14.72,14.85
$GC,232,-0.82,-194.6,2215,2015,3677,3545,30.5,-14.1,37,239,0.00,2.42,0.00,0.000,2308,0.000,0.076,2214,3411,3611,3677,3545,0,0,0,0,0,0,15.00,14.66,15.00
$GC,346,-0.82,-194.6,2214,3412,3677,3544,46.9,-12.5,59,353,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2012,3611,3678,3545,0,0,0,0,0,0,14.88,14.78,14.89
$GC,415,-0.82,-194.6,2213,2011,3678,3545,55.0,-11.6,72,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2011,3611,3678,3545,0,0,0,0,0,0,15.04,15.03,15.04
$GC,483,-0.82,-194.6,2213,2011,3677,3545,62.7,-11.0,85,490,0.00,2.38,0.00,0.000,2564,0.000,0.068,2214,608,3611,3678,3545,0,0,0,0,0,0,15.05,14.71,15.05
$GC,526,-0.82,-194.6,2214,609,3678,3545,68.4,-14.1,93,533,0.00,2.33,0.00,0.000,3078,0.000,0.046,2214,2013,3609,3678,3540,0,0,0,0,0,0,14.90,14.78,14.91
$GC,595,-0.82,-194.6,2214,2014,3678,3545,77.3,-12.4,106,602,0.03,2.42,0.00,0.000,2308,0.509,0.072,2217,3419,3612,3679,3545,0,0,0,0,0,0,14.73,14.70,14.81
$GC,670,-0.82,-194.6,2216,3419,3679,3545,85.9,-11.0,120,677,0.00,2.35,0.00,0.000,3078,0.000,0.037,2217,2004,3611,3678,3545,0,0,0,0,0,0,14.84,14.74,14.85
$GC,740,-0.82,-194.6,2217,2002,3679,3545,93.4,-10.7,133,747,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3414,3614,3684,3545,0,0,0,0,0,0,15.07,14.67,15.07
$GC,784,-0.82,-194.6,2215,3414,3679,3545,98.0,-9.8,141,791,0.00,2.33,0.00,0.000,3078,0.000,0.037,2217,2004,3611,3679,3544,0,0,0,0,0,0,14.77,14.68,14.78
$GC,854,-0.82,-194.6,2216,2004,3679,3544,105.0,-10.2,154,860,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2004,3612,3680,3544,0,0,0,0,0,0,15.07,15.08,15.07
$GC,922,-0.82,-194.6,2216,2004,3679,3545,112.3,-10.5,167,929,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3419,3611,3679,3544,0,0,0,0,0,0,15.09,14.73,15.09
$GC,956,-0.82,-194.6,2215,3419,3679,3545,115.6,-10.6,173,963,0.00,2.33,0.00,0.000,3078,0.000,0.037,2216,2012,3612,3679,3545,0,0,0,0,0,0,14.92,14.82,14.92
$GC,1026,-0.82,-194.6,2216,2012,3679,3545,123.2,-11.1,186,1033,0.00,2.47,0.00,0.000,2308,0.000,0.073,2216,3419,3612,3679,3545,0,0,0,0,0,0,15.08,14.72,15.08
$GC,1055,-0.82,-194.6,2215,3419,3679,3544,126.5,-9.6,191,1062,0.00,2.35,0.00,0.000,3078,0.000,0.037,2216,2007,3611,3679,3544,0,0,0,0,0,0,14.85,14.75,14.86
$GC,1125,-0.82,-194.6,2216,2007,3679,3544,133.9,-11.1,204,1131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3612,3680,3544,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1194,-0.82,-194.6,2216,2007,3679,3544,141.8,-11.1,217,1199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2007,3611,3679,3544,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1262,-0.82,-194.6,2216,2006,3679,3544,149.3,-11.2,230,1268,0.00,2.47,0.00,0.000,2308,0.000,0.073,2215,3415,3612,3680,3544,0,0,0,0,0,0,15.09,14.73,15.09
$GC,1324,-0.82,-194.6,2215,3415,3679,3543,155.7,-10.7,241,1331,0.00,2.33,0.00,0.000,3078,0.000,0.037,2215,2015,3611,3679,3543,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1395,-0.82,-194.6,2215,2015,3679,3543,162.7,-9.2,254,1401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2015,3611,3679,3543,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1463,-0.82,-194.6,2215,2015,3679,3543,169.7,-9.8,267,1469,0.00,2.45,0.00,0.000,2308,0.000,0.073,2214,3415,3611,3679,3543,0,0,0,0,0,0,15.09,14.73,15.09
$GC,1496,-0.82,-194.6,2214,3415,3679,3542,172.9,-10.4,273,1503,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2013,3610,3679,3542,0,0,0,0,0,0,14.92,14.82,14.94
$GC,1566,-0.82,-194.6,2214,2012,3679,3542,180.3,-10.6,286,1572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2013,3610,3679,3542,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,1582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1582,begin apogee
$GC,1588,-0.19,0.0,2214,1942,3678,3542,182.3,-10.2,289,1743,1.05,0.00,149.45,1.105,10246,0.155,0.000,2424,1940,2811,2861,2762,0,0,0,0,0,0,14.55,14.40,13.74
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1745,begin climb
$GC,1747,0.82,194.6,2424,1940,2860,2762,188.8,0.0,317,1909,1.48,2.38,150.35,1.093,10756,0.091,0.076,2738,583,2015,2063,1967,0,0,0,0,0,0,14.40,14.35,13.70
$GC,1956,0.84,211.0,2738,583,2058,1967,176.4,9.4,354,1980,0.00,2.33,14.15,1.003,11270,0.000,0.043,2738,1978,1950,1997,1903,0,0,0,0,0,0,14.64,14.55,13.81
$GC,2043,0.92,279.7,2737,1978,1994,1901,168.9,7.6,370,2106,0.10,2.47,55.92,1.066,10500,0.146,0.068,2790,3362,1669,1722,1616,0,0,0,0,0,0,14.63,14.45,13.76
$GC,2170,0.92,279.7,2790,3362,1717,1614,154.4,12.8,393,2177,0.00,2.33,0.00,0.000,5126,0.000,0.044,2791,1985,1665,1717,1614,0,0,0,0,0,0,14.71,14.60,14.72
$GC,2239,0.92,279.7,2791,1984,1716,1613,145.7,12.7,406,2246,0.00,2.50,0.00,0.000,4612,0.000,0.079,2791,561,1664,1716,1613,0,0,0,0,0,0,14.90,14.61,14.90
$GC,2273,0.92,279.7,2791,561,1715,1612,141.4,11.9,412,2280,0.00,2.33,0.00,0.000,5126,0.000,0.043,2791,1964,1663,1714,1613,0,0,0,0,0,0,14.75,14.66,14.76
$GC,2343,0.92,279.7,2791,1964,1714,1612,133.7,12.0,425,2350,0.00,2.42,0.00,0.000,4356,0.000,0.067,2793,3363,1663,1714,1612,0,0,0,0,0,0,14.97,14.62,14.97
$GC,2387,0.92,279.7,2791,3363,1714,1611,128.1,12.3,433,2394,0.00,2.35,0.00,0.000,5126,0.000,0.046,2795,1962,1663,1714,1612,0,0,0,0,0,0,14.71,14.61,14.73
$GC,2457,0.92,279.7,2795,1963,1714,1612,119.8,11.8,446,2463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2793,1962,1662,1714,1611,0,0,0,0,0,0,15.01,15.01,15.01
$GC,2525,0.92,279.7,2794,1963,1714,1611,112.2,11.3,459,2531,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,1963,1661,1712,1611,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2594,0.92,279.7,2795,1963,1713,1611,103.8,11.9,472,2600,0.00,2.42,0.00,0.000,4612,0.000,0.079,2797,564,1661,1712,1611,0,0,0,0,0,0,15.03,14.66,15.04
$GC,2617,0.92,279.7,2796,564,1711,1611,101.2,10.9,476,2624,0.00,2.30,0.00,0.000,5126,0.000,0.041,2797,1971,1661,1712,1611,0,0,0,0,0,0,14.77,14.66,14.79
$GC,2688,0.99,332.3,2796,1971,1712,1610,94.9,8.1,489,2739,0.00,2.42,43.22,1.012,10500,0.000,0.067,2797,3361,1455,1510,1401,0,0,0,0,0,0,15.05,14.45,13.95
$GC,2761,0.99,332.3,2797,3362,1508,1400,86.7,11.8,502,2767,0.00,2.35,0.00,0.000,3078,0.000,0.045,2797,1964,1454,1508,1400,0,0,0,0,0,0,14.76,14.64,14.77
$GC,2831,0.99,332.3,2797,1964,1506,1400,77.9,13.4,515,2837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2797,1964,1452,1506,1399,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2899,0.99,332.3,2797,1964,1506,1399,69.2,11.9,528,2906,0.00,2.45,0.00,0.000,2564,0.000,0.079,2798,564,1452,1505,1399,0,0,0,0,0,0,14.98,14.66,14.98
$GC,2958,0.99,332.3,2797,564,1504,1399,62.5,10.9,539,2965,0.00,2.30,0.00,0.000,3078,0.000,0.042,2797,1960,1451,1504,1399,0,0,0,0,0,0,14.79,14.68,14.81
$GC,3028,0.99,332.3,2797,1960,1503,1398,55.5,10.1,552,3034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2797,1960,1450,1503,1398,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3096,0.99,332.3,2797,1960,1504,1398,47.9,11.7,565,3102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2797,1960,1450,1503,1397,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3164,0.99,332.3,2797,1960,1502,1397,39.7,10.7,578,3171,0.00,2.42,0.00,0.000,2308,0.000,0.069,2797,3360,1449,1502,1397,0,0,0,0,0,0,15.05,14.73,15.05
$GC,3183,0.99,336.1,2797,3361,1502,1397,37.9,9.8,581,3190,0.00,2.35,0.00,0.000,3078,0.000,0.044,2797,1957,1451,1502,1400,0,0,0,0,0,0,14.82,14.71,14.84
$GC,3254,1.07,401.8,2797,1957,1502,1397,32.8,7.7,594,3317,0.08,2.50,56.40,0.958,10500,0.184,0.067,2847,3358,1172,1228,1116,0,0,0,0,0,0,14.78,14.59,13.96
$GC,3360,1.07,401.8,2846,3358,1228,1114,20.7,11.0,613,3371,0.05,2.35,0.00,0.000,5126,0.350,0.043,2837,1961,1171,1228,1114,0,0,0,0,0,0,14.45,14.65,14.66
$GC,3434,1.09,413.2,2838,1961,1227,1113,12.2,9.6,626,3447,0.00,2.45,6.20,0.694,8708,0.000,0.080,2838,555,1126,1183,1070,0,0,0,0,0,0,14.93,14.36,13.89
$GC,3474,1.15,462.0,2838,556,1183,1070,8.5,8.3,633,3509,0.00,2.35,27.38,0.787,11270,0.000,0.043,2838,1971,929,980,878,0,0,0,0,0,0,14.81,14.71,13.97
$STATE,3535,end climb,SURFACE_DEPTH_REACHED
$STATE,3536,begin surface coast
$FINISH,0.3,1.023816
$STATE,3557,end surface coast,CONTROL_FINISHED_OK
$STATE,3557,begin surface
$SM_CCo,3578,46.50,0.740,0,0,598,542.59
$SM_GC,0.45,12.57,0.00,46.50,0.050,0.000,0.740,144,1973,598,-7.27,-1.13,542.59,0,0,0,0,0,0,14.69,14.94,14.01
$IRIDIUM_FIX,-3055.04,2858.14,160419,084834
$TT8_MAMPS,0.019474,0.881573
$HUMID,55.98
$INTERNAL_PRESSURE,9.20898
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,150.4,46.4
$SC_FREEKB,3798400
$24V_AH,13.70,147.974
$10V_AH,13.11,0.000
$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,28.050,90.725,503.075,46.500,0.000,25.565,16.182,274.216,2.500,0.000,15.699,1312.670,565.404,688.911,1421.190,177.149,0.000,1335.448,0.000,975.170,0.000,18.062,0.000
$DEVICE_MAMPS,508.725,200.430,1105.425,739.755,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3620.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.598,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20066,648
$CAP_FILE_SIZE,124800,0
$CFSIZE,1023623168,988102656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160419,110911,-3111.229,3014.742,18,0.9,20,-25.9,0.6,79.1,9,9.5