version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 275
start: 4 19 119 23 25 20
data:
$ID,573
$MISSION,30
$DIVE,275
$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,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,3
$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
$GPS1,190419,231342,-3158.4617,2922.8328,21,0.9,23,-26.5,1.3,217.0,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-62.4
$GPS2,190419,232454,-3158.8547,2922.4497,20,0.8,27,-26.5,1.2,204.7,11,9.3
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3209.654,2922.450
$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,206.5,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,71,1959,565,592,0.0,0.0,0,123,0.00,0.00,-98.70,0.000,16386,0.000,0.000,72,1960,3272,3288,3256,0,0,0,0,0,0,14.97,28.83,14.97
$GC,127,-0.82,-194.6,72,1960,3288,3257,4.2,-13.4,18,152,12.98,2.40,-5.18,0.000,18948,0.314,0.089,2217,608,3608,3672,3545,0,0,0,0,0,0,14.31,12.99,14.69
$GC,315,-0.82,-194.6,2217,608,3674,3545,45.1,-11.3,54,322,0.00,2.33,0.00,0.000,3078,0.000,0.047,2217,2002,3610,3675,3545,0,0,0,0,0,0,14.75,14.62,14.77
$GC,385,-0.82,-194.6,2216,2002,3676,3545,52.9,-11.5,67,392,0.00,2.47,0.00,0.000,2308,0.000,0.074,2216,3411,3610,3676,3545,0,0,0,0,0,0,15.06,14.62,15.04
$GC,419,-0.82,-194.6,2216,3411,3677,3545,56.8,-11.1,73,426,0.00,2.35,0.00,0.000,3078,0.000,0.040,2217,2006,3610,3677,3544,0,0,0,0,0,0,14.72,14.62,14.73
$GC,489,-0.82,-194.6,2216,2007,3677,3545,65.1,-12.1,86,495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2007,3611,3677,3545,0,0,0,0,0,0,15.06,15.07,15.06
$GC,558,-0.82,-194.6,2216,2007,3677,3545,73.6,-12.0,99,563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2007,3611,3677,3545,0,0,0,0,0,0,15.07,15.07,15.07
$GC,626,-0.82,-194.6,2216,2007,3677,3545,81.6,-12.2,112,631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2006,3610,3677,3544,0,0,0,0,0,0,15.07,15.08,15.08
$GC,695,-0.82,-194.6,2216,2007,3677,3545,90.1,-12.0,125,701,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3412,3611,3677,3545,0,0,0,0,0,0,15.06,14.63,15.06
$GC,758,-0.82,-194.6,2216,3412,3677,3544,97.6,-11.4,137,765,0.00,2.35,0.00,0.000,3078,0.000,0.040,2216,1994,3611,3678,3544,0,0,0,0,0,0,14.90,14.78,14.92
$GC,829,-0.82,-194.6,2216,1994,3677,3544,105.8,-12.0,150,835,0.00,2.53,0.00,0.000,2308,0.000,0.073,2216,3419,3611,3677,3545,0,0,0,0,0,0,15.07,14.58,15.07
$GC,872,-0.82,-194.6,2216,3419,3677,3544,111.1,-11.9,158,879,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2022,3611,3678,3544,0,0,0,0,0,0,14.92,14.82,14.94
$GC,943,-0.82,-194.6,2216,2022,3677,3544,119.3,-12.5,171,949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2022,3611,3678,3544,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1011,-0.82,-194.6,2216,2022,3678,3544,127.9,-12.0,184,1017,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2022,3609,3676,3543,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1080,-0.82,-194.6,2216,2021,3678,3544,135.7,-11.1,197,1086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2022,3611,3678,3544,0,0,0,0,0,0,15.08,15.07,15.08
$GC,1149,-0.82,-194.6,2216,2022,3677,3544,143.0,-10.0,210,1155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2022,3610,3677,3544,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1223,-0.82,-194.6,2216,2022,3678,3544,150.2,-10.6,223,1229,0.00,2.47,0.00,0.000,2308,0.000,0.072,2216,3419,3610,3677,3544,0,0,0,0,0,0,15.08,14.73,15.09
$GC,1252,-0.82,-194.6,2215,3419,3678,3544,153.2,-9.0,228,1259,0.00,2.35,0.00,0.000,3078,0.000,0.037,2215,2011,3610,3677,3544,0,0,0,0,0,0,14.92,14.82,14.94
$GC,1323,-0.82,-194.6,2215,2011,3677,3544,161.6,-13.0,241,1329,0.00,2.50,0.00,0.000,2308,0.000,0.073,2214,3421,3610,3677,3543,0,0,0,0,0,0,15.08,14.72,15.08
$GC,1352,-0.82,-194.6,2213,3422,3677,3544,165.1,-10.9,246,1358,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2007,3610,3677,3543,0,0,0,0,0,0,14.92,14.80,14.95
$GC,1422,-0.82,-194.6,2213,2007,3678,3543,172.5,-11.0,259,1428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2007,3610,3677,3543,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1490,-0.82,-194.6,2214,2007,3677,3543,179.9,-10.6,272,1497,0.00,2.53,0.00,0.000,2308,0.000,0.073,2214,3415,3610,3677,3543,0,0,0,0,0,0,15.09,14.66,15.09
$GC,1519,-0.82,-194.6,2213,3414,3677,3543,183.0,-10.6,277,1526,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2020,3609,3677,3542,0,0,0,0,0,0,14.73,14.64,14.75
$STATE,1557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1557,begin apogee
$GC,1562,-0.19,0.0,2214,1935,3677,3543,187.3,-11.0,284,1718,1.08,0.00,147.85,1.121,10246,0.158,0.000,2426,1933,2811,2862,2761,0,0,0,0,0,0,14.54,14.40,13.69
$STATE,1719,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1722,0.82,194.6,2426,1933,2862,2762,194.3,0.0,312,1884,1.50,2.42,150.43,1.112,10756,0.101,0.076,2736,589,2016,2064,1968,0,0,0,0,0,0,14.40,14.34,13.67
$GC,1947,0.90,259.5,2736,589,2059,1967,183.9,7.7,352,2010,0.10,2.30,52.08,1.086,11270,0.143,0.041,2783,1970,1753,1806,1700,0,0,0,0,0,0,14.49,14.50,13.74
$GC,2073,0.90,259.5,2783,1970,1803,1699,171.2,10.8,375,2080,0.00,2.47,0.00,0.000,4356,0.000,0.069,2784,3367,1750,1801,1699,0,0,0,0,0,0,14.84,14.52,14.83
$GC,2117,0.90,259.5,2783,3367,1801,1698,166.1,12.0,383,2124,0.00,2.33,0.00,0.000,5126,0.000,0.044,2784,1990,1749,1801,1698,0,0,0,0,0,0,14.64,14.54,14.65
$GC,2188,0.90,259.5,2784,1989,1801,1698,158.3,11.7,396,2194,0.00,2.53,0.00,0.000,4612,0.000,0.079,2784,555,1749,1800,1698,0,0,0,0,0,0,14.95,14.54,14.95
$GC,2231,0.90,259.5,2784,553,1799,1698,153.2,11.0,404,2238,0.00,2.33,0.00,0.000,5126,0.000,0.043,2784,1960,1747,1799,1696,0,0,0,0,0,0,14.84,14.74,14.85
$GC,2302,0.90,259.5,2784,1960,1797,1697,146.1,10.8,417,2309,0.00,2.47,0.00,0.000,4356,0.000,0.069,2783,3368,1747,1798,1697,0,0,0,0,0,0,15.00,14.56,15.00
$GC,2341,0.90,259.5,2784,3368,1798,1696,141.5,10.8,424,2348,0.00,2.35,0.00,0.000,5126,0.000,0.045,2785,1961,1747,1798,1696,0,0,0,0,0,0,14.87,14.76,14.88
$GC,2412,0.92,278.5,2784,1962,1798,1696,135.0,9.3,437,2436,0.00,2.42,16.00,1.017,8708,0.000,0.080,2784,563,1677,1730,1624,0,0,0,0,0,0,15.04,14.64,13.93
$GC,2454,0.96,311.2,2784,562,1728,1624,130.9,8.8,444,2489,0.00,2.33,28.52,1.044,11270,0.000,0.041,2785,1964,1542,1599,1485,0,0,0,0,0,0,14.83,14.73,13.85
$GC,2552,0.99,331.5,2784,1964,1596,1485,122.0,9.3,462,2576,0.00,2.53,17.98,0.983,10500,0.000,0.069,2784,3362,1460,1516,1404,0,0,0,0,0,0,14.92,14.58,13.84
$GC,2599,1.01,354.3,2784,3362,1514,1404,117.4,9.2,470,2628,0.00,2.38,19.85,1.014,11270,0.000,0.044,2785,1964,1367,1426,1309,0,0,0,0,0,0,14.76,14.64,13.83
$GC,2691,1.02,358.9,2784,1964,1424,1309,109.1,9.8,487,2704,0.05,2.47,5.22,0.819,10756,0.254,0.080,2825,556,1349,1408,1290,0,0,0,0,0,0,14.57,14.60,13.78
$GC,2727,1.02,358.9,2825,555,1408,1290,104.7,11.3,493,2733,0.00,2.35,0.00,0.000,5126,0.000,0.041,2825,1973,1349,1408,1290,0,0,0,0,0,0,14.69,14.64,14.70
$GC,2797,1.02,358.9,2825,1973,1406,1290,96.3,12.5,506,2804,0.00,2.47,0.00,0.000,4356,0.000,0.070,2825,3366,1348,1406,1290,0,0,0,0,0,0,14.96,14.54,14.96
$GC,2841,1.02,358.9,2825,3366,1405,1290,90.3,12.7,514,2848,0.00,2.38,0.00,0.000,5126,0.000,0.046,2826,1964,1347,1405,1290,0,0,0,0,0,0,14.85,14.73,14.86
$GC,2912,1.02,358.9,2825,1964,1406,1290,82.3,11.8,527,2918,0.00,2.45,0.00,0.000,4612,0.000,0.082,2826,564,1347,1405,1290,0,0,0,0,0,0,15.01,14.54,15.01
$GC,2951,1.02,358.9,2826,564,1405,1290,77.7,11.4,534,2957,0.00,2.33,0.00,0.000,5126,0.000,0.041,2826,1973,1347,1404,1290,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3021,1.02,358.9,2826,1973,1404,1290,69.2,12.2,547,3028,0.00,2.45,0.00,0.000,4356,0.000,0.070,2827,3361,1346,1404,1289,0,0,0,0,0,0,15.02,14.71,15.03
$GC,3055,1.02,358.9,2825,3361,1403,1290,64.8,12.4,553,3062,0.00,2.35,0.00,0.000,5126,0.000,0.047,2826,1964,1344,1403,1285,0,0,0,0,0,0,14.89,14.76,14.90
$GC,3126,1.02,358.9,2826,1964,1403,1290,56.3,11.5,566,3132,0.00,2.45,0.00,0.000,4612,0.000,0.081,2826,563,1346,1403,1290,0,0,0,0,0,0,15.04,14.70,15.04
$GC,3170,1.02,358.9,2826,563,1403,1290,51.1,11.4,574,3176,0.00,2.33,0.00,0.000,5126,0.000,0.041,2826,1974,1346,1403,1290,0,0,0,0,0,0,14.91,14.81,14.92
$GC,3240,1.02,358.9,2826,1973,1403,1290,43.3,11.6,587,3246,0.00,0.00,0.00,0.000,4102,0.000,0.000,2826,1974,1346,1403,1289,0,0,0,0,0,0,15.04,15.05,15.04
$GC,3309,1.07,402.1,2826,1974,1403,1290,36.7,8.5,600,3354,0.00,2.50,36.35,0.962,10756,0.000,0.079,2826,568,1171,1231,1112,0,0,0,0,0,0,15.07,14.60,13.95
$GC,3387,1.09,414.1,2826,568,1231,1112,29.7,9.5,614,3406,0.00,2.33,11.27,0.900,11270,0.000,0.040,2826,1972,1123,1182,1064,0,0,0,0,0,0,14.67,14.59,13.90
$GC,3469,1.14,452.3,2826,1973,1178,1062,22.9,8.6,629,3504,0.00,2.47,24.98,0.908,10500,0.000,0.068,2826,3357,966,1022,911,0,0,0,0,0,0,14.97,14.56,13.93
$GC,3562,1.19,494.0,2826,3356,1022,908,14.5,8.5,646,3598,0.10,2.35,25.83,0.842,11270,0.144,0.041,2876,1961,795,827,764,0,0,0,0,0,0,14.55,14.56,13.93
$GC,3661,1.22,518.3,2877,1961,829,755,5.7,9.1,664,3685,0.00,2.47,13.85,0.745,8708,0.000,0.079,2877,565,697,712,683,0,0,0,0,0,0,14.92,14.57,13.95
$STATE,3690,end climb,SURFACE_DEPTH_REACHED
$STATE,3690,begin surface coast
$FINISH,-0.2,1.023894
$STATE,3717,end surface coast,CONTROL_FINISHED_OK
$STATE,3717,begin surface
$SM_CCo,3742,13.95,0.710,0,0,599,542.59
$SM_GC,0.38,12.90,2.45,13.95,0.047,0.046,0.710,121,2008,599,-7.30,-1.30,542.59,0,0,0,0,0,0,14.73,14.69,13.99
$IRIDIUM_FIX,-3145.55,2925.48,190419,213959
$TT8_MAMPS,0.019474,0.893557
$HUMID,59.33
$INTERNAL_PRESSURE,9.11132
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,150.2,51.7
$SC_FREEKB,3777600
$24V_AH,12.99,159.900
$10V_AH,13.34,0.000
$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,28.700,101.325,550.200,13.950,0.000,23.848,38.216,343.121,2.500,0.000,27.748,1353.371,582.163,705.845,1573.412,215.254,0.000,1381.827,0.000,1015.456,0.000,18.057,0.000
$DEVICE_MAMPS,314.415,154.530,1121.490,709.920,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.638,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23403,674
$CAP_FILE_SIZE,131649,0
$CFSIZE,1023623168,982286336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,002932,-3200.393,2921.500,17,1.3,57,-26.5,1.7,223.8,8,11.6