version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 287
start: 4 20 119 17 10 49
data:
$ID,573
$MISSION,30
$DIVE,287
$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,37
$R_STBD_OVSHOOT,49
$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
$GPS1,200419,170136,-3220.1489,2901.5403,29,0.7,32,-26.8,1.2,192.6,12,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-62.3
$GPS2,200419,171022,-3220.5635,2901.1909,17,0.8,23,-26.8,2.4,202.1,11,9.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3231.363,2901.191
$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,206.8,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.82,-194.6,72,1982,583,581,0.0,0.0,0,118,0.00,0.00,-93.30,0.000,16386,0.000,0.000,72,1982,3204,3216,3193,0,0,0,0,0,0,15.06,28.83,15.07
$GC,122,-0.82,-194.6,72,1982,3216,3194,4.2,-12.1,17,147,12.65,2.53,-6.12,0.000,18692,0.304,0.086,2209,3405,3608,3670,3546,0,0,0,0,0,0,14.44,13.13,14.65
$GC,205,-0.82,-194.6,2209,3405,3674,3545,30.3,-19.5,32,213,0.05,2.30,0.00,0.000,3078,0.330,0.039,2220,2008,3610,3674,3546,0,0,0,0,0,0,14.61,14.80,14.81
$GC,276,-0.82,-194.6,2220,2008,3675,3545,44.7,-20.6,45,283,0.00,2.38,0.00,0.000,2564,0.000,0.067,2221,613,3610,3674,3546,0,0,0,0,0,0,15.13,14.83,15.13
$GC,462,-0.82,-194.6,2220,612,3675,3545,70.2,-11.7,81,469,0.00,2.28,0.00,0.000,3078,0.000,0.043,2220,2006,3610,3675,3545,0,0,0,0,0,0,15.00,14.90,15.01
$GC,532,-0.82,-194.6,2220,2006,3675,3545,78.5,-11.6,94,538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2006,3610,3675,3545,0,0,0,0,0,0,15.13,15.13,15.13
$GC,600,-0.82,-194.6,2220,2006,3675,3545,86.5,-11.5,107,606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,2006,3610,3675,3545,0,0,0,0,0,0,15.15,15.15,15.19
$GC,669,-0.82,-194.6,2220,2006,3674,3545,94.2,-10.7,120,676,0.00,2.40,0.00,0.000,2308,0.000,0.072,2217,3411,3610,3676,3545,0,0,0,0,0,0,15.15,14.71,15.16
$GC,693,-0.82,-194.6,2217,3411,3676,3545,96.7,-10.9,124,700,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2013,3610,3676,3545,0,0,0,0,0,0,15.01,14.92,15.02
$GC,764,-0.82,-194.6,2217,2012,3676,3545,103.2,-9.4,137,771,0.00,2.38,0.00,0.000,2564,0.000,0.065,2217,609,3610,3676,3545,0,0,0,0,0,0,15.16,14.75,15.16
$GC,803,-0.82,-194.6,2216,608,3676,3545,107.5,-10.6,144,810,0.00,2.28,0.00,0.000,3078,0.000,0.043,2217,2012,3611,3677,3545,0,0,0,0,0,0,15.02,14.92,15.03
$GC,873,-0.82,-194.6,2217,2012,3676,3545,113.6,-9.3,157,880,0.00,2.38,0.00,0.000,2308,0.000,0.073,2217,3409,3609,3676,3542,0,0,0,0,0,0,15.15,14.84,15.18
$GC,940,-0.82,-194.6,2217,3409,3677,3545,120.2,-9.4,169,947,0.00,2.30,0.00,0.000,3078,0.000,0.037,2217,2008,3611,3677,3545,0,0,0,0,0,0,14.88,14.80,14.90
$GC,1010,-0.82,-194.6,2217,2008,3676,3545,127.2,-10.2,182,1016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2006,3610,3676,3544,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1080,-0.82,-194.6,2213,2008,3676,3545,134.5,-10.2,195,1086,0.00,2.42,0.00,0.000,2308,0.000,0.072,2217,3408,3610,3676,3545,0,0,0,0,0,0,15.16,14.73,15.16
$GC,1144,-0.82,-194.6,2214,3408,3676,3549,140.3,-9.4,206,1151,0.00,2.28,0.00,0.000,3078,0.000,0.037,2217,2014,3610,3676,3544,0,0,0,0,0,0,14.88,14.79,14.88
$GC,1215,-0.82,-194.6,2217,2013,3676,3544,146.7,-7.9,219,1221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2012,3610,3676,3544,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1284,-0.82,-194.6,2217,2013,3676,3544,152.5,-8.5,232,1290,0.00,2.42,0.00,0.000,2308,0.000,0.072,2217,3409,3610,3676,3544,0,0,0,0,0,0,15.17,14.85,15.18
$GC,1328,-0.82,-194.6,2217,3409,3676,3543,156.3,-8.8,240,1335,0.00,2.30,0.00,0.000,3078,0.000,0.036,2217,2008,3610,3676,3544,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1399,-0.82,-194.6,2217,2008,3676,3544,162.6,-9.2,253,1405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2008,3609,3676,3543,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1467,-0.82,-194.6,2217,2008,3676,3543,170.1,-11.6,266,1473,0.00,2.45,0.00,0.000,2308,0.000,0.073,2217,3409,3607,3676,3538,0,0,0,0,0,0,15.17,14.84,15.16
$GC,1500,-0.82,-194.6,2216,3409,3676,3543,174.0,-11.6,272,1507,0.00,2.30,0.00,0.000,3078,0.000,0.037,2217,2011,3609,3676,3543,0,0,0,0,0,0,14.95,14.84,14.96
$GC,1571,-0.82,-194.6,2217,2011,3675,3542,181.7,-11.0,285,1577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3609,3676,3542,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,1582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1582,begin apogee
$GC,1587,-0.19,0.0,2217,1942,3676,3542,183.5,-11.8,287,1742,1.02,0.00,146.02,1.090,10246,0.150,0.000,2424,1940,2815,2862,2769,0,0,0,0,0,0,14.66,14.31,13.79
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1746,0.82,194.6,2424,1940,2861,2762,189.3,0.0,315,1903,1.45,2.40,147.90,1.081,10756,0.096,0.071,2732,581,2016,2063,1969,0,0,0,0,0,0,14.51,14.42,13.81
$GC,1956,0.85,220.1,2731,581,2058,1968,177.7,9.1,352,1985,0.00,2.30,20.95,1.022,11270,0.000,0.041,2732,1976,1912,1961,1863,0,0,0,0,0,0,14.77,14.69,13.84
$GC,2047,0.89,249.2,2732,1976,1956,1862,169.0,9.0,369,2078,0.08,2.47,23.83,1.025,10500,0.181,0.069,2786,3365,1795,1845,1745,0,0,0,0,0,0,14.73,14.57,13.91
$GC,2106,0.89,249.2,2785,3365,1841,1745,162.7,13.2,379,2113,0.00,2.30,0.00,0.000,5126,0.000,0.043,2787,1984,1792,1841,1744,0,0,0,0,0,0,14.69,14.61,14.71
$GC,2178,0.89,249.2,2786,1983,1840,1744,154.7,10.9,392,2185,0.00,2.47,0.00,0.000,4612,0.000,0.076,2787,557,1791,1840,1742,0,0,0,0,0,0,15.00,14.71,15.01
$GC,2222,0.89,249.2,2786,557,1838,1744,149.5,10.7,400,2229,0.00,2.30,0.00,0.000,5126,0.000,0.041,2786,1960,1791,1839,1743,0,0,0,0,0,0,14.81,14.72,14.81
$GC,2292,0.89,249.2,2786,1962,1838,1743,142.4,10.6,413,2300,0.03,2.42,0.00,0.000,4356,0.500,0.066,2780,3366,1790,1838,1742,0,0,0,0,0,0,14.70,14.73,14.85
$GC,2353,0.89,249.2,2780,3367,1836,1742,135.5,11.4,424,2360,0.00,2.35,0.00,0.000,5126,0.000,0.044,2780,1964,1789,1837,1742,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2424,0.89,249.2,2779,1964,1837,1741,127.9,10.8,437,2430,0.00,2.42,0.00,0.000,4612,0.000,0.077,2781,563,1788,1836,1741,0,0,0,0,0,0,15.09,14.78,15.10
$GC,2447,0.89,249.2,2780,563,1836,1742,125.3,10.8,441,2454,0.00,2.30,0.00,0.000,5126,0.000,0.041,2781,1971,1788,1836,1740,0,0,0,0,0,0,14.86,14.78,14.87
$GC,2517,0.89,249.2,2780,1972,1836,1741,118.2,10.2,454,2524,0.00,2.40,0.00,0.000,4356,0.000,0.069,2785,3363,1788,1835,1741,0,0,0,0,0,0,15.11,14.76,15.11
$GC,2576,0.89,249.2,2780,3363,1835,1741,111.3,10.9,465,2583,0.00,2.33,0.00,0.000,5126,0.000,0.044,2781,1964,1788,1835,1741,0,0,0,0,0,0,14.84,14.75,14.86
$GC,2647,0.89,249.2,2780,1964,1835,1741,104.2,10.5,478,2653,0.00,2.42,0.00,0.000,4612,0.000,0.077,2781,558,1788,1835,1741,0,0,0,0,0,0,15.13,14.71,15.13
$GC,2676,0.89,251.8,2780,558,1834,1741,101.0,9.9,483,2683,0.00,2.30,0.00,0.000,5126,0.000,0.042,2781,1969,1787,1834,1741,0,0,0,0,0,0,14.91,14.90,14.92
$GC,2747,0.91,268.4,2780,1968,1834,1741,94.3,9.4,496,2770,0.00,0.00,16.33,0.959,8198,0.000,0.000,2781,1968,1716,1767,1666,0,0,0,0,0,0,15.13,14.73,13.97
$GC,2833,0.93,287.0,2780,1968,1766,1663,86.1,9.3,512,2856,0.00,2.42,16.23,0.980,10500,0.000,0.069,2781,3366,1640,1694,1586,0,0,0,0,0,0,15.08,14.47,13.95
$GC,2879,0.93,287.0,2781,3366,1693,1585,81.9,10.6,520,2886,0.00,2.35,0.00,0.000,3078,0.000,0.044,2781,1957,1639,1693,1585,0,0,0,0,0,0,14.90,14.79,14.91
$GC,2950,1.00,338.6,2780,1957,1693,1584,76.1,8.2,533,3001,0.00,2.45,42.45,0.998,10756,0.000,0.078,2781,556,1430,1489,1372,0,0,0,0,0,0,15.05,14.61,13.97
$GC,3044,1.04,377.8,2780,556,1487,1372,68.1,8.6,550,3085,0.10,2.33,32.58,0.966,11270,0.145,0.040,2834,1968,1270,1331,1210,0,0,0,0,0,0,14.73,14.74,13.91
$GC,3147,1.04,377.8,2837,1968,1329,1207,57.0,10.4,569,3153,0.00,0.00,0.00,0.000,4102,0.000,0.000,2834,1969,1268,1330,1206,0,0,0,0,0,0,14.95,14.96,14.96
$GC,3216,1.08,410.4,2834,1968,1329,1206,50.6,8.8,582,3247,0.00,0.00,26.92,0.937,8198,0.000,0.000,2834,1968,1138,1199,1077,0,0,0,0,0,0,15.02,14.64,13.99
$GC,3312,1.17,481.5,2834,1969,1199,1073,43.1,7.5,599,3379,0.05,2.45,58.97,0.948,10500,0.252,0.069,2874,3363,847,883,811,0,0,0,0,0,0,14.70,14.50,13.95
$GC,3434,1.18,488.4,2874,3363,883,802,31.4,9.7,621,3447,0.00,2.38,6.65,0.806,13318,0.000,0.044,2874,1963,820,861,779,0,0,0,0,0,0,14.81,14.70,13.93
$GC,3510,1.24,539.8,2874,1962,862,771,24.7,8.2,635,3556,0.00,2.45,37.05,0.897,10756,0.000,0.080,2874,558,609,584,635,0,0,0,0,0,0,14.99,14.58,14.00
$GC,3609,1.24,539.8,2874,558,581,624,16.2,10.7,653,3616,0.00,2.33,0.00,0.000,3078,0.000,0.038,2874,1973,603,581,626,0,0,0,0,0,0,14.83,14.73,14.85
$GC,3680,1.31,593.9,2874,1973,580,620,10.3,8.1,666,3688,0.08,2.42,0.05,0.118,10500,0.184,0.067,2921,3362,599,580,619,0,0,0,0,0,0,14.72,14.68,14.56
$GC,3710,1.31,593.9,2921,3362,580,618,6.9,11.8,671,3718,0.00,2.35,0.03,0.082,13318,0.000,0.046,2922,1960,598,580,617,0,0,0,0,0,0,14.89,14.78,14.71
$STATE,3738,end climb,SURFACE_DEPTH_REACHED
$STATE,3738,begin surface coast
$FINISH,0.3,1.023539
$STATE,3761,end surface coast,CONTROL_FINISHED_OK
$STATE,3761,begin surface
$SM_CCo,3844,0.00,0.000,0,0,595,543.82
$SM_GC,0.48,12.70,0.05,0.00,0.035,0.197,0.000,139,2008,595,-7.27,-1.44,543.82,0,0,0,0,0,0,14.87,14.83,14.92
$IRIDIUM_FIX,-3208.42,2904.51,200419,161116
$TT8_MAMPS,0.018725,0.802179
$HUMID,60.08
$INTERNAL_PRESSURE,9.21875
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,140.3,56.5
$SC_FREEKB,3771328
$24V_AH,13.13,163.107
$10V_AH,13.10,0.000
$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,28.200,94.875,575.950,0.000,0.000,26.318,45.596,242.527,2.250,0.000,23.717,1370.122,648.604,689.743,1460.102,211.247,0.000,1368.100,0.000,1026.241,0.000,17.751,0.000
$DEVICE_MAMPS,500.310,198.900,1090.125,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.735,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23347,680
$CAP_FILE_SIZE,130093,0
$CFSIZE,1023623168,980795392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3232.35,0x23609a,1,24
$GPS,200419,181604,-3222.101,2900.219,33,0.8,35,-26.8,2.2,197.0,10,9.9