version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 355
start: 4 23 119 3 53 41
data:
$ID,573
$MISSION,30
$DIVE,355
$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,280
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,230419,034355,-3349.9150,2711.8103,24,1.2,37,-27.8,2.0,235.5,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-59.2
$GPS2,230419,035313,-3350.3528,2711.2483,18,1.0,21,-27.8,2.7,228.0,10,9.5
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3401.152,2711.248
$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,207.8,20000,-13.0,-9.950,-16.26,4178
$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,22,-0.82,-272.5,71,2008,605,576,0.0,0.0,0,112,0.00,0.00,-87.25,0.000,16386,0.000,0.000,72,2010,2996,3009,2983,0,0,0,0,0,0,15.06,28.83,15.07
$GC,117,-0.82,-272.5,72,2010,3010,2983,3.1,-7.3,16,152,12.60,2.40,-15.43,0.000,18948,0.297,0.083,2214,608,3931,3987,3876,0,0,0,0,0,0,14.38,13.85,14.59
$GC,195,-0.82,-272.5,2213,608,3984,3879,24.0,-19.0,30,202,0.05,2.33,0.00,0.000,3078,0.343,0.043,2221,2027,3932,3985,3879,0,0,0,0,0,0,14.52,14.71,14.78
$GC,266,-0.82,-272.5,2221,2027,3985,3879,37.3,-19.1,43,273,0.00,2.38,0.00,0.000,2308,0.000,0.073,2213,3408,3931,3984,3879,0,0,0,0,0,0,15.11,14.77,15.11
$GC,306,-0.82,-272.5,2212,3408,3985,3880,45.4,-19.5,50,312,0.00,2.33,0.00,0.000,3078,0.000,0.038,2213,1997,3932,3985,3880,0,0,0,0,0,0,14.95,14.81,14.96
$GC,376,-0.82,-272.5,2213,1997,3985,3879,57.4,-15.8,63,383,0.00,2.45,0.00,0.000,2308,0.000,0.070,2213,3409,3931,3984,3879,0,0,0,0,0,0,15.11,14.78,15.11
$GC,411,-0.82,-272.5,2213,3409,3984,3880,62.1,-12.8,69,417,0.00,2.30,0.00,0.000,3078,0.000,0.038,2213,2015,3932,3984,3880,0,0,0,0,0,0,14.93,14.80,14.96
$GC,481,-0.82,-272.5,2213,2016,3984,3878,70.1,-12.0,82,488,0.00,2.40,0.00,0.000,2564,0.000,0.066,2213,611,3932,3984,3880,0,0,0,0,0,0,15.12,14.81,15.12
$GC,551,-0.82,-272.5,2213,611,3984,3879,78.9,-12.2,95,557,0.00,2.30,0.00,0.000,3078,0.000,0.043,2213,2020,3931,3984,3879,0,0,0,0,0,0,14.97,14.86,14.99
$GC,623,-0.82,-272.5,2213,2019,3985,3879,87.3,-12.2,108,629,0.00,2.38,0.00,0.000,2308,0.000,0.073,2213,3408,3932,3984,3880,0,0,0,0,0,0,15.12,14.79,15.13
$GC,705,-0.82,-272.5,2213,3408,3984,3880,97.3,-11.5,123,712,0.00,2.30,0.00,0.000,3078,0.000,0.035,2213,2006,3931,3984,3879,0,0,0,0,0,0,14.92,14.83,14.93
$GC,777,-0.82,-272.5,2213,2006,3983,3879,104.7,-10.0,136,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2005,3931,3984,3879,0,0,0,0,0,0,15.13,15.13,15.13
$GC,848,-0.82,-272.5,2212,2006,3985,3880,110.5,-7.3,149,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,2006,3932,3984,3880,0,0,0,0,0,0,15.14,15.14,15.14
$GC,916,-0.82,-272.5,2213,2006,3984,3880,115.9,-8.0,162,923,0.00,2.45,0.00,0.000,2308,0.000,0.070,2211,3412,3932,3984,3880,0,0,0,0,0,0,15.15,14.81,15.15
$GC,951,-0.82,-272.5,2210,3412,3984,3879,118.9,-8.3,168,958,0.05,2.30,0.00,0.000,3078,0.305,0.036,2224,2011,3935,3990,3880,0,0,0,0,0,0,14.69,14.90,14.89
$GC,1022,-0.82,-272.5,2224,2011,3984,3880,126.2,-12.3,181,1028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2011,3932,3984,3880,0,0,0,0,0,0,15.15,15.15,15.16
$GC,1092,-0.82,-272.5,2224,2011,3984,3880,134.1,-12.4,194,1098,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2011,3932,3985,3880,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1165,-0.82,-272.5,2223,2011,3985,3880,143.0,-11.5,207,1171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2011,3932,3984,3880,0,0,0,0,0,0,15.16,15.15,15.16
$GC,1234,-0.82,-272.5,2223,2011,3984,3880,149.8,-9.0,220,1243,0.00,2.38,0.00,0.000,2564,0.000,0.066,2224,614,3932,3984,3880,0,0,0,0,0,0,15.16,14.66,15.16
$GC,1267,-0.82,-272.5,2224,614,3984,3880,152.5,-8.9,225,1273,0.00,2.28,0.00,0.000,3078,0.000,0.042,2224,2011,3932,3984,3880,0,0,0,0,0,0,15.00,14.90,15.02
$GC,1338,-0.82,-272.5,2224,2011,3984,3880,158.5,-8.7,238,1344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2011,3932,3984,3880,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1407,-0.82,-272.5,2224,2011,3984,3880,164.7,-8.9,251,1413,0.00,0.00,0.00,0.000,2054,0.000,0.000,2224,2011,3932,3984,3880,0,0,0,0,0,0,15.15,15.16,15.15
$GC,1476,-0.82,-272.5,2224,2011,3985,3880,171.3,-9.9,264,1482,0.00,2.42,0.00,0.000,2308,0.000,0.073,2224,3417,3932,3984,3880,0,0,0,0,0,0,15.15,14.80,15.15
$GC,1525,-0.82,-272.5,2224,3417,3984,3880,176.3,-9.9,273,1532,0.00,2.30,0.00,0.000,3078,0.000,0.036,2224,2012,3932,3984,3880,0,0,0,0,0,0,14.92,14.83,14.93
$STATE,1557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1557,begin apogee
$GC,1563,-0.19,0.0,2224,2012,3981,3880,179.8,-10.0,279,1774,0.98,0.00,201.45,1.073,10246,0.135,0.000,2425,2011,2811,2861,2762,0,0,0,0,0,0,14.67,14.47,13.78
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1778,0.82,272.5,2425,2011,2861,2763,192.2,0.0,317,1997,1.45,2.38,205.45,1.068,10500,0.081,0.067,2737,3365,1700,1753,1648,0,0,0,0,0,0,14.51,14.47,13.79
$GC,2062,0.83,287.0,2738,3362,1748,1648,173.0,9.6,367,2081,0.00,2.33,13.00,0.964,11270,0.000,0.041,2739,1967,1640,1693,1588,0,0,0,0,0,0,14.80,14.69,13.87
$GC,2144,0.87,313.2,2739,1967,1691,1586,165.6,9.3,382,2173,0.00,2.45,21.77,1.008,10756,0.000,0.074,2739,560,1535,1590,1481,0,0,0,0,0,0,14.97,14.40,13.89
$GC,2212,0.94,373.4,2739,560,1589,1481,159.8,8.5,394,2270,0.15,2.30,48.92,1.036,11270,0.103,0.039,2808,1971,1289,1351,1228,0,0,0,0,0,0,14.77,14.74,13.90
$GC,2335,0.98,403.4,2808,1971,1351,1227,147.3,9.2,416,2370,0.00,2.50,25.12,1.004,12804,0.000,0.074,2809,565,1168,1228,1108,0,0,0,0,0,0,14.94,14.59,13.92
$GC,2394,1.13,530.2,2813,565,1229,1108,143.0,6.8,426,2512,0.10,2.30,106.93,1.030,11270,0.142,0.039,2863,1964,648,637,660,0,0,0,0,0,0,14.62,14.63,13.84
$GC,2576,1.13,530.2,2862,1964,637,648,119.4,13.6,459,2582,0.00,2.45,0.00,0.000,4612,0.000,0.077,2863,560,642,637,647,0,0,0,0,0,0,14.92,14.63,14.92
$GC,2610,1.13,530.2,2862,560,637,644,114.9,12.8,465,2617,0.00,2.30,0.00,0.000,5126,0.000,0.037,2862,1967,640,637,644,0,0,0,0,0,0,14.78,14.70,14.80
$GC,2680,1.13,530.2,2862,1967,637,641,106.2,12.7,478,2686,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,1967,639,638,641,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2749,1.13,530.2,2862,1967,638,638,97.2,13.5,491,2755,0.00,2.45,0.00,0.000,4612,0.000,0.077,2863,565,638,638,638,0,0,0,0,0,0,15.06,14.62,15.06
$GC,2778,1.13,530.2,2863,565,639,637,93.2,12.9,496,2785,0.00,2.28,0.00,0.000,5126,0.000,0.037,2862,1971,638,639,637,0,0,0,0,0,0,14.93,14.84,14.95
$GC,2849,1.13,530.2,2862,1971,639,635,84.3,13.2,509,2855,0.00,2.38,0.00,0.000,4356,0.000,0.065,2863,3357,637,639,635,0,0,0,0,0,0,15.08,14.67,15.09
$GC,2878,1.13,530.2,2866,3357,639,634,80.1,12.2,514,2885,0.00,2.33,0.00,0.000,5126,0.000,0.043,2863,1960,637,640,634,0,0,0,0,0,0,14.92,14.83,14.92
$GC,2950,1.15,544.3,2862,1960,639,632,73.1,9.6,527,2968,0.00,2.40,9.85,0.831,12804,0.000,0.080,2865,565,599,598,600,0,0,0,0,0,0,15.10,14.71,13.95
$GC,3017,1.15,544.3,2862,565,598,595,66.0,10.1,539,3024,0.00,2.28,0.00,0.000,5126,0.000,0.037,2863,1962,596,598,595,0,0,0,0,0,0,14.94,14.85,14.95
$GC,3088,1.16,553.5,2863,1963,598,593,58.9,9.7,552,3094,0.00,2.40,0.00,0.000,260,0.000,0.067,2863,3364,595,598,593,0,0,0,0,0,0,15.08,14.79,15.09
$GC,3117,1.23,605.2,2862,3364,598,592,56.2,8.7,557,3124,0.00,2.33,0.00,0.000,3078,0.000,0.041,2863,1961,595,598,592,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3188,1.35,708.7,2863,1961,599,591,50.7,7.4,570,3196,0.15,2.40,0.00,0.000,2564,0.114,0.076,2936,564,594,598,590,0,0,0,0,0,0,14.85,14.64,14.88
$GC,3223,1.35,708.7,2936,564,598,590,47.5,10.7,576,3229,0.00,2.28,0.00,0.000,5126,0.000,0.038,2937,1969,593,598,589,0,0,0,0,0,0,14.98,14.88,15.00
$GC,3293,1.35,708.7,2936,1970,598,587,40.0,11.0,589,3300,0.00,2.47,0.00,0.000,4612,0.000,0.079,2937,555,592,598,587,0,0,0,0,0,0,15.11,14.64,15.11
$GC,3318,1.40,748.6,2936,555,599,587,37.5,9.0,593,3325,0.00,2.30,0.00,0.000,1030,0.000,0.038,2936,1976,592,598,587,0,0,0,0,0,0,14.96,14.88,14.98
$GC,3389,1.40,748.6,2936,1976,599,586,29.8,13.2,606,3395,0.00,2.38,0.00,0.000,260,0.000,0.065,2937,3361,592,599,586,0,0,0,0,0,0,15.13,14.69,15.14
$GC,3418,1.40,748.6,2936,3362,598,586,24.9,14.7,611,3425,0.00,2.35,0.00,0.000,1030,0.000,0.047,2936,1960,592,599,586,0,0,0,0,0,0,14.95,14.84,14.98
$GC,3489,1.40,748.6,2937,1959,599,585,14.9,12.7,624,3496,0.00,2.42,0.00,0.000,516,0.000,0.080,2937,561,591,598,585,0,0,0,0,0,0,15.11,14.66,15.13
$GC,3518,1.40,748.6,2936,561,599,585,10.6,12.3,629,3525,0.00,2.28,0.00,0.000,1030,0.000,0.037,2936,1971,591,599,583,0,0,0,0,0,0,14.85,14.77,14.86
$STATE,3575,end climb,SURFACE_DEPTH_REACHED
$STATE,3575,begin surface coast
$FINISH,0.1,1.013000
$STATE,3602,end surface coast,CONTROL_FINISHED_OK
$STATE,3602,begin surface
$SM_CCo,3685,0.00,0.000,0,0,591,545.05
$SM_GC,0.57,12.85,0.00,0.00,0.045,0.000,0.000,144,1973,591,-7.27,-1.13,545.05,0,0,0,0,0,0,14.86,15.17,14.96
$IRIDIUM_FIX,-3333.14,2708.69,230419,024636
$TT8_MAMPS,0.019474,0.695072
$HUMID,61.97
$INTERNAL_PRESSURE,9.23828
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,150.2,44.6
$SC_FREEKB,3736480
$24V_AH,13.78,177.723
$10V_AH,13.03,0.000
$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,28.375,94.375,632.500,0.000,0.000,24.942,45.207,252.038,3.000,0.000,22.459,1259.941,591.363,733.833,1419.448,246.278,0.000,1405.292,0.000,975.290,0.000,23.765,0.000
$DEVICE_MAMPS,342.720,83.385,1072.530,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.648,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23408,645
$CAP_FILE_SIZE,124104,0
$CFSIZE,1023623168,973783040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,045601,-3352.651,2708.891,15,0.9,18,-27.8,3.2,241.0,11,9.5