version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 362
start: 4 23 119 14 17 7
data:
$ID,573
$MISSION,30
$DIVE,362
$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,300
$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,290
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,230419,140601,-3409.3784,2642.8130,38,0.9,42,-27.9,2.1,220.5,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-60.5
$GPS2,230419,141640,-3409.8777,2641.9492,21,1.0,22,-27.9,2.8,232.1,8,8.8
$SPEED_LIMITS,0.172,0.351
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.184,2629.694
$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,317.9,20000,-12.5,-9.950,-15.82,4474
$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,-292.0,72,1971,572,582,0.0,0.0,0,111,0.00,0.00,-87.18,0.000,16386,0.000,0.000,72,1971,2951,2954,2949,0,0,0,0,0,0,15.00,28.83,15.00
$GC,116,-0.82,-292.0,72,1971,2955,2949,3.0,-6.8,16,152,12.82,2.42,-16.77,0.000,18948,0.305,0.089,2214,603,3964,4008,3920,0,0,0,0,0,0,14.30,12.92,14.50
$GC,275,-0.82,-292.0,2213,603,4007,3923,37.7,-15.6,46,282,0.00,2.38,0.00,0.000,3078,0.000,0.046,2214,2005,3965,4007,3923,0,0,0,0,0,0,14.81,14.69,14.83
$GC,346,-0.82,-292.0,2214,2005,4008,3923,47.3,-13.3,59,353,0.00,2.50,0.00,0.000,2308,0.000,0.074,2214,3420,3965,4007,3923,0,0,0,0,0,0,15.05,14.69,15.06
$GC,461,-0.82,-292.0,2213,3419,4006,3923,66.0,-14.0,81,468,0.00,2.38,0.00,0.000,3078,0.000,0.037,2214,2007,3964,4006,3923,0,0,0,0,0,0,14.91,14.81,14.92
$GC,531,-0.82,-292.0,2214,2005,4006,3923,76.7,-15.8,94,537,0.00,2.50,0.00,0.000,2308,0.000,0.071,2214,3416,3964,4006,3923,0,0,0,0,0,0,15.08,14.69,15.09
$GC,559,-0.82,-292.0,2213,3416,4011,3924,80.8,-13.7,99,566,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2013,3964,4006,3923,0,0,0,0,0,0,14.77,14.67,14.78
$GC,630,-0.82,-292.0,2213,2014,4006,3923,88.0,-9.3,112,637,0.00,2.47,0.00,0.000,2308,0.000,0.071,2214,3411,3962,4001,3924,0,0,0,0,0,0,15.09,14.71,15.09
$GC,692,-0.82,-292.0,2214,3411,4006,3923,92.9,-7.9,123,698,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2007,3965,4006,3924,0,0,0,0,0,0,14.92,14.83,14.94
$GC,763,-0.82,-292.0,2213,2007,4006,3924,98.2,-7.5,136,769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2007,3965,4006,3924,0,0,0,0,0,0,15.07,15.08,15.08
$GC,833,-0.82,-292.0,2219,2007,4006,3924,102.9,-6.0,149,840,0.00,2.47,0.00,0.000,2308,0.000,0.070,2214,3415,3965,4006,3924,0,0,0,0,0,0,15.09,14.59,15.09
$GC,883,-0.82,-292.0,2213,3415,4006,3925,105.8,-5.0,158,890,0.00,2.33,0.00,0.000,3078,0.000,0.036,2214,2002,3965,4006,3924,0,0,0,0,0,0,14.94,14.83,14.94
$GC,953,-0.82,-292.0,2213,2001,4009,3924,112.2,-12.2,171,959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2001,3965,4007,3924,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1022,-0.82,-292.0,2214,2001,4006,3924,122.7,-15.3,184,1029,0.00,2.50,0.00,0.000,2308,0.000,0.071,2214,3411,3966,4007,3925,0,0,0,0,0,0,15.11,14.73,15.11
$GC,1139,-0.82,-292.0,2213,3411,4006,3925,140.8,-14.2,206,1146,0.00,2.33,0.00,0.000,3078,0.000,0.036,2214,2013,3965,4006,3924,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1212,-0.82,-292.0,2213,2013,4007,3925,150.6,-13.3,219,1219,0.00,2.45,0.00,0.000,2308,0.000,0.070,2214,3419,3965,4006,3924,0,0,0,0,0,0,15.11,14.74,15.11
$GC,1277,-0.82,-292.0,2213,3420,4006,3925,158.4,-10.9,231,1284,0.00,2.35,0.00,0.000,3078,0.000,0.036,2214,2010,3965,4006,3924,0,0,0,0,0,0,14.94,14.84,14.95
$GC,1348,-0.82,-292.0,2213,2009,4006,3924,165.0,-9.2,244,1355,0.00,2.45,0.00,0.000,2308,0.000,0.070,2214,3411,3965,4006,3924,0,0,0,0,0,0,15.10,14.59,15.10
$GC,1483,-0.82,-292.0,2213,3411,4006,3924,174.6,-5.4,270,1490,0.00,2.33,0.00,0.000,3078,0.000,0.040,2214,2004,3965,4006,3925,0,0,0,0,0,0,14.94,14.84,14.95
$STATE,1516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1516,begin apogee
$GC,1521,-0.19,0.0,2214,2002,4007,3924,177.1,-7.6,276,1743,1.02,0.00,209.88,1.076,10246,0.130,0.000,2423,2002,2811,2862,2761,0,0,0,0,0,0,14.53,14.24,13.74
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1747,0.82,292.0,2423,2002,2861,2761,187.6,0.0,316,1982,1.50,2.45,224.20,1.069,11012,0.099,0.066,2737,3362,1621,1677,1565,0,0,0,0,0,0,14.45,14.21,13.70
$GC,2000,0.86,321.9,2737,3362,1674,1565,169.4,9.3,360,2030,0.00,2.38,24.88,1.018,11270,0.000,0.041,2737,1966,1499,1555,1443,0,0,0,0,0,0,14.65,14.55,13.78
$GC,2094,0.96,405.9,2736,1965,1552,1443,160.6,8.0,377,2174,0.15,2.53,68.30,1.047,11012,0.106,0.064,2809,3366,1158,1221,1095,0,0,0,0,0,0,14.66,14.42,13.79
$GC,2181,0.96,405.9,2808,3366,1221,1095,150.7,11.1,392,2188,0.00,2.38,0.00,0.000,5126,0.000,0.041,2812,1963,1157,1221,1094,0,0,0,0,0,0,14.66,14.57,14.68
$GC,2252,0.96,405.9,2812,1963,1222,1094,142.1,12.5,405,2258,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1963,1158,1222,1094,0,0,0,0,0,0,14.92,14.90,14.90
$GC,2320,0.96,405.9,2812,1963,1222,1094,134.5,10.7,418,2327,0.00,2.47,0.00,0.000,4356,0.000,0.067,2812,3363,1157,1221,1094,0,0,0,0,0,0,14.97,14.68,14.98
$GC,2350,0.96,405.9,2810,3363,1221,1094,130.2,14.6,423,2357,0.00,2.35,0.00,0.000,5126,0.000,0.044,2812,1967,1157,1221,1094,0,0,0,0,0,0,14.85,14.73,14.86
$GC,2421,0.96,405.9,2812,1967,1221,1094,120.9,14.9,436,2428,0.00,2.45,0.00,0.000,4612,0.000,0.080,2812,562,1157,1221,1094,0,0,0,0,0,0,15.00,14.69,15.00
$GC,2435,0.96,405.9,2812,563,1221,1094,118.9,13.8,438,2442,0.00,2.30,0.00,0.000,5126,0.000,0.037,2812,1971,1161,1228,1094,0,0,0,0,0,0,14.88,14.79,14.90
$GC,2506,0.96,405.9,2812,1972,1220,1093,111.4,10.5,451,2513,0.00,2.40,0.00,0.000,4356,0.000,0.066,2812,3357,1157,1221,1093,0,0,0,0,0,0,15.03,14.72,15.02
$GC,2546,0.96,405.9,2812,3357,1220,1093,107.2,11.5,458,2553,0.00,2.33,0.00,0.000,5126,0.000,0.043,2812,1960,1156,1220,1093,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2617,0.96,405.9,2812,1959,1220,1093,98.2,13.5,471,2622,0.00,0.00,0.00,0.000,4102,0.000,0.000,2813,1959,1156,1220,1093,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2685,0.96,405.9,2812,1959,1220,1093,90.1,10.0,484,2691,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1959,1156,1220,1093,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2754,1.11,523.8,2812,1959,1220,1091,84.9,7.2,497,2861,0.05,0.00,101.15,1.014,10246,0.254,0.000,2855,1959,675,675,676,0,0,0,0,0,0,14.77,14.49,13.85
$GC,2924,1.11,523.8,2855,1959,674,669,64.1,12.3,528,2930,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1959,669,674,664,0,0,0,0,0,0,14.88,14.89,14.88
$GC,2993,1.11,523.8,2855,1959,674,661,56.7,11.2,541,2998,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1959,667,674,661,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3061,1.11,523.8,2855,1958,674,657,47.8,14.7,554,3067,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1959,665,674,656,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3130,1.11,523.8,2855,1959,675,655,38.9,10.7,567,3136,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,1958,664,675,654,0,0,0,0,0,0,15.03,15.04,15.03
$GC,3198,1.18,580.5,2855,1958,675,651,32.9,8.6,580,3222,0.00,2.47,16.42,0.888,10500,0.000,0.062,2855,3362,598,595,601,0,0,0,0,0,0,15.04,14.45,13.94
$GC,3281,1.23,625.9,2855,3362,595,594,24.8,8.9,595,3288,0.00,2.35,0.00,0.000,3078,0.000,0.041,2856,1956,594,595,593,0,0,0,0,0,0,14.87,14.75,14.89
$GC,3352,1.23,625.9,2855,1960,595,590,17.5,10.4,608,3359,0.00,2.42,0.00,0.000,2564,0.000,0.078,2855,568,592,595,590,0,0,0,0,0,0,15.04,14.54,15.04
$STATE,3450,end climb,SURFACE_DEPTH_REACHED
$STATE,3450,begin surface coast
$FINISH,0.6,1.023851
$STATE,3472,end surface coast,CONTROL_FINISHED_OK
$STATE,3472,begin surface
$SM_CCo,3557,0.00,0.000,0,0,589,545.29
$SM_GC,0.60,12.50,2.42,0.00,0.046,0.044,0.000,145,2038,589,-7.27,-1.24,545.29,0,0,0,0,0,0,14.83,14.85,14.90
$IRIDIUM_FIX,-3353.88,2644.38,230419,124438
$TT8_MAMPS,0.019474,0.828394
$HUMID,61.85
$INTERNAL_PRESSURE,9.14062
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,150.6,41.6
$SC_FREEKB,3732896
$24V_AH,12.92,179.856
$10V_AH,13.01,0.000
$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,28.050,72.200,644.825,0.000,0.000,24.503,15.626,326.950,2.750,0.000,24.834,1203.967,592.313,706.842,1454.687,239.120,0.000,1348.388,0.000,952.473,0.000,22.364,0.000
$DEVICE_MAMPS,305.235,88.740,1075.590,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3553.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.409,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20137,631
$CAP_FILE_SIZE,114131,0
$CFSIZE,1023623168,972783616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,151720,-3411.257,2638.801,15,0.8,19,-27.9,2.2,221.1,10,9.2