version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 370
start: 4 24 119 0 12 32
data:
$ID,573
$MISSION,30
$DIVE,370
$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,350
$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,320
$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,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,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
$GPS1,240419,000304,-3421.6575,2615.0969,19,0.9,20,-28.0,2.9,228.5,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-63.1
$GPS2,240419,001204,-3422.1099,2614.3699,18,0.8,19,-28.0,2.4,238.4,11,8.1
$SPEED_LIMITS,0.172,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.837,2605.974
$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,348.0,20000,-11.4,-9.950,-14.87,5214
$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,-0.84,-340.6,71,2003,602,572,0.0,0.0,0,117,0.00,0.00,-92.90,0.000,16386,0.000,0.000,72,2004,3108,3117,3100,0,0,0,0,0,0,14.97,28.83,14.99
$GC,122,-0.84,-340.6,71,2004,3116,3100,3.4,-8.9,17,158,12.73,2.47,-14.40,0.000,19204,0.296,0.090,2206,3402,3963,4004,3923,0,0,0,0,0,0,14.28,12.92,14.66
$GC,312,-0.84,-340.6,2206,3405,4001,3925,37.1,-11.8,53,319,0.00,2.35,0.00,0.000,3078,0.000,0.039,2206,2011,3963,4001,3926,0,0,0,0,0,0,14.86,14.74,14.88
$GC,382,-0.84,-340.6,2206,2011,4001,3926,44.1,-10.9,66,388,0.00,2.47,0.00,0.000,2308,0.000,0.072,2206,3403,3963,4001,3926,0,0,0,0,0,0,15.04,14.67,15.05
$GC,431,-0.84,-340.6,2205,3403,4000,3926,49.7,-12.0,75,438,0.00,2.35,0.00,0.000,3078,0.000,0.038,2206,2003,3963,4001,3926,0,0,0,0,0,0,14.87,14.73,14.88
$GC,502,-0.84,-340.6,2205,2003,4001,3926,59.4,-14.7,88,509,0.00,2.50,0.00,0.000,2308,0.000,0.073,2204,3403,3963,4001,3926,0,0,0,0,0,0,15.03,14.67,15.03
$GC,571,-0.84,-340.6,2203,3403,4001,3926,68.9,-12.7,101,578,0.00,2.33,0.00,0.000,3078,0.000,0.037,2204,2017,3964,4002,3926,0,0,0,0,0,0,14.89,14.78,14.89
$GC,642,-0.84,-340.6,2203,2017,4001,3926,77.1,-11.0,114,648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,2017,3963,4001,3926,0,0,0,0,0,0,15.04,15.04,15.04
$GC,711,-0.84,-340.6,2203,2017,4001,3926,85.1,-11.9,127,718,0.00,2.45,0.00,0.000,2308,0.000,0.068,2203,3404,3963,4001,3926,0,0,0,0,0,0,15.07,14.69,15.07
$GC,846,-0.84,-340.6,2204,3404,3997,3926,99.5,-9.2,153,854,0.03,2.35,0.00,0.000,3078,0.467,0.037,2214,2006,3963,4001,3926,0,0,0,0,0,0,14.58,14.79,14.77
$GC,917,-0.84,-340.6,2213,2005,4000,3926,106.5,-11.5,166,924,0.00,2.47,0.00,0.000,2308,0.000,0.072,2214,3404,3963,4001,3926,0,0,0,0,0,0,15.08,14.69,15.08
$GC,953,-0.84,-340.6,2213,3403,4001,3926,110.4,-11.6,172,960,0.00,2.33,0.00,0.000,3078,0.000,0.036,2214,2001,3963,4001,3926,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1024,-0.84,-340.6,2213,2001,4001,3926,118.3,-10.0,185,1030,0.00,2.40,0.00,0.000,2564,0.000,0.070,2213,609,3963,4001,3926,0,0,0,0,0,0,15.08,14.52,15.08
$GC,1058,-0.84,-340.6,2213,609,4001,3926,122.0,-10.6,191,1064,0.00,2.30,0.00,0.000,3078,0.000,0.043,2214,2008,3963,4001,3926,0,0,0,0,0,0,14.91,14.80,14.93
$GC,1129,-0.84,-340.6,2213,2008,4001,3926,129.1,-10.5,204,1135,0.00,2.45,0.00,0.000,2308,0.000,0.073,2213,3408,3963,4001,3926,0,0,0,0,0,0,15.08,14.50,15.08
$GC,1205,-0.84,-340.6,2213,3408,4001,3926,136.3,-9.6,218,1212,0.00,2.35,0.00,0.000,3078,0.000,0.037,2214,2005,3963,4001,3926,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1278,-0.84,-340.6,2213,2005,4001,3926,143.8,-10.1,231,1285,0.00,2.45,0.00,0.000,2308,0.000,0.070,2213,3407,3963,4001,3926,0,0,0,0,0,0,15.09,14.70,15.09
$GC,1332,-0.84,-340.6,2213,3407,4001,3926,149.4,-10.5,241,1339,0.00,2.33,0.00,0.000,3078,0.000,0.037,2213,2007,3963,4001,3926,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1404,-0.84,-340.6,2213,2006,4001,3926,156.2,-10.2,254,1410,0.00,2.47,0.00,0.000,2308,0.000,0.070,2214,3407,3963,4000,3926,0,0,0,0,0,0,15.07,14.50,15.08
$GC,1442,-0.84,-340.6,2213,3406,4001,3926,160.5,-10.4,261,1449,0.00,2.33,0.00,0.000,3078,0.000,0.039,2214,2001,3963,4001,3926,0,0,0,0,0,0,14.90,14.78,14.91
$GC,1513,-0.84,-340.6,2213,2001,4001,3926,167.2,-10.2,274,1520,0.00,2.50,0.00,0.000,2308,0.000,0.071,2214,3416,3963,4001,3926,0,0,0,0,0,0,15.08,14.57,15.08
$GC,1553,-0.84,-340.6,2213,3416,4001,3926,171.5,-9.4,281,1560,0.00,2.33,0.00,0.000,3078,0.000,0.037,2214,2014,3963,4001,3926,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1626,-0.84,-340.6,2213,2014,4000,3926,178.3,-9.8,294,1632,0.00,2.42,0.00,0.000,2564,0.000,0.069,2214,611,3963,4001,3926,0,0,0,0,0,0,15.08,14.71,15.09
$GC,1645,-0.84,-340.6,2213,611,4001,3926,180.2,-8.7,297,1652,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2012,3963,4001,3926,0,0,0,0,0,0,14.82,14.71,14.84
$STATE,1663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1663,begin apogee
$GC,1669,-0.19,0.0,2213,1938,4000,3926,182.2,-10.3,300,1891,1.02,0.00,210.80,1.106,10246,0.139,0.000,2423,1936,2812,2862,2762,0,0,0,0,0,0,14.55,14.20,13.69
$STATE,1893,end apogee,CONTROL_FINISHED_OK
$STATE,1893,begin climb
$GC,1895,0.84,340.6,2423,1936,2862,2761,195.5,0.0,340,2170,1.52,2.45,263.85,1.099,10756,0.083,0.079,2749,587,1423,1483,1364,0,0,0,0,0,0,14.42,14.37,13.66
$GC,2193,0.97,441.2,2748,587,1483,1364,175.9,8.0,392,2285,0.12,2.33,82.90,1.073,11270,0.119,0.038,2806,1977,1015,1078,952,0,0,0,0,0,0,14.54,14.54,13.69
$GC,2348,0.97,441.2,2805,1977,1080,951,156.4,12.6,420,2354,0.00,2.45,0.00,0.000,4356,0.000,0.067,2805,3359,1015,1080,950,0,0,0,0,0,0,14.83,14.55,14.83
$GC,2418,0.97,441.2,2805,3359,1080,950,147.5,13.4,433,2425,0.00,2.33,0.00,0.000,5126,0.000,0.044,2807,1986,1015,1080,950,0,0,0,0,0,0,14.78,14.67,14.79
$GC,2490,0.97,441.2,2807,1986,1080,950,138.4,13.5,446,2496,0.00,0.00,0.00,0.000,4102,0.000,0.000,2807,1986,1015,1080,950,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2558,0.97,441.2,2807,1986,1079,950,129.4,12.1,459,2564,0.00,0.00,0.00,0.000,4102,0.000,0.000,2807,1985,1014,1080,949,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2626,0.97,441.2,2805,1986,1080,948,122.0,10.3,472,2633,0.00,2.53,0.00,0.000,4612,0.000,0.080,2807,562,1015,1080,950,0,0,0,0,0,0,15.02,14.55,15.02
$GC,2656,0.99,461.0,2807,563,1079,949,119.2,9.6,477,2680,0.00,2.30,18.60,1.017,9222,0.000,0.038,2807,1967,932,992,872,0,0,0,0,0,0,14.71,14.63,13.88
$GC,2743,0.99,461.0,2807,1967,992,870,110.4,10.0,493,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1967,931,992,870,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2812,0.99,461.0,2808,1967,991,869,102.8,11.9,506,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1968,930,992,869,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2880,1.03,495.3,2807,1968,992,869,95.8,9.3,519,2920,0.00,2.45,31.05,1.016,10500,0.000,0.063,2807,3350,791,831,752,0,0,0,0,0,0,15.03,14.58,13.88
$GC,2945,1.03,495.3,2807,3351,831,750,89.6,10.9,530,2951,0.00,2.35,0.00,0.000,3078,0.000,0.044,2807,1960,790,832,748,0,0,0,0,0,0,14.78,14.66,14.80
$GC,3016,1.22,647.9,2807,1959,832,744,83.8,6.9,543,3068,0.20,2.47,43.38,1.016,10500,0.093,0.063,2887,3354,600,581,620,0,0,0,0,0,0,14.71,14.35,13.81
$GC,3077,1.22,647.9,2887,3354,580,618,77.7,12.6,553,3084,0.00,2.38,0.00,0.000,5126,0.000,0.047,2888,1967,598,580,617,0,0,0,0,0,0,14.65,14.54,14.67
$GC,3148,1.22,647.9,2887,1967,579,611,68.7,13.5,566,3154,0.00,2.50,0.00,0.000,4612,0.000,0.083,2888,558,595,580,610,0,0,0,0,0,0,14.91,14.58,14.92
$GC,3162,1.22,647.9,2887,558,579,610,66.7,13.4,568,3169,0.00,2.33,0.00,0.000,5126,0.000,0.037,2888,1962,594,579,609,0,0,0,0,0,0,14.72,14.62,14.73
$GC,3233,1.22,647.9,2888,1962,579,606,58.4,11.5,581,3239,0.00,2.45,0.00,0.000,4356,0.000,0.065,2888,3360,593,580,606,0,0,0,0,0,0,14.97,14.65,14.97
$GC,3252,1.22,647.9,2888,3361,579,605,56.0,11.8,584,3259,0.00,2.38,0.00,0.000,5126,0.000,0.045,2888,1960,592,579,605,0,0,0,0,0,0,14.76,14.64,14.78
$GC,3323,1.22,647.9,2888,1960,579,601,48.5,11.0,597,3329,0.00,2.47,0.00,0.000,4612,0.000,0.083,2889,558,590,579,601,0,0,0,0,0,0,15.00,14.64,15.00
$GC,3352,1.22,647.9,2889,558,580,600,44.8,13.3,602,3359,0.00,2.33,0.00,0.000,5126,0.000,0.037,2889,1971,590,580,600,0,0,0,0,0,0,14.79,14.70,14.81
$GC,3423,1.22,647.9,2889,1971,579,598,35.6,13.8,615,3430,0.00,2.42,0.00,0.000,4356,0.000,0.067,2889,3355,589,580,598,0,0,0,0,0,0,15.02,14.69,15.02
$GC,3448,1.22,647.9,2889,3355,580,597,31.5,15.9,619,3454,0.00,2.35,0.00,0.000,5126,0.000,0.044,2890,1964,589,581,597,0,0,0,0,0,0,14.86,14.73,14.88
$GC,3519,1.22,647.9,2889,1964,580,595,21.2,14.2,632,3524,0.00,0.00,0.00,0.000,4102,0.000,0.000,2889,1964,587,580,595,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3588,1.22,647.9,2889,1964,580,594,12.6,11.1,645,3595,0.00,2.42,0.00,0.000,4356,0.000,0.065,2889,3354,587,580,594,0,0,0,0,0,0,15.04,14.70,15.04
$GC,3627,1.22,647.9,2889,3354,580,593,8.2,10.9,652,3633,0.00,2.35,0.00,0.000,5126,0.000,0.046,2889,1967,586,580,593,0,0,0,0,0,0,14.79,14.64,14.82
$STATE,3678,end climb,SURFACE_DEPTH_REACHED
$STATE,3678,begin surface coast
$FINISH,0.1,1.024189
$STATE,3706,end surface coast,CONTROL_FINISHED_OK
$STATE,3706,begin surface
$SM_CCo,3790,0.00,0.000,0,0,585,546.27
$SM_GC,0.47,12.85,0.00,0.00,0.051,0.000,0.000,140,1965,585,-7.28,-1.36,546.27,0,0,0,0,0,0,14.82,15.09,14.88
$IRIDIUM_FIX,-3406.89,2618.73,230419,230500
$TT8_MAMPS,0.019474,0.895804
$HUMID,62.24
$INTERNAL_PRESSURE,9.08202
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.0
$ALTIM_BOTTOM_PING,140.2,56.8
$SC_FREEKB,3728736
$24V_AH,12.92,182.101
$10V_AH,13.35,0.000
$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,28.475,100.825,650.575,0.000,0.000,24.709,50.366,234.255,2.250,0.000,20.269,1293.419,615.618,745.699,1432.852,251.139,0.000,1434.145,0.000,1001.550,0.000,17.949,0.000
$DEVICE_MAMPS,467.415,140.760,1106.190,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.832,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,23434,667
$CAP_FILE_SIZE,124506,0
$CFSIZE,1023623168,971898880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,011637,-3422.801,2612.170,15,0.9,18,-28.0,1.9,230.9,11,8.8