version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 377
start: 4 24 119 11 31 24
data:
$ID,573
$MISSION,30
$DIVE,377
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,6
$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,167
$T_MISSION,177
$T_ABORT,245
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,240419,112050,-3425.5027,2555.3855,22,0.8,27,-27.9,1.8,232.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-60.1
$GPS2,240419,113059,-3425.7971,2554.8027,17,0.8,31,-27.9,1.8,248.8,9,10.0
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.524,2546.401
$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,347.9,20000,-20.9,-19.960,-22.72,2620
$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,-1.19,-340.6,72,2004,571,604,0.0,0.0,0,140,0.00,0.00,-113.68,0.000,16386,0.000,0.000,72,2005,3741,3818,3664,0,0,0,0,0,0,14.90,28.83,14.91
$GC,143,-1.19,-340.6,72,2005,3820,3664,7.8,-26.7,21,168,12.40,2.45,-2.90,0.000,19204,0.314,0.086,2098,601,3965,4005,3925,0,0,0,0,0,0,14.12,12.95,14.35
$GC,368,-1.19,-340.6,2098,601,4005,3926,68.2,-19.1,64,375,0.00,2.35,0.00,0.000,3078,0.000,0.047,2098,2006,3965,4005,3926,0,0,0,0,0,0,14.78,14.66,14.81
$GC,440,-1.19,-340.6,2099,2006,4005,3926,81.1,-18.5,77,447,0.00,2.47,0.00,0.000,2308,0.000,0.077,2094,3417,3965,4005,3926,0,0,0,0,0,0,14.99,14.50,14.99
$GC,571,-1.19,-340.6,2094,3417,4005,3927,106.5,-18.2,102,577,0.00,2.35,0.00,0.000,3078,0.000,0.037,2094,2005,3966,4005,3927,0,0,0,0,0,0,14.73,14.62,14.74
$GC,642,-1.19,-340.6,2094,2004,4005,3928,119.7,-20.5,115,650,0.00,2.50,0.00,0.000,2308,0.000,0.074,2094,3421,3966,4005,3927,0,0,0,0,0,0,14.98,14.59,14.99
$GC,718,-1.19,-340.6,2094,3421,4005,3928,133.9,-16.6,129,725,0.00,2.35,0.00,0.000,3078,0.000,0.037,2094,2005,3966,4005,3928,0,0,0,0,0,0,14.82,14.71,14.83
$GC,790,-1.19,-340.6,2094,2004,4005,3929,145.8,-17.0,142,797,0.00,2.47,0.00,0.000,2308,0.000,0.073,2092,3415,3967,4005,3929,0,0,0,0,0,0,15.00,14.52,15.01
$GC,844,-1.19,-340.6,2093,3415,4005,3929,154.5,-15.4,152,851,0.00,2.35,0.00,0.000,3078,0.000,0.037,2092,2007,3967,4005,3929,0,0,0,0,0,0,14.60,14.50,14.62
$GC,916,-1.19,-340.6,2092,2007,4006,3929,165.8,-15.7,165,922,0.00,2.50,0.00,0.000,2308,0.000,0.072,2091,3422,3966,4005,3927,0,0,0,0,0,0,15.01,14.59,15.02
$GC,977,-1.19,-340.6,2092,3422,4005,3929,175.5,-15.8,176,984,0.00,2.35,0.00,0.000,3078,0.000,0.037,2092,2005,3967,4005,3930,0,0,0,0,0,0,14.84,14.71,14.85
$GC,1050,-1.19,-340.6,2092,2005,4005,3930,188.0,-16.9,189,1056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2092,2005,3967,4005,3930,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1121,-1.19,-340.6,2092,2005,4005,3929,199.8,-17.1,202,1128,0.00,2.50,0.00,0.000,2308,0.000,0.071,2092,3421,3967,4005,3929,0,0,0,0,0,0,15.02,14.52,15.02
$GC,1203,-1.19,-340.6,2091,3421,4005,3930,214.3,-17.7,217,1210,0.00,2.33,0.00,0.000,3078,0.000,0.037,2091,2012,3967,4005,3930,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1275,-1.19,-340.6,2092,2012,4004,3930,225.9,-16.9,230,1280,0.00,0.00,0.00,0.000,2054,0.000,0.000,2092,2012,3967,4005,3930,0,0,0,0,0,0,15.05,15.06,15.07
$GC,1345,-1.19,-340.6,2092,2012,4005,3930,238.0,-17.2,243,1352,0.00,2.47,0.00,0.000,2308,0.000,0.073,2088,3413,3967,4005,3930,0,0,0,0,0,0,15.04,14.52,15.04
$GC,1407,-1.19,-340.6,2088,3413,4005,3930,248.0,-16.5,254,1414,0.08,2.35,0.00,0.000,3078,0.277,0.037,2102,2005,3967,4005,3930,0,0,0,0,0,0,14.46,14.72,14.69
$GC,1480,-1.19,-340.6,2102,2006,4005,3930,260.3,-17.0,267,1487,0.00,2.47,0.00,0.000,2308,0.000,0.073,2101,3417,3966,4004,3929,0,0,0,0,0,0,15.04,14.62,15.04
$GC,1514,-1.19,-340.6,2101,3417,4004,3930,266.3,-16.3,273,1521,0.00,2.35,0.00,0.000,3078,0.000,0.037,2101,2008,3966,4004,3929,0,0,0,0,0,0,14.62,14.51,14.63
$GC,1586,-1.19,-340.6,2101,2007,4004,3930,278.1,-17.1,286,1591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2101,2007,3967,4004,3930,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1658,-1.19,-340.6,2101,2007,4004,3929,290.2,-17.0,299,1664,0.00,2.47,0.00,0.000,2308,0.000,0.073,2099,3418,3966,4003,3930,0,0,0,0,0,0,15.05,14.63,15.05
$GC,1727,-1.19,-340.6,2098,3418,4003,3929,301.4,-15.9,311,1732,0.00,2.33,0.00,0.000,3078,0.000,0.038,2099,2012,3966,4003,3930,0,0,0,0,0,0,14.86,14.75,14.87
$GC,1870,-1.19,-340.6,2098,2012,4002,3928,325.2,-16.4,318,1875,0.00,2.47,0.00,0.000,2308,0.000,0.073,2099,3422,3966,4002,3930,0,0,0,0,0,0,15.08,14.63,15.08
$STATE,1973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1973,begin apogee
$GC,1981,-0.19,0.0,2098,1952,4001,3930,342.3,-16.7,323,2213,1.73,0.00,222.32,1.393,10246,0.179,0.000,2423,1950,2813,2872,2754,0,0,0,0,0,0,14.44,14.03,13.41
$STATE,2216,end apogee,CONTROL_FINISHED_OK
$STATE,2216,begin climb
$GC,2218,1.19,340.6,2423,1950,2869,2754,348.8,0.0,335,2509,2.08,2.55,273.62,1.369,11012,0.078,0.083,2872,566,1424,1483,1365,0,0,0,0,0,0,14.36,14.25,13.46
$GC,2551,1.33,452.3,2872,565,1483,1365,317.9,15.6,351,2656,0.10,2.35,96.28,1.317,11270,0.161,0.041,2906,1976,969,1028,910,0,0,0,0,0,0,14.45,14.48,13.50
$GC,2719,1.33,452.3,2905,1976,1028,909,282.5,20.9,371,2725,0.00,2.42,0.00,0.000,2308,0.000,0.066,2906,3366,968,1028,908,0,0,0,0,0,0,14.74,14.47,14.74
$GC,2738,1.33,452.3,2905,3366,1028,907,278.2,21.6,374,2745,0.00,2.40,0.00,0.000,3078,0.000,0.050,2909,1966,967,1028,907,0,0,0,0,0,0,14.64,14.52,14.67
$GC,2809,1.33,452.3,2909,1966,1028,907,264.1,20.7,387,2816,0.00,2.50,0.00,0.000,2564,0.000,0.086,2909,557,967,1028,907,0,0,0,0,0,0,14.85,14.52,14.85
$GC,2829,1.33,452.3,2909,556,1028,907,259.6,20.6,390,2835,0.00,2.33,0.00,0.000,3078,0.000,0.037,2908,1970,967,1028,906,0,0,0,0,0,0,14.74,14.66,14.76
$GC,2900,1.33,452.3,2909,1967,1028,905,245.3,20.9,403,2906,0.00,2.40,0.00,0.000,2308,0.000,0.064,2910,3365,966,1028,905,0,0,0,0,0,0,14.91,14.60,14.91
$GC,2914,1.33,457.0,2909,3364,1028,905,242.4,19.8,405,2927,0.00,2.38,5.15,0.845,11270,0.000,0.050,2912,1961,949,1009,889,0,0,0,0,0,0,14.77,14.64,13.52
$GC,2990,1.33,457.0,2910,1962,1010,889,225.6,21.9,419,2997,0.00,2.47,0.00,0.000,2564,0.000,0.086,2919,557,949,1010,889,0,0,0,0,0,0,14.94,14.59,14.95
$GC,3019,1.33,457.0,2912,558,1010,889,219.2,21.8,424,3026,0.00,2.33,0.00,0.000,3078,0.000,0.038,2910,1964,949,1010,889,0,0,0,0,0,0,14.80,14.69,14.82
$GC,3090,1.33,457.0,2912,1963,1010,889,204.4,21.7,437,3096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2913,1964,949,1010,889,0,0,0,0,0,0,14.97,14.97,14.97
$GC,3159,1.33,457.0,2912,1964,1010,889,189.6,21.2,450,3165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2913,1964,950,1010,890,0,0,0,0,0,0,14.98,14.99,14.99
$GC,3227,1.33,457.0,2912,1964,1010,889,174.6,21.6,463,3234,0.00,2.40,0.00,0.000,2308,0.000,0.066,2912,3358,948,1009,888,0,0,0,0,0,0,14.99,14.64,14.98
$GC,3241,1.33,457.0,2912,3358,1009,888,171.6,21.4,465,3248,0.00,2.38,0.00,0.000,3078,0.000,0.050,2913,1962,949,1010,888,0,0,0,0,0,0,14.74,14.61,14.76
$GC,3312,1.33,457.0,2913,1961,1010,888,157.1,20.8,478,3319,0.00,2.47,0.00,0.000,2564,0.000,0.086,2913,560,949,1010,888,0,0,0,0,0,0,14.98,14.60,14.98
$GC,3326,1.33,457.0,2913,560,1009,888,153.8,20.7,480,3333,0.00,2.30,0.00,0.000,3078,0.000,0.037,2913,1960,949,1010,888,0,0,0,0,0,0,14.77,14.66,14.78
$GC,3397,1.33,457.0,2913,1961,1009,888,139.6,20.4,493,3404,0.00,2.42,0.00,0.000,2308,0.000,0.066,2913,3366,949,1010,888,0,0,0,0,0,0,15.00,14.65,15.00
$GC,3417,1.33,457.0,2913,3366,1009,888,135.3,20.2,496,3423,0.00,2.40,0.00,0.000,1030,0.000,0.050,2913,1954,949,1010,888,0,0,0,0,0,0,14.73,14.62,14.76
$GC,3488,1.34,459.6,2913,1954,1009,888,121.8,19.9,509,3501,0.00,2.47,4.03,0.716,10756,0.000,0.086,2914,565,938,998,879,0,0,0,0,0,0,15.00,14.50,13.54
$GC,3514,1.36,478.8,2913,565,999,878,116.6,19.2,513,3543,0.00,2.30,19.42,1.142,11270,0.000,0.039,2914,1976,858,907,809,0,0,0,0,0,0,14.84,14.73,13.71
$GC,3606,1.45,553.1,2919,1976,908,807,100.7,17.0,530,3674,0.08,2.42,60.28,1.145,10500,0.188,0.063,2957,3359,598,568,629,0,0,0,0,0,0,14.63,14.14,13.60
$GC,3689,1.50,591.2,2956,3359,568,628,84.8,18.5,544,3695,0.00,2.40,0.00,0.000,3078,0.000,0.050,2957,1964,597,568,627,0,0,0,0,0,0,14.59,14.46,14.61
$GC,3760,1.55,630.0,2956,1964,566,624,72.0,18.4,557,3767,0.00,2.50,0.00,0.000,2564,0.000,0.086,2961,558,595,567,624,0,0,0,0,0,0,14.81,14.34,14.81
$GC,3780,1.59,661.9,2960,558,567,624,67.9,18.7,560,3787,0.08,2.30,0.00,0.000,3078,0.191,0.037,2995,1954,594,565,624,0,0,0,0,0,0,14.40,14.61,14.53
$GC,3851,1.59,661.9,2994,1956,566,621,52.7,22.8,573,3858,0.00,2.42,0.00,0.000,260,0.000,0.063,2995,3361,593,566,621,0,0,0,0,0,0,14.87,14.50,14.88
$GC,3880,1.59,661.9,2994,3362,565,620,45.6,22.2,578,3887,0.00,2.40,0.00,0.000,1030,0.000,0.051,2996,1961,593,566,620,0,0,0,0,0,0,14.58,14.47,14.60
$GC,3951,1.59,661.9,2996,1960,563,618,30.8,22.3,591,3958,0.00,2.50,0.00,0.000,516,0.000,0.087,3002,558,591,565,617,0,0,0,0,0,0,14.92,14.48,14.92
$GC,3965,1.59,661.9,3001,558,565,617,27.1,23.0,593,3972,0.00,2.33,0.00,0.000,5126,0.000,0.037,3001,1963,591,565,617,0,0,0,0,0,0,14.62,14.51,14.64
$GC,4037,1.68,734.7,3001,1965,565,615,14.4,17.1,606,4043,0.00,2.42,0.00,0.000,2308,0.000,0.066,3002,3366,590,565,615,0,0,0,0,0,0,14.94,14.60,14.93
$GC,4096,1.72,773.9,3001,3366,565,613,3.5,18.4,617,4104,0.10,2.40,0.00,0.000,3078,0.150,0.050,3044,1960,589,565,613,0,0,0,0,0,0,14.57,14.57,14.71
$STATE,4109,end climb,SURFACE_DEPTH_REACHED
$STATE,4109,begin surface coast
$FINISH,-0.3,1.009007
$STATE,4126,end surface coast,CONTROL_FINISHED_OK
$STATE,4126,begin surface
$SM_CCo,4212,0.00,0.000,0,0,587,545.54
$SM_GC,0.33,13.73,0.08,0.00,0.054,0.142,0.000,145,2038,587,-7.27,-1.02,545.54,0,0,0,0,0,0,14.71,14.74,14.80
$IRIDIUM_FIX,-3412.10,2555.33,240419,094701
$TT8_MAMPS,0.019474,0.915278
$HUMID,66.85
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,300.2,54.7
$SC_FREEKB,3725152
$24V_AH,12.95,184.572
$10V_AH,12.40,0.000
$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,30.350,115.825,681.100,0.000,0.000,23.809,16.535,295.034,6.250,0.000,32.287,1398.201,768.690,829.586,1546.927,277.280,0.000,1533.109,0.000,1056.896,0.000,41.298,0.000
$DEVICE_MAMPS,313.650,142.290,1393.065,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.170,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20104,622
$CAP_FILE_SIZE,133262,0
$CFSIZE,1023623168,970883072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,124304,-3425.519,2553.827,20,1.0,51,-27.9,1.4,245.0,8,3.0