version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 378
start: 4 24 119 12 52 45
data:
$ID,573
$MISSION,30
$DIVE,378
$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,350
$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,57
$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
$GPS1,240419,124304,-3425.5190,2553.8269,20,1.0,51,-27.9,1.4,245.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-63.1
$GPS2,240419,125220,-3425.7644,2553.3499,20,0.9,21,-27.9,1.6,221.2,8,8.5
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.492,2544.948
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.19,-340.6,72,2039,562,600,0.0,0.0,0,140,0.00,0.00,-114.03,0.000,16386,0.000,0.000,72,2040,3656,3715,3598,0,0,0,0,0,0,14.90,28.83,14.91
$GC,143,-1.19,-340.6,71,2040,3716,3598,6.8,-23.6,21,168,12.35,2.40,-4.25,0.000,18692,0.312,0.093,2086,3400,3964,4003,3925,0,0,0,0,0,0,14.01,12.93,14.23
$GC,292,-1.19,-340.6,2087,3400,4001,3930,45.4,-20.0,49,299,0.08,2.33,0.00,0.000,3078,0.282,0.040,2102,2008,3964,4000,3929,0,0,0,0,0,0,14.41,14.67,14.64
$GC,364,-1.19,-340.6,2101,2008,4001,3929,59.7,-19.2,62,370,0.00,2.45,0.00,0.000,2308,0.000,0.074,2101,3391,3965,4001,3929,0,0,0,0,0,0,14.97,14.40,14.98
$GC,423,-1.19,-340.6,2100,3391,4000,3929,70.9,-18.6,73,430,0.00,2.33,0.00,0.000,3078,0.000,0.039,2100,2007,3965,4001,3929,0,0,0,0,0,0,14.64,14.53,14.64
$GC,496,-1.19,-340.6,2101,2006,4001,3930,84.0,-16.7,86,503,0.00,2.45,0.00,0.000,2308,0.000,0.073,2096,3394,3965,4001,3929,0,0,0,0,0,0,14.99,14.60,14.99
$GC,597,-1.19,-340.6,2095,3394,4001,3929,102.4,-17.8,105,604,0.00,2.30,0.00,0.000,3078,0.000,0.039,2096,2011,3965,4001,3930,0,0,0,0,0,0,14.83,14.71,14.85
$GC,668,-1.19,-340.6,2095,2011,4001,3930,114.6,-16.9,118,674,0.00,2.42,0.00,0.000,2308,0.000,0.073,2094,3394,3967,4001,3934,0,0,0,0,0,0,14.99,14.60,14.99
$GC,712,-1.19,-340.6,2094,3394,4001,3930,122.3,-16.4,126,718,0.00,2.30,0.00,0.000,3078,0.000,0.038,2094,2010,3965,4001,3930,0,0,0,0,0,0,14.83,14.73,14.85
$GC,783,-1.19,-340.6,2094,2010,4002,3930,134.0,-16.7,139,790,0.00,2.42,0.00,0.000,2308,0.000,0.073,2091,3393,3967,4005,3930,0,0,0,0,0,0,15.01,14.62,15.02
$GC,860,-1.19,-340.6,2091,3393,4001,3930,146.7,-15.6,153,866,0.00,2.30,0.00,0.000,3078,0.000,0.037,2091,2014,3966,4002,3930,0,0,0,0,0,0,14.73,14.60,14.74
$GC,932,-1.19,-340.6,2091,2014,4001,3930,158.1,-16.2,166,938,0.00,2.42,0.00,0.000,2308,0.000,0.072,2088,3393,3965,4002,3929,0,0,0,0,0,0,15.00,14.61,15.01
$GC,977,-1.19,-340.6,2088,3393,4002,3930,165.8,-16.7,174,984,0.08,2.30,0.00,0.000,3078,0.275,0.038,2103,2007,3966,4002,3930,0,0,0,0,0,0,14.46,14.71,14.69
$GC,1048,-1.19,-340.6,2102,2007,4002,3930,177.4,-14.9,187,1055,0.00,2.45,0.00,0.000,2308,0.000,0.073,2101,3395,3966,4002,3930,0,0,0,0,0,0,15.02,14.41,15.02
$GC,1099,-1.19,-340.6,2100,3399,4002,3930,185.0,-15.0,196,1105,0.00,2.30,0.00,0.000,3078,0.000,0.037,2102,2004,3966,4002,3930,0,0,0,0,0,0,14.64,14.55,14.66
$GC,1169,-1.19,-340.6,2101,2004,4002,3930,195.9,-15.6,209,1176,0.00,2.45,0.00,0.000,2308,0.000,0.071,2097,3387,3966,4002,3930,0,0,0,0,0,0,15.01,14.51,15.02
$GC,1210,-1.19,-340.6,2098,3388,4002,3930,202.1,-15.6,216,1216,0.00,2.28,0.00,0.000,3078,0.000,0.037,2098,2013,3966,4002,3931,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1281,-1.19,-340.6,2098,2012,4001,3930,213.4,-16.0,229,1287,0.00,2.40,0.00,0.000,2308,0.000,0.071,2096,3391,3966,4002,3930,0,0,0,0,0,0,15.03,14.62,15.04
$GC,1315,-1.19,-340.6,2095,3392,4002,3930,219.3,-16.3,235,1322,0.00,2.30,0.00,0.000,3078,0.000,0.037,2096,2011,3965,4001,3930,0,0,0,0,0,0,14.75,14.64,14.76
$GC,1387,-1.19,-340.6,2095,2011,4002,3930,231.0,-16.8,248,1394,0.00,2.42,0.00,0.000,2308,0.000,0.071,2095,3394,3965,4001,3930,0,0,0,0,0,0,15.04,14.62,15.04
$GC,1422,-1.19,-340.6,2095,3394,4001,3930,236.9,-15.7,254,1428,0.00,2.30,0.00,0.000,3078,0.000,0.037,2096,2006,3966,4002,3930,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1493,-1.19,-340.6,2095,2005,4002,3930,248.7,-17.4,267,1500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2095,2006,3965,4001,3930,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1564,-1.19,-340.6,2095,2005,4002,3930,261.1,-17.0,280,1571,0.00,2.45,0.00,0.000,2308,0.000,0.071,2094,3398,3965,4001,3930,0,0,0,0,0,0,15.06,14.47,15.06
$GC,1633,-1.19,-340.6,2094,3398,4001,3930,271.9,-16.0,292,1640,0.00,2.30,0.00,0.000,3078,0.000,0.037,2094,2007,3965,4001,3930,0,0,0,0,0,0,14.87,14.73,14.88
$GC,1705,-1.19,-340.6,2094,2007,4001,3930,284.1,-15.2,305,1711,0.00,2.45,0.00,0.000,2308,0.000,0.071,2092,3397,3965,4000,3930,0,0,0,0,0,0,15.07,14.55,15.07
$GC,1744,-1.19,-340.6,2094,3397,4000,3930,290.8,-16.4,312,1751,0.00,2.30,0.00,0.000,3078,0.000,0.037,2094,2012,3965,4000,3930,0,0,0,0,0,0,14.66,14.56,14.70
$GC,1826,-1.19,-340.6,2094,2012,4000,3930,304.3,-17.1,324,1831,0.00,2.42,0.00,0.000,2308,0.000,0.073,2092,3395,3965,4000,3930,0,0,0,0,0,0,15.06,14.62,15.06
$STATE,1887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1887,begin apogee
$GC,1895,-0.19,0.0,2092,1956,3999,3930,315.7,-17.4,327,2127,1.77,0.00,221.98,1.360,10246,0.177,0.000,2423,1954,2811,2870,2753,0,0,0,0,0,0,14.29,14.26,13.44
$STATE,2131,end apogee,CONTROL_FINISHED_OK
$STATE,2131,begin climb
$GC,2133,1.19,340.6,2423,1954,2871,2754,321.8,0.0,339,2424,2.08,2.53,272.80,1.331,10500,0.082,0.064,2862,3342,1423,1482,1364,0,0,0,0,0,0,14.35,14.28,13.46
$GC,2442,1.31,437.3,2862,3342,1482,1364,289.4,16.2,361,2534,0.12,2.38,83.60,1.279,11270,0.129,0.045,2910,1964,1028,1089,968,0,0,0,0,0,0,14.42,14.36,13.49
$GC,2597,1.31,437.3,2910,1964,1091,967,257.2,22.4,389,2604,0.00,2.50,0.00,0.000,516,0.000,0.085,2913,565,1029,1091,967,0,0,0,0,0,0,14.73,14.43,14.73
$GC,2611,1.31,437.3,2913,565,1091,967,254.1,22.3,391,2618,0.00,2.30,0.00,0.000,5126,0.000,0.037,2911,1949,1029,1091,967,0,0,0,0,0,0,14.55,14.47,14.57
$GC,2682,1.31,437.3,2913,1949,1091,966,239.3,21.4,404,2688,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1949,1027,1088,966,0,0,0,0,0,0,14.85,14.86,14.86
$GC,2750,1.31,437.3,2912,1949,1091,966,224.4,21.8,417,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1949,1028,1091,966,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2818,1.31,437.3,2912,1949,1090,966,209.9,21.5,430,2824,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1949,1028,1090,966,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2886,1.31,437.3,2913,1949,1090,966,194.9,21.2,443,2892,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1949,1028,1090,966,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2955,1.31,437.3,2913,1949,1089,966,180.7,21.4,456,2961,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1949,1027,1089,966,0,0,0,0,0,0,14.97,14.98,14.97
$GC,3024,1.31,437.3,2913,1949,1089,966,166.2,21.5,469,3030,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,1949,1027,1089,966,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3093,1.31,437.3,2913,1949,1089,966,151.5,20.3,482,3099,0.00,2.45,0.00,0.000,4356,0.000,0.067,2913,3366,1027,1089,966,0,0,0,0,0,0,14.98,14.64,14.98
$GC,3106,1.31,437.3,2913,3366,1089,965,148.5,20.5,484,3113,0.00,2.38,0.00,0.000,5126,0.000,0.049,2913,1965,1026,1088,964,0,0,0,0,0,0,14.75,14.62,14.76
$GC,3177,1.31,437.3,2913,1966,1089,966,134.5,20.4,497,3184,0.00,2.47,0.00,0.000,4612,0.000,0.084,2917,560,1027,1089,966,0,0,0,0,0,0,14.99,14.62,14.99
$GC,3191,1.31,437.5,2917,560,1088,965,131.4,20.0,499,3198,0.00,2.33,0.00,0.000,5126,0.000,0.039,2917,1973,1027,1088,966,0,0,0,0,0,0,14.76,14.64,14.76
$GC,3263,1.31,437.5,2916,1974,1089,966,117.5,20.5,512,3269,0.00,2.38,0.00,0.000,4356,0.000,0.065,2916,3362,1027,1089,965,0,0,0,0,0,0,14.98,14.65,14.99
$GC,3282,1.31,437.5,2916,3362,1088,965,113.0,21.2,515,3289,0.00,2.35,0.00,0.000,5126,0.000,0.050,2919,1967,1026,1088,965,0,0,0,0,0,0,14.83,14.69,14.85
$GC,3354,1.33,451.0,2919,1966,1088,965,98.9,19.4,528,3372,0.00,2.42,13.23,1.040,12548,0.000,0.062,2919,3356,972,1030,914,0,0,0,0,0,0,14.99,14.54,13.66
$GC,3380,1.40,507.6,2919,3358,1030,914,94.0,17.7,532,3442,0.00,2.35,51.47,1.143,11270,0.000,0.047,2919,1958,741,764,718,0,0,0,0,0,0,14.64,14.53,13.67
$GC,3505,1.50,592.8,2918,1958,764,714,72.4,16.6,555,3545,0.12,2.47,33.40,1.073,10756,0.128,0.083,2975,558,598,581,616,0,0,0,0,0,0,14.55,14.19,13.65
$GC,3560,1.50,592.8,2975,558,581,614,61.5,21.5,564,3567,0.00,2.35,0.00,0.000,5126,0.000,0.038,2975,1960,597,581,613,0,0,0,0,0,0,14.48,14.38,14.50
$GC,3631,1.50,592.8,2975,1961,580,610,47.0,21.1,577,3638,0.00,2.42,0.00,0.000,4356,0.000,0.066,2975,3367,594,580,609,0,0,0,0,0,0,14.83,14.46,14.83
$GC,3660,1.50,592.8,2975,3368,580,609,40.3,20.7,582,3667,0.00,2.38,0.00,0.000,5126,0.000,0.047,2978,1964,594,580,609,0,0,0,0,0,0,14.57,14.42,14.62
$GC,3731,1.51,595.8,2977,1964,580,607,26.6,19.8,595,3737,0.00,0.00,0.00,0.000,4102,0.000,0.000,2978,1964,593,580,607,0,0,0,0,0,0,14.89,14.90,14.90
$GC,3801,1.54,624.6,2977,1964,580,604,13.4,18.8,608,3808,0.00,2.42,0.00,0.000,2308,0.000,0.069,2977,3363,592,580,604,0,0,0,0,0,0,14.92,14.52,14.92
$GC,3856,1.66,722.2,2977,3363,580,602,4.1,16.1,618,3863,0.12,2.38,0.00,0.000,3078,0.132,0.048,3022,1961,590,579,602,0,0,0,0,0,0,14.57,14.56,14.68
$STATE,3868,end climb,SURFACE_DEPTH_REACHED
$STATE,3868,begin surface coast
$FINISH,-0.3,1.011406
$STATE,3885,end surface coast,CONTROL_FINISHED_OK
$STATE,3885,begin surface
$SM_CCo,3970,0.00,0.000,0,0,589,545.29
$SM_GC,0.42,13.70,0.05,0.00,0.055,0.186,0.000,124,2027,589,-7.30,-1.33,545.29,0,0,0,0,0,0,14.72,14.73,14.79
$IRIDIUM_FIX,-3412.10,2554.19,240419,112442
$TT8_MAMPS,0.018725,0.868091
$HUMID,65.23
$INTERNAL_PRESSURE,8.87694
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,280.7,46.6
$SC_FREEKB,3724640
$24V_AH,12.93,184.900
$10V_AH,12.92,0.000
$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,30.425,104.975,676.475,0.000,0.000,20.574,15.756,269.458,6.000,0.000,22.058,1343.996,641.383,827.016,1450.916,264.275,0.000,1504.665,0.000,1006.572,0.000,41.066,0.000
$DEVICE_MAMPS,312.120,185.895,1360.170,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.916,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20050,623
$CAP_FILE_SIZE,129602,0
$CFSIZE,1023623168,970768384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,140001,-3425.422,2552.332,25,1.0,29,-27.9,1.5,233.2,8,7.4