version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 380
start: 4 24 119 15 23 3
data:
$ID,573
$MISSION,30
$DIVE,380
$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,40
$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
$GPS1,240419,151322,-3425.2720,2550.9731,17,0.8,18,-27.8,0.6,227.6,11,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-62.3
$GPS2,240419,152236,-3425.3364,2550.7932,19,0.8,21,-27.8,0.6,299.7,11,9.0
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.064,2542.392
$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,347.8,20000,-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,-340.6,72,2016,570,597,0.0,0.0,0,151,0.00,0.00,-125.45,0.000,16386,0.000,0.000,72,2017,3869,3989,3750,0,0,0,0,0,0,14.90,28.83,14.91
$GC,154,-1.19,-340.6,72,2017,3991,3750,7.2,-24.8,23,173,12.38,2.47,-1.25,0.000,18948,0.314,0.085,2096,597,3967,4010,3924,0,0,0,0,0,0,14.03,12.94,14.25
$GC,261,-1.19,-340.6,2095,597,4009,3927,43.4,-20.5,43,268,0.00,2.38,0.00,0.000,3078,0.000,0.047,2094,2008,3967,4008,3927,0,0,0,0,0,0,14.78,14.65,14.79
$GC,333,-1.19,-340.6,2094,2008,4008,3927,58.0,-22.0,56,338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2094,2008,3967,4008,3927,0,0,0,0,0,0,14.94,14.94,14.94
$GC,401,-1.19,-340.6,2094,2008,4008,3927,72.2,-18.6,69,408,0.00,2.47,0.00,0.000,2308,0.000,0.078,2089,3412,3967,4007,3928,0,0,0,0,0,0,14.98,14.59,14.98
$GC,619,-1.19,-340.6,2088,3412,4007,3930,110.2,-15.4,111,627,0.05,2.35,0.00,0.000,3078,0.327,0.040,2099,2000,3968,4007,3930,0,0,0,0,0,0,14.28,14.51,14.51
$GC,692,-1.19,-340.6,2100,1999,4007,3930,121.5,-15.6,124,699,0.00,2.47,0.00,0.000,2308,0.000,0.074,2099,3413,3968,4007,3930,0,0,0,0,0,0,15.02,14.62,15.02
$GC,742,-1.19,-340.6,2099,3413,4007,3930,129.4,-15.9,133,750,0.00,2.33,0.00,0.000,3078,0.000,0.039,2098,2010,3968,4007,3930,0,0,0,0,0,0,14.83,14.71,14.84
$GC,816,-1.19,-340.6,2098,2010,4007,3930,140.6,-15.8,146,823,0.00,2.47,0.00,0.000,2308,0.000,0.073,2095,3413,3968,4007,3930,0,0,0,0,0,0,15.02,14.61,15.02
$GC,871,-1.19,-340.6,2095,3413,4007,3930,149.8,-15.6,156,879,0.00,2.35,0.00,0.000,3078,0.000,0.038,2095,2005,3968,4006,3931,0,0,0,0,0,0,14.81,14.64,14.83
$GC,943,-1.19,-340.6,2095,2004,4007,3931,161.5,-16.9,169,949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2096,2004,3969,4008,3931,0,0,0,0,0,0,15.03,15.04,15.03
$GC,1014,-1.19,-340.6,2095,2004,4007,3931,173.4,-16.8,182,1020,0.00,2.45,0.00,0.000,2308,0.000,0.073,2095,3412,3969,4007,3931,0,0,0,0,0,0,15.00,14.61,15.02
$GC,1090,-1.19,-340.6,2094,3413,4006,3931,186.1,-15.7,196,1096,0.00,2.33,0.00,0.000,3078,0.000,0.037,2094,2010,3969,4007,3931,0,0,0,0,0,0,14.64,14.52,14.65
$GC,1161,-1.19,-340.6,2094,2009,4007,3931,197.9,-17.1,209,1167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2095,2010,3969,4007,3931,0,0,0,0,0,0,15.02,15.02,15.03
$GC,1231,-1.19,-340.6,2094,2010,4006,3935,209.9,-17.1,222,1240,0.00,2.47,0.00,0.000,2308,0.000,0.073,2094,3415,3969,4007,3931,0,0,0,0,0,0,15.03,14.54,15.03
$GC,1301,-1.19,-340.6,2093,3415,4007,3931,221.5,-15.4,234,1308,0.00,2.35,0.00,0.000,3078,0.000,0.037,2093,2001,3968,4006,3931,0,0,0,0,0,0,14.83,14.68,14.85
$GC,1374,-1.19,-340.6,2093,2001,4006,3931,234.1,-17.2,247,1381,0.00,2.47,0.00,0.000,2308,0.000,0.073,2092,3420,3969,4007,3931,0,0,0,0,0,0,15.05,14.64,15.06
$GC,1419,-1.19,-340.6,2092,3420,4006,3931,242.1,-17.7,255,1426,0.00,2.33,0.00,0.000,3078,0.000,0.038,2092,2016,3969,4007,3931,0,0,0,0,0,0,14.63,14.54,14.64
$GC,1492,-1.19,-340.6,2092,2015,4007,3931,254.6,-18.0,268,1499,0.00,2.45,0.00,0.000,2308,0.000,0.075,2091,3413,3969,4007,3931,0,0,0,0,0,0,15.05,14.62,15.05
$STATE,1504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1504,begin apogee
$GC,1513,-0.19,0.0,2092,1955,4006,3931,257.6,-17.4,270,1741,1.70,0.00,219.00,1.294,10246,0.178,0.000,2422,1953,2811,2867,2755,0,0,0,0,0,0,14.45,14.05,13.47
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1745,1.19,340.6,2422,1952,2867,2754,269.1,0.0,311,2028,2.08,2.50,271.42,1.271,11012,0.076,0.081,2866,567,1423,1480,1366,0,0,0,0,0,0,14.35,14.06,13.47
$GC,2038,1.31,436.1,2866,567,1481,1366,241.4,16.2,362,2129,0.10,2.35,81.20,1.219,11270,0.156,0.040,2900,1965,1033,1096,971,0,0,0,0,0,0,14.36,14.40,13.49
$GC,2192,1.31,436.1,2900,1966,1097,971,211.6,20.6,390,2199,0.00,2.45,0.00,0.000,2308,0.000,0.066,2899,3373,1034,1097,971,0,0,0,0,0,0,14.75,14.47,14.76
$GC,2217,1.31,436.1,2900,3373,1096,969,206.5,21.9,394,2223,0.00,2.38,0.00,0.000,1030,0.000,0.049,2906,1971,1033,1096,970,0,0,0,0,0,0,14.64,14.53,14.66
$GC,2288,1.31,436.1,2909,1971,1097,970,192.3,20.8,407,2294,0.00,2.47,0.00,0.000,516,0.000,0.084,2906,557,1033,1096,970,0,0,0,0,0,0,14.85,14.54,14.85
$GC,2307,1.31,436.1,2906,556,1096,970,187.9,21.1,410,2314,0.00,2.35,0.00,0.000,1030,0.000,0.038,2906,1977,1033,1096,970,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2378,1.31,436.1,2906,1976,1096,970,173.7,20.8,423,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1976,1033,1096,970,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2447,1.31,436.1,2906,1976,1095,970,159.6,20.9,436,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1976,1033,1096,970,0,0,0,0,0,0,14.92,14.93,14.93
$GC,2516,1.31,440.2,2907,1976,1095,970,146.0,19.8,449,2529,0.00,2.40,4.93,0.764,10500,0.000,0.066,2906,3360,1017,1078,956,0,0,0,0,0,0,14.96,14.49,13.57
$GC,2536,1.31,440.2,2906,3361,1079,956,141.6,20.9,452,2543,0.00,2.38,0.00,0.000,1030,0.000,0.049,2907,1957,1017,1079,956,0,0,0,0,0,0,14.71,14.60,14.73
$GC,2606,1.31,440.2,2907,1957,1080,956,127.9,20.1,465,2612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2907,1957,1017,1079,956,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2675,1.31,440.2,2907,1957,1079,956,113.9,20.2,478,2682,0.00,2.47,0.00,0.000,2564,0.000,0.085,2912,555,1017,1079,956,0,0,0,0,0,0,14.98,14.49,14.98
$GC,2689,1.32,447.9,2912,554,1079,957,111.2,19.7,480,2702,0.00,2.30,7.90,0.954,9222,0.000,0.037,2912,1960,987,1047,928,0,0,0,0,0,0,14.81,14.73,13.66
$GC,2766,1.32,447.9,2912,1961,1048,929,95.2,20.0,494,2772,0.00,2.38,0.00,0.000,260,0.000,0.065,2912,3361,988,1048,928,0,0,0,0,0,0,14.95,14.50,14.96
$GC,2780,1.37,483.8,2912,3361,1048,929,92.9,18.6,496,2820,0.00,2.35,33.72,1.109,11270,0.000,0.047,2912,1956,838,882,794,0,0,0,0,0,0,14.69,14.70,13.71
$GC,2884,1.43,537.6,2912,1956,883,791,74.7,17.8,515,2940,0.08,0.00,50.10,1.091,10246,0.184,0.000,2953,1956,620,601,639,0,0,0,0,0,0,14.57,14.39,13.66
$GC,3004,1.50,594.6,2953,1956,599,634,52.1,17.7,537,3017,0.00,2.42,5.40,0.726,10500,0.000,0.065,2953,3364,599,574,625,0,0,0,0,0,0,14.80,14.47,13.58
$GC,3024,1.54,624.6,2953,3365,574,625,48.2,18.8,540,3031,0.00,2.38,0.00,0.000,3078,0.000,0.050,2955,1966,599,574,624,0,0,0,0,0,0,14.66,14.53,14.68
$GC,3096,1.62,686.3,2955,1966,575,621,35.3,17.5,553,3103,0.12,2.47,0.00,0.000,2564,0.133,0.082,3005,561,597,573,622,0,0,0,0,0,0,14.59,14.40,14.64
$GC,3168,1.62,686.3,3005,561,573,619,19.5,22.4,566,3175,0.00,2.33,0.00,0.000,1030,0.000,0.038,3005,1979,596,574,619,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3239,1.62,686.3,3005,1979,573,617,3.4,23.0,579,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1979,593,572,615,0,0,0,0,0,0,14.91,14.92,14.91
$STATE,3250,end climb,SURFACE_DEPTH_REACHED
$STATE,3250,begin surface coast
$FINISH,-0.3,1.024929
$STATE,3261,end surface coast,CONTROL_FINISHED_OK
$STATE,3262,begin surface
$SM_CCo,3345,0.00,0.000,0,0,594,544.31
$SM_GC,0.36,13.62,0.00,0.00,0.055,0.000,0.000,143,1981,594,-7.27,-0.93,544.31,0,0,0,0,0,0,14.69,14.97,14.76
$IRIDIUM_FIX,-3412.10,2551.84,240419,140343
$TT8_MAMPS,0.019474,0.889812
$HUMID,62.75
$INTERNAL_PRESSURE,8.87694
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,230.8,41.4
$SC_FREEKB,3723616
$24V_AH,12.94,185.532
$10V_AH,12.45,0.000
$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,30.125,76.975,673.675,0.000,0.000,25.346,16.123,267.302,4.750,0.000,22.148,1095.693,510.819,745.342,1312.433,238.807,0.000,1366.670,0.000,885.088,0.000,33.280,0.000
$DEVICE_MAMPS,326.655,84.915,1294.380,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3325.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.861,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,20086,583
$CAP_FILE_SIZE,111332,0
$CFSIZE,1023623168,970555392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,162004,-3424.957,2550.110,38,0.9,39,-27.8,0.0,259.1,9,7.8