version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 1
start: 10 5 118 4 39 17
data:
$ID,573
$MISSION,23
$DIVE,1
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,30
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,5
$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,10
$T_MISSION,25
$T_ABORT,30
$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,150
$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,250
$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,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,94
$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,-167.59918
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,051018,043502,-2852.0176,3219.8474,19,0.9,21,-23.7,1.2,260.9,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.5
$GPS2,051018,043853,-2852.1262,3219.7495,16,0.9,17,-23.7,1.5,226.8,10,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2855.820,3208.155
$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,273.7,20000,-18.3,-10.000,-21.04,2236
$D_GRID,30
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.86,-146.0,115,2002,674,585,0.0,0.0,0,115,0.00,0.00,-93.30,0.000,16386,0.000,0.000,104,2004,3175,3198,3152,0,0,0,0,0,0,15.15,28.83,15.16
$GC,119,-0.86,-146.0,104,2004,3197,3153,3.1,-5.9,17,143,11.90,2.30,-4.32,0.000,18948,0.278,0.093,2206,633,3410,3455,3365,0,0,0,0,0,0,14.64,13.59,14.81
$GC,185,-0.86,-146.0,2206,633,3457,3365,21.3,-18.2,29,192,0.05,2.15,0.00,0.000,3078,0.353,0.060,2210,1924,3410,3456,3364,0,0,0,0,0,0,14.60,14.78,14.81
$STATE,242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,242,begin apogee
$GC,247,-0.19,0.0,2210,1926,3457,3365,30.5,-15.0,40,358,1.05,0.00,102.40,1.023,10246,0.167,0.000,2419,1926,2815,2850,2780,0,0,0,0,0,0,14.71,14.35,13.97
$STATE,360,end apogee,CONTROL_FINISHED_OK
$STATE,360,begin climb
$GC,361,0.86,146.0,2419,1926,2843,2779,37.3,0.0,60,479,1.58,2.30,107.07,0.999,10756,0.099,0.074,2749,637,2214,2255,2173,0,0,0,0,0,0,14.52,14.35,13.89
$GC,721,0.95,225.0,2748,642,2246,2171,31.7,6.4,128,789,0.12,2.15,58.42,0.977,11270,0.130,0.057,2800,1931,1891,1941,1841,0,0,0,0,0,0,14.76,14.74,14.05
$GC,852,0.95,225.0,2799,1931,1938,1837,19.9,13.1,152,859,0.00,2.25,0.00,0.000,4612,0.000,0.074,2799,630,1887,1937,1838,0,0,0,0,0,0,14.89,14.58,14.89
$GC,900,0.95,225.0,2800,630,1934,1837,13.9,12.9,161,907,0.00,2.17,0.00,0.000,5126,0.000,0.054,2800,1936,1886,1934,1838,0,0,0,0,0,0,14.82,14.72,14.83
$GC,970,0.95,225.0,2800,1937,1934,1836,5.9,12.9,174,976,0.00,0.00,0.00,0.000,4102,0.000,0.000,2800,1937,1885,1934,1836,0,0,0,0,0,0,14.99,14.99,14.99
$STATE,990,end climb,SURFACE_DEPTH_REACHED
$STATE,990,begin surface coast
$FINISH,0.4,1.024249
$STATE,1007,end surface coast,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$SM_CCo,1027,145.35,0.105,0,0,639,532.78
$SM_GC,0.96,12.32,0.00,145.35,0.047,0.000,0.105,147,1941,639,-7.27,-1.30,532.78,0,0,0,0,0,0,14.78,15.03,14.73
$IRIDIUM_FIX,-2840.83,3220.15,051018,043137
$TT8_MAMPS,0.019474,0.80143
$HUMID,49.96
$INTERNAL_PRESSURE,9.05272
$TCM_TEMP,25.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,11.6,11.4
$SC_FREEKB,3922304
$24V_AH,13.59,47.833
$10V_AH,13.63,0.000
$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,27.025,13.325,267.900,145.350,0.000,0.000,0.000,0.000,1.250,0.000,18.071,322.175,122.297,463.595,310.238,25.225,0.000,680.070,0.000,280.741,0.000,2.632,0.000
$DEVICE_MAMPS,353.430,92.565,1022.805,104.805,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.882,0.000,0.000,0.000
$MEM,339784
$DATA_FILE_SIZE,6851,181
$CAP_FILE_SIZE,95372,0
$CFSIZE,1023623168,1021001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051018,045935,-2852.791,3219.185,14,0.8,16,-23.7,1.0,193.5,10,7.7