version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 2
start: 10 5 118 5 19 41
data:
$ID,573
$MISSION,23
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$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,33
$T_MISSION,43
$T_ABORT,60
$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,90
$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
$GPS1,051018,051507,-2853.2236,3218.7908,16,0.8,19,-23.7,1.4,200.5,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.8
$GPS2,051018,051918,-2853.3362,3218.6587,19,0.8,20,-23.7,1.3,210.5,10,8.5
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.336,3230.993
$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,113.7,20000,-18.4,-10.101,-21.17,2215
$D_GRID,100
$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,-146.0,139,1944,628,635,0.0,0.0,0,110,0.00,0.00,-88.10,0.000,16386,0.000,0.000,130,1944,3142,3161,3124,0,0,0,0,0,0,15.16,28.83,15.17
$GC,113,-0.86,-146.0,130,1948,3162,3124,3.1,-5.2,16,138,11.60,2.35,-4.88,0.000,18692,0.273,0.094,2193,3336,3409,3454,3364,0,0,0,0,0,0,14.69,13.67,14.85
$GC,225,-0.86,-146.0,2192,3336,3455,3364,27.0,-15.6,37,232,0.08,2.15,0.00,0.000,3078,0.278,0.047,2209,2027,3409,3455,3364,0,0,0,0,0,0,14.70,14.87,14.89
$GC,295,-0.86,-146.0,2208,2026,3455,3363,37.6,-15.5,50,301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2026,3409,3454,3364,0,0,0,0,0,0,15.16,15.17,15.16
$GC,363,-0.86,-146.0,2208,2026,3455,3364,48.1,-14.2,63,369,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,2026,3409,3455,3364,0,0,0,0,0,0,15.15,15.15,15.16
$GC,431,-0.86,-146.0,2208,2026,3455,3364,58.0,-15.6,76,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2026,3409,3454,3364,0,0,0,0,0,0,15.17,15.17,15.17
$GC,498,-0.86,-146.0,2208,2026,3455,3364,68.8,-16.1,89,504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2208,2026,3409,3455,3364,0,0,0,0,0,0,15.16,15.16,15.16
$GC,566,-0.86,-146.0,2208,2026,3454,3364,79.9,-16.7,102,573,0.00,2.22,0.00,0.000,2308,0.000,0.069,2203,3336,3409,3455,3364,0,0,0,0,0,0,15.18,14.90,15.18
$GC,584,-0.86,-146.0,2202,3336,3454,3364,83.0,-16.4,105,591,0.00,2.22,0.00,0.000,3078,0.000,0.047,2202,1989,3409,3454,3364,0,0,0,0,0,0,14.93,14.83,14.94
$GC,654,-0.86,-146.0,2202,1989,3454,3364,94.2,-16.2,118,661,0.00,2.38,0.00,0.000,2564,0.000,0.070,2203,571,3409,3454,3364,0,0,0,0,0,0,15.16,14.79,15.16
$STATE,687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,687,begin apogee
$GC,693,-0.19,0.0,2194,1934,3454,3362,100.4,-17.1,124,805,1.12,0.00,104.32,1.055,10246,0.161,0.000,2420,1936,2811,2845,2778,0,0,0,0,0,0,14.76,14.57,14.07
$STATE,807,end apogee,CONTROL_FINISHED_OK
$STATE,807,begin climb
$GC,808,0.86,146.0,2421,1936,2845,2777,107.1,0.0,144,925,1.55,2.35,105.82,1.034,10756,0.093,0.065,2760,570,2215,2258,2172,0,0,0,0,0,0,14.57,14.34,13.97
$GC,1043,0.98,245.3,2760,572,2251,2171,105.1,5.5,187,1128,0.12,2.25,74.53,1.017,11270,0.129,0.050,2811,1936,1809,1862,1757,0,0,0,0,0,0,14.74,14.72,14.02
$GC,1190,0.98,245.3,2811,1936,1859,1752,89.3,13.4,214,1196,0.00,2.33,0.00,0.000,4612,0.000,0.070,2811,580,1805,1858,1752,0,0,0,0,0,0,14.89,14.64,14.90
$GC,1288,0.98,245.3,2811,579,1855,1752,76.1,13.1,233,1295,0.00,2.22,0.00,0.000,5126,0.000,0.051,2811,1930,1803,1855,1752,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1358,0.98,245.3,2811,1931,1854,1751,67.3,13.3,246,1364,0.00,2.35,0.00,0.000,4356,0.000,0.067,2811,3333,1803,1855,1751,0,0,0,0,0,0,15.04,14.80,15.04
$GC,1386,0.98,245.3,2811,3334,1859,1750,63.3,12.6,251,1393,0.00,2.22,0.00,0.000,5126,0.000,0.049,2811,1986,1802,1855,1750,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1455,0.98,245.3,2811,1986,1854,1750,53.9,13.2,264,1462,0.00,2.35,0.00,0.000,4612,0.000,0.070,2811,579,1802,1854,1750,0,0,0,0,0,0,15.07,14.82,15.08
$GC,1484,0.98,245.3,2811,579,1854,1750,49.9,13.6,269,1490,0.00,2.22,0.00,0.000,5126,0.000,0.051,2812,1936,1802,1855,1750,0,0,0,0,0,0,14.87,14.78,14.89
$GC,1553,0.98,245.3,2811,1936,1854,1749,40.4,13.8,282,1559,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1936,1801,1854,1749,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1621,0.98,245.3,2812,1936,1854,1749,31.1,13.2,295,1627,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1937,1801,1854,1749,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1689,0.98,245.3,2811,1936,1854,1749,22.0,13.1,308,1695,0.00,2.33,0.00,0.000,4356,0.000,0.066,2812,3335,1801,1854,1748,0,0,0,0,0,0,15.13,14.80,15.14
$GC,1727,0.98,245.3,2811,3335,1854,1748,16.6,15.0,315,1734,0.00,2.22,0.00,0.000,5126,0.000,0.048,2812,1977,1801,1854,1748,0,0,0,0,0,0,15.01,14.91,15.03
$GC,1797,0.98,245.3,2811,1977,1854,1748,7.0,13.5,328,1803,0.00,0.00,0.00,0.000,4102,0.000,0.000,2812,1977,1800,1854,1747,0,0,0,0,0,0,15.14,15.15,15.15
$STATE,1823,end climb,SURFACE_DEPTH_REACHED
$STATE,1823,begin surface coast
$FINISH,0.4,1.024228
$STATE,1839,end surface coast,CONTROL_FINISHED_OK
$STATE,1839,begin surface
$SM_CCo,1859,134.62,0.100,0,0,639,532.78
$SM_GC,1.00,12.32,0.00,134.62,0.048,0.000,0.100,116,1975,639,-7.31,-0.31,532.78,0,0,0,0,0,0,14.96,15.17,14.86
$IRIDIUM_FIX,-2840.83,3218.07,051018,051154
$TT8_MAMPS,0.019474,0.964712
$HUMID,49.01
$INTERNAL_PRESSURE,9.11132
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$SC_FREEKB,3921792
$24V_AH,13.67,47.986
$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,26.800,36.450,284.675,134.625,0.000,0.000,0.000,0.000,0.500,0.000,21.128,676.645,286.449,516.826,553.774,42.789,0.000,863.596,0.000,510.767,0.000,4.224,0.000
$DEVICE_MAMPS,277.695,94.095,1054.935,100.215,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.631,0.000,0.000,0.000
$MEM,339712
$DATA_FILE_SIZE,10146,336
$CAP_FILE_SIZE,76839,0
$CFSIZE,1023623168,1020919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051018,055356,-2854.426,3218.259,18,1.0,22,-23.7,2.0,218.3,9,7.6