version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 9
start: 10 5 118 21 0 54
data:
$ID,573
$MISSION,23
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,177
$T_MISSION,167
$T_ABORT,200
$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,300
$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,40
$R_STBD_OVSHOOT,36
$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,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
$GPS1,051018,204506,-2915.4607,3201.4475,16,1.0,18,-24.1,1.4,196.5,8,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.1
$GPS2,051018,210031,-2915.8689,3201.1050,17,0.9,21,-24.1,0.9,186.3,9,9.3
$SPEED_LIMITS,0.163,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,-2910.469,3150.394
$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,324.1,20000,-17.3,-9.416,-20.28,2373
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-146.0,81,1974,622,642,0.0,0.0,0,110,0.00,0.00,-87.25,0.000,16386,0.000,0.000,77,1974,3130,3145,3116,0,0,0,0,0,0,15.07,28.83,15.08
$GC,112,-0.82,-146.0,77,1974,3145,3115,3.7,-9.5,16,137,12.07,2.40,-4.95,0.000,18692,0.284,0.083,2204,3397,3409,3451,3367,0,0,0,0,0,0,14.67,14.15,14.83
$GC,239,-0.82,-146.0,2204,3399,3453,3368,30.6,-14.7,40,246,0.08,2.33,0.00,0.000,3078,0.280,0.041,2220,1981,3410,3453,3367,0,0,0,0,0,0,14.73,14.92,14.89
$GC,309,-0.82,-146.0,2220,1981,3453,3367,40.9,-14.9,53,315,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,1981,3410,3453,3367,0,0,0,0,0,0,15.14,15.15,15.15
$GC,377,-0.82,-146.0,2220,1981,3453,3367,51.1,-15.1,66,382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,1981,3410,3453,3368,0,0,0,0,0,0,15.16,15.16,15.17
$GC,444,-0.82,-146.0,2220,1980,3453,3367,61.4,-15.1,79,450,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,1981,3410,3453,3367,0,0,0,0,0,0,15.16,15.17,15.17
$GC,512,-0.82,-146.0,2220,1981,3453,3367,72.0,-15.4,92,518,0.00,0.00,0.00,0.000,2054,0.000,0.000,2220,1981,3410,3453,3367,0,0,0,0,0,0,15.19,15.19,15.19
$GC,580,-0.82,-146.0,2220,1981,3452,3368,82.1,-14.2,105,587,0.00,2.40,0.00,0.000,2308,0.000,0.067,2211,3400,3410,3453,3367,0,0,0,0,0,0,15.18,14.90,15.19
$GC,673,-0.82,-146.0,2211,3400,3453,3367,95.2,-13.0,123,680,0.00,2.30,0.00,0.000,3078,0.000,0.042,2211,1985,3410,3453,3367,0,0,0,0,0,0,15.07,14.98,15.09
$GC,742,-0.82,-146.0,2211,1984,3453,3368,105.4,-14.7,136,749,0.00,2.40,0.00,0.000,2308,0.000,0.070,2210,3400,3410,3453,3368,0,0,0,0,0,0,15.19,14.95,15.19
$GC,791,-0.82,-146.0,2210,3400,3453,3367,111.9,-13.2,145,798,0.03,2.30,0.00,0.000,3078,0.480,0.041,2219,1985,3409,3452,3367,0,0,0,0,0,0,14.82,14.95,15.02
$GC,861,-0.82,-146.0,2219,1985,3453,3367,121.1,-13.4,158,868,0.00,2.35,0.00,0.000,2564,0.000,0.070,2220,578,3410,3453,3368,0,0,0,0,0,0,15.21,14.95,15.22
$GC,885,-0.82,-146.0,2220,578,3453,3373,124.3,-13.4,162,891,0.00,2.30,0.00,0.000,3078,0.000,0.049,2220,1989,3409,3452,3367,0,0,0,0,0,0,15.01,14.92,15.02
$GC,954,-0.82,-146.0,2220,1990,3453,3367,132.7,-11.8,175,961,0.00,2.35,0.00,0.000,2308,0.000,0.070,2214,3397,3410,3453,3368,0,0,0,0,0,0,15.21,14.87,15.21
$GC,1029,-0.82,-146.0,2213,3393,3453,3368,143.5,-13.9,189,1035,0.00,2.28,0.00,0.000,3078,0.000,0.041,2214,1983,3410,3453,3368,0,0,0,0,0,0,15.09,14.99,15.09
$GC,1098,-0.82,-146.0,2213,1983,3453,3364,152.8,-13.3,202,1104,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1983,3410,3453,3368,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1170,-0.82,-146.0,2213,1983,3453,3367,162.2,-14.5,215,1176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1982,3410,3453,3367,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1238,-0.82,-146.0,2213,1981,3450,3367,172.0,-13.5,228,1244,0.00,2.40,0.00,0.000,2308,0.000,0.070,2211,3400,3410,3453,3368,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1333,-0.82,-146.0,2210,3400,3453,3368,183.2,-12.3,246,1340,0.00,2.30,0.00,0.000,3078,0.000,0.042,2211,1989,3410,3453,3367,0,0,0,0,0,0,15.08,15.00,15.10
$GC,1403,-0.82,-146.0,2211,1989,3453,3367,190.9,-12.8,259,1409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1989,3410,3453,3367,0,0,0,0,0,0,15.21,15.22,15.21
$GC,1471,-0.82,-146.0,2210,1989,3453,3367,198.6,-11.3,272,1477,0.00,2.38,0.00,0.000,2308,0.000,0.070,2211,3392,3410,3453,3367,0,0,0,0,0,0,15.21,14.92,15.21
$GC,1524,-0.82,-146.0,2210,3392,3453,3368,203.9,-9.3,282,1531,0.00,2.28,0.00,0.000,3078,0.000,0.041,2211,1987,3410,3453,3367,0,0,0,0,0,0,15.09,15.01,15.11
$GC,1594,-0.82,-146.0,2210,1987,3453,3367,210.3,-9.4,295,1601,0.00,2.38,0.00,0.000,2308,0.000,0.070,2211,3393,3410,3453,3367,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1623,-0.82,-146.0,2211,3393,3453,3368,213.0,-9.3,300,1630,0.00,2.28,0.00,0.000,3078,0.000,0.041,2211,1987,3409,3451,3367,0,0,0,0,0,0,15.10,15.01,15.11
$STATE,1691,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1692,begin apogee
$GC,1696,-0.19,0.0,2211,1987,3453,3367,218.4,-6.4,313,1812,1.02,0.00,108.18,1.203,10246,0.151,0.000,2422,1986,2811,2845,2778,0,0,0,0,0,0,14.88,14.49,14.12
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1814,begin climb
$GC,1816,0.82,146.0,2422,1986,2845,2778,220.2,0.0,334,1938,1.48,2.42,110.22,1.183,10756,0.043,0.065,2787,586,2213,2256,2171,0,0,0,0,0,0,14.65,14.45,14.00
$GC,2060,0.82,146.0,2787,585,2248,2170,203.3,14.0,379,2067,0.15,2.30,0.00,0.000,5126,0.229,0.046,2757,1988,2209,2248,2171,0,0,0,0,0,0,14.68,14.78,14.82
$GC,2130,0.86,177.1,2758,1988,2248,2170,196.4,8.1,392,2159,0.00,0.00,24.55,1.134,10246,0.000,0.000,2758,1988,2087,2133,2042,0,0,0,0,0,0,15.02,14.73,14.23
$GC,2221,0.88,194.6,2758,1988,2131,2039,188.9,8.7,409,2245,0.00,2.42,14.90,1.089,10500,0.000,0.069,2757,3397,2014,2062,1967,0,0,0,0,0,0,15.01,14.69,14.23
$GC,2362,0.88,194.6,2757,3397,2060,1965,173.0,11.7,436,2368,0.00,2.33,0.00,0.000,3078,0.000,0.044,2766,1981,2011,2059,1964,0,0,0,0,0,0,14.91,14.80,14.92
$GC,2431,0.88,194.6,2766,1980,2059,1963,165.5,10.9,449,2438,0.00,2.40,0.00,0.000,2308,0.000,0.067,2766,3401,2011,2059,1963,0,0,0,0,0,0,15.09,14.81,15.09
$GC,2464,0.89,198.7,2765,3401,2059,1963,162.4,9.2,455,2477,0.00,2.33,3.97,0.777,9222,0.000,0.044,2776,1984,2000,2049,1952,0,0,0,0,0,0,14.98,14.90,14.33
$GC,2539,0.89,198.7,2776,1984,2048,1951,155.3,9.5,469,2545,0.00,2.38,0.00,0.000,260,0.000,0.068,2777,3397,1999,2048,1951,0,0,0,0,0,0,15.11,14.89,15.12
$GC,2572,0.89,198.7,2776,3397,2048,1951,151.5,10.8,475,2579,0.00,2.33,0.00,0.000,5126,0.000,0.044,2784,1986,1999,2048,1951,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2642,0.90,207.8,2784,1986,2047,1950,144.7,9.0,488,2660,0.00,2.38,8.65,1.002,12804,0.000,0.073,2784,586,1963,2012,1915,0,0,0,0,0,0,15.14,14.85,14.39
$GC,2722,0.90,207.8,2784,586,2007,1915,136.8,9.4,503,2728,0.00,2.30,0.00,0.000,5126,0.000,0.047,2784,1993,1961,2008,1915,0,0,0,0,0,0,14.98,14.88,14.99
$GC,2791,0.92,225.2,2784,1994,2008,1915,130.8,8.7,516,2815,0.00,2.40,15.05,1.036,8452,0.000,0.069,2784,3396,1890,1939,1842,0,0,0,0,0,0,15.14,14.81,14.39
$GC,2937,0.92,225.2,2784,3396,1937,1840,116.5,9.9,544,2944,0.00,2.33,0.00,0.000,5126,0.000,0.045,2790,1978,1888,1937,1840,0,0,0,0,0,0,14.99,14.90,15.00
$GC,3007,0.92,225.2,2789,1978,1938,1839,109.4,10.8,557,3013,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1978,1888,1937,1839,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3075,0.92,225.2,2790,1978,1937,1839,102.7,9.6,570,3081,0.00,2.40,0.00,0.000,4356,0.000,0.067,2792,3397,1888,1937,1839,0,0,0,0,0,0,15.16,14.93,15.16
$GC,3254,0.92,225.2,2790,3397,1937,1839,84.0,10.3,605,3261,0.00,2.30,0.00,0.000,5126,0.000,0.044,2790,1986,1888,1937,1839,0,0,0,0,0,0,15.07,14.98,15.09
$GC,3323,0.92,225.2,2790,1986,1936,1835,76.6,9.9,618,3329,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1986,1887,1936,1838,0,0,0,0,0,0,15.20,15.20,15.19
$GC,3391,0.92,225.2,2790,1986,1936,1838,69.2,11.5,631,3398,0.00,2.38,0.00,0.000,4356,0.000,0.067,2790,3394,1887,1936,1838,0,0,0,0,0,0,15.19,14.90,15.19
$GC,3444,0.92,225.2,2790,3395,1936,1839,62.9,12.8,641,3451,0.00,2.30,0.00,0.000,5126,0.000,0.045,2790,1986,1886,1935,1838,0,0,0,0,0,0,15.09,15.00,15.09
$GC,3514,0.92,225.2,2790,1986,1937,1838,54.4,11.8,654,3519,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1985,1887,1936,1838,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3581,0.92,225.2,2790,1986,1936,1838,46.7,10.9,667,3588,0.00,2.35,0.00,0.000,4612,0.000,0.071,2790,581,1887,1936,1838,0,0,0,0,0,0,15.21,14.90,15.21
$GC,3610,0.92,225.2,2790,582,1935,1838,43.6,11.1,672,3616,0.00,2.28,0.00,0.000,5126,0.000,0.047,2790,1988,1886,1934,1838,0,0,0,0,0,0,15.09,15.01,15.10
$GC,3679,0.92,225.2,2790,1988,1934,1838,35.4,11.4,685,3685,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,1986,1885,1934,1837,0,0,0,0,0,0,15.24,15.21,15.21
$GC,3746,0.92,225.2,2790,1988,1934,1837,27.3,12.7,698,3753,0.00,2.38,0.00,0.000,4356,0.000,0.066,2790,3402,1886,1934,1838,0,0,0,0,0,0,15.21,14.93,15.22
$GC,3820,0.92,225.2,2790,3403,1934,1838,18.9,13.1,712,3827,0.00,2.30,0.00,0.000,5126,0.000,0.044,2791,1986,1886,1934,1838,0,0,0,0,0,0,15.11,15.01,15.11
$GC,3890,0.92,225.2,2790,1986,1934,1838,11.1,12.1,725,3896,0.00,0.00,0.00,0.000,4102,0.000,0.000,2791,1986,1886,1934,1838,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3956,end climb,SURFACE_DEPTH_REACHED
$STATE,3956,begin surface coast
$FINISH,0.3,1.024312
$STATE,3982,end surface coast,CONTROL_FINISHED_OK
$STATE,3982,begin surface
$SM_CCo,4002,148.12,0.105,0,0,639,532.78
$SM_GC,0.90,12.20,0.00,148.12,0.057,0.000,0.105,146,1986,639,-7.26,-0.06,532.78,0,0,0,0,0,0,15.02,15.25,14.93
$IRIDIUM_FIX,-2900.53,3203.46,051018,204826
$TT8_MAMPS,0.018725,0.939995
$HUMID,51.18
$INTERNAL_PRESSURE,9.10155
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,180.4,47.7
$SC_FREEKB,3918016
$24V_AH,14.00,49.986
$10V_AH,13.86,0.000
$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,27.025,84.375,285.525,148.125,0.000,49.310,68.649,515.717,3.000,0.000,21.811,1604.486,791.612,627.657,1903.537,151.954,0.000,1291.191,0.000,1117.022,0.000,23.399,0.000
$DEVICE_MAMPS,480.420,83.385,1202.580,104.805,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.487,0.000,0.000,0.000
$MEM,339760
$DATA_FILE_SIZE,23421,743
$CAP_FILE_SIZE,139221,0
$CFSIZE,1023623168,1019854848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051018,221125,-2916.558,3159.852,19,0.7,41,-24.1,1.4,200.3,12,5.9