version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 10
start: 10 5 118 22 23 21
data:
$ID,573
$MISSION,23
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,115
$T_ABORT,135
$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,35
$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,37
$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,15
$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
$GPS1,051018,221125,-2916.5579,3159.8523,19,0.7,41,-24.1,1.4,200.3,12,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.2
$GPS2,051018,222257,-2916.8413,3159.6086,17,0.7,17,-24.2,1.1,240.5,11,6.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2907.995,3206.700
$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,59.2,20000,-18.3,-10.000,-21.04,2236
$D_GRID,300
$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,-146.0,91,1982,619,642,0.0,0.0,0,109,0.00,0.00,-87.55,0.000,16386,0.000,0.000,84,1983,3121,3132,3110,0,0,0,0,0,0,15.09,28.83,15.10
$GC,113,-0.86,-146.0,84,1982,3132,3111,3.4,-7.9,16,138,11.90,2.33,-5.07,0.000,18948,0.278,0.082,2205,579,3409,3450,3368,0,0,0,0,0,0,14.70,14.19,14.85
$GC,155,-0.86,-146.0,2204,579,3451,3368,18.1,-28.7,23,162,0.08,2.30,0.00,0.000,3078,0.288,0.048,2211,1988,3409,3451,3368,0,0,0,0,0,0,14.76,14.86,14.92
$GC,225,-0.86,-146.0,2212,1988,3451,3368,29.9,-16.0,36,230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1988,3409,3451,3368,0,0,0,0,0,0,15.14,15.15,15.14
$GC,292,-0.86,-146.0,2212,1988,3451,3368,40.6,-15.4,49,299,0.00,2.35,0.00,0.000,2308,0.000,0.070,2203,3390,3409,3451,3368,0,0,0,0,0,0,15.16,14.92,15.17
$GC,326,-0.86,-146.0,2202,3390,3451,3368,45.7,-15.7,55,333,0.00,2.30,0.00,0.000,3078,0.000,0.042,2202,1986,3409,3451,3368,0,0,0,0,0,0,15.05,14.96,15.06
$GC,395,-0.86,-146.0,2202,1986,3451,3368,57.0,-17.0,68,400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2203,1986,3409,3451,3368,0,0,0,0,0,0,15.19,15.19,15.18
$GC,462,-0.86,-146.0,2203,1986,3451,3368,68.9,-16.7,81,469,0.00,2.38,0.00,0.000,2308,0.000,0.070,2194,3392,3409,3451,3368,0,0,0,0,0,0,15.19,14.95,15.19
$GC,481,-0.86,-146.0,2194,3393,3451,3368,71.6,-15.2,84,488,0.08,2.30,0.00,0.000,3078,0.272,0.041,2210,1974,3409,3451,3368,0,0,0,0,0,0,14.85,14.95,15.01
$GC,551,-0.86,-146.0,2210,1974,3451,3368,81.5,-15.0,97,556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1974,3409,3451,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,618,-0.86,-146.0,2210,1973,3451,3368,91.7,-14.5,110,624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1972,3409,3451,3368,0,0,0,0,0,0,15.20,15.20,15.21
$GC,688,-0.86,-146.0,2210,1974,3451,3368,101.3,-15.0,123,695,0.00,2.30,0.00,0.000,2564,0.000,0.067,2210,583,3410,3453,3368,0,0,0,0,0,0,15.21,14.97,15.21
$GC,712,-0.86,-146.0,2210,583,3451,3368,105.1,-15.4,127,718,0.00,2.30,0.00,0.000,3078,0.000,0.049,2204,1999,3409,3450,3368,0,0,0,0,0,0,15.09,15.00,15.10
$GC,781,-0.86,-146.0,2203,1999,3451,3368,114.6,-14.4,140,787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,2005,3409,3451,3368,0,0,0,0,0,0,15.21,15.21,15.21
$GC,849,-0.86,-146.0,2203,1999,3451,3368,124.4,-14.4,153,855,0.00,0.00,0.00,0.000,2054,0.000,0.000,2204,1999,3410,3452,3368,0,0,0,0,0,0,15.21,15.22,15.21
$STATE,915,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,915,begin apogee
$GC,920,-0.19,0.0,2204,1999,3451,3368,134.4,-14.7,166,1032,1.08,0.00,105.97,1.093,10246,0.161,0.000,2422,2000,2811,2843,2779,0,0,0,0,0,0,14.80,14.64,14.17
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1035,0.86,146.0,2422,1999,2843,2778,140.8,0.0,186,1153,1.50,2.45,108.12,1.072,11012,0.070,0.063,2756,3402,2215,2257,2173,0,0,0,0,0,0,14.65,14.50,14.07
$GC,1190,1.01,270.8,2756,3401,2253,2173,145.0,4.3,213,1297,0.12,2.35,95.97,1.064,11270,0.119,0.042,2819,1980,1704,1760,1648,0,0,0,0,0,0,14.70,14.68,14.09
$GC,1360,1.01,270.8,2818,1980,1756,1644,125.5,14.1,244,1367,0.00,2.38,0.00,0.000,4612,0.000,0.070,2829,583,1699,1755,1643,0,0,0,0,0,0,14.90,14.70,14.91
$GC,1563,1.01,270.8,2829,583,1751,1643,94.1,16.4,284,1571,0.05,2.30,0.00,0.000,5126,0.340,0.046,2819,1991,1697,1751,1643,0,0,0,0,0,0,14.76,14.91,14.95
$GC,1633,1.01,270.8,2819,1992,1751,1649,82.9,16.0,297,1639,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,1992,1699,1755,1643,0,0,0,0,0,0,15.13,15.14,15.14
$GC,1701,1.01,270.8,2819,1992,1751,1643,72.2,15.5,310,1706,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,1992,1696,1750,1643,0,0,0,0,0,0,15.14,15.14,15.15
$GC,1768,1.01,270.8,2819,1992,1750,1643,61.3,14.6,323,1774,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,1992,1697,1751,1643,0,0,0,0,0,0,15.17,15.17,15.17
$GC,1836,1.01,270.8,2819,1992,1750,1643,50.4,15.4,336,1842,0.00,2.33,0.00,0.000,4356,0.000,0.065,2818,3394,1696,1750,1642,0,0,0,0,0,0,15.18,14.89,15.18
$GC,1894,1.01,270.8,2819,3393,1750,1641,41.5,15.3,347,1901,0.00,2.30,0.00,0.000,5126,0.000,0.044,2825,1989,1695,1750,1641,0,0,0,0,0,0,15.07,14.98,15.09
$GC,1964,1.01,270.8,2825,1990,1750,1641,31.2,15.3,360,1970,0.00,0.00,0.00,0.000,4102,0.000,0.000,2825,1990,1695,1750,1641,0,0,0,0,0,0,15.23,15.19,15.19
$GC,2032,1.01,270.8,2825,1995,1750,1641,20.5,15.4,373,2041,0.00,2.35,0.00,0.000,4612,0.000,0.070,2835,576,1695,1750,1641,0,0,0,0,0,0,15.20,14.93,15.21
$GC,2068,1.01,270.8,2834,576,1750,1641,14.7,15.7,379,2075,0.08,2.30,0.00,0.000,5126,0.282,0.045,2818,1999,1695,1750,1641,0,0,0,0,0,0,14.88,15.01,15.05
$GC,2138,1.01,270.8,2818,2000,1750,1641,3.4,14.9,392,2144,0.00,0.00,0.00,0.000,4102,0.000,0.000,2818,2000,1695,1750,1641,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,2149,end climb,SURFACE_DEPTH_REACHED
$STATE,2149,begin surface coast
$FINISH,0.2,1.010980
$STATE,2171,end surface coast,CONTROL_FINISHED_OK
$STATE,2171,begin surface
$SM_CCo,2191,125.15,0.099,0,0,639,532.78
$SM_GC,1.03,12.23,0.00,125.15,0.050,0.000,0.099,145,2001,639,-7.26,0.40,532.78,0,0,0,0,0,0,15.01,15.24,14.94
$IRIDIUM_FIX,-2902.99,3201.37,051018,205037
$TT8_MAMPS,0.018725,0.950481
$HUMID,49.37
$INTERNAL_PRESSURE,9.14062
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$ALTIM_BOTTOM_PING,100.2,48.9
$SC_FREEKB,3917504
$24V_AH,14.07,50.156
$10V_AH,13.81,0.000
$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,27.100,37.300,310.075,125.150,0.000,23.759,24.291,435.712,0.750,0.000,18.486,813.588,352.235,539.768,1199.348,109.157,0.000,947.688,0.000,604.057,0.000,7.205,0.000
$DEVICE_MAMPS,339.660,81.855,1093.185,98.685,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.694,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,13494,398
$CAP_FILE_SIZE,81875,0
$CFSIZE,1023623168,1019805696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051018,230252,-2917.359,3159.345,16,0.8,17,-24.2,0.8,199.3,10,8.5