version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 11
start: 10 5 118 23 13 47
data:
$ID,573
$MISSION,23
$DIVE,11
$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,123
$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,38
$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
$GPS1,051018,230252,-2917.3589,3159.3452,16,0.8,17,-24.2,0.8,199.3,10,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.8
$GPS2,051018,231323,-2917.6138,3159.1143,15,0.9,17,-24.2,0.9,247.8,9,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2923.495,3209.509
$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,147.2,20000,-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,-146.0,108,2005,618,640,0.0,0.0,0,109,0.00,0.00,-87.50,0.000,16386,0.000,0.000,102,2006,3132,3145,3119,0,0,0,0,0,0,15.13,28.83,15.14
$GC,113,-0.86,-146.0,102,2006,3145,3119,3.4,-7.5,16,138,11.82,2.35,-4.95,0.000,18948,0.281,0.082,2210,579,3410,3452,3369,0,0,0,0,0,0,14.73,13.87,14.90
$GC,195,-0.86,-146.0,2209,579,3453,3369,24.2,-16.7,31,202,0.00,2.30,0.00,0.000,3078,0.000,0.048,2204,1988,3411,3453,3369,0,0,0,0,0,0,15.00,14.90,15.02
$GC,264,-0.86,-146.0,2203,1988,3453,3369,35.0,-15.4,44,271,0.00,2.35,0.00,0.000,2308,0.000,0.070,2204,3392,3411,3453,3369,0,0,0,0,0,0,15.17,14.88,15.18
$GC,323,-0.86,-146.0,2203,3389,3453,3368,43.7,-14.0,55,330,0.00,2.30,0.00,0.000,3078,0.000,0.041,2204,1979,3411,3453,3369,0,0,0,0,0,0,15.07,15.00,15.09
$GC,392,-0.86,-146.0,2203,1978,3453,3369,54.4,-15.7,68,399,0.00,2.30,0.00,0.000,2564,0.000,0.067,2204,585,3411,3453,3369,0,0,0,0,0,0,15.19,14.96,15.20
$GC,411,-0.86,-146.0,2203,584,3453,3368,57.2,-15.7,71,418,0.00,2.30,0.00,0.000,3078,0.000,0.049,2200,1989,3411,3453,3369,0,0,0,0,0,0,15.07,14.96,15.08
$GC,480,-0.86,-146.0,2200,1989,3453,3369,68.6,-16.7,84,486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2199,1989,3411,3453,3369,0,0,0,0,0,0,15.21,15.21,15.21
$GC,548,-0.86,-146.0,2200,1989,3453,3368,80.2,-17.1,97,554,0.00,2.33,0.00,0.000,2564,0.000,0.063,2200,582,3411,3453,3369,0,0,0,0,0,0,15.22,14.97,15.21
$GC,581,-0.86,-146.0,2200,582,3453,3369,85.9,-17.1,103,587,0.00,2.30,0.00,0.000,3078,0.000,0.050,2200,1995,3409,3453,3366,0,0,0,0,0,0,15.09,15.00,15.11
$GC,649,-0.86,-146.0,2200,1995,3453,3369,97.4,-16.4,116,656,0.00,2.38,0.00,0.000,2564,0.000,0.066,2200,576,3411,3453,3369,0,0,0,0,0,0,15.21,14.92,15.22
$GC,678,-0.86,-146.0,2200,576,3453,3369,102.5,-17.3,121,685,0.08,2.30,0.00,0.000,3078,0.291,0.050,2210,1994,3411,3453,3369,0,0,0,0,0,0,14.88,15.02,15.05
$GC,747,-0.86,-146.0,2210,1995,3452,3369,113.6,-15.4,134,753,0.00,2.33,0.00,0.000,2308,0.000,0.067,2202,3396,3411,3453,3369,0,0,0,0,0,0,15.23,14.99,15.24
$GC,765,-0.86,-146.0,2201,3394,3453,3369,116.0,-13.4,137,772,0.00,2.28,0.00,0.000,3078,0.000,0.041,2202,1985,3410,3452,3369,0,0,0,0,0,0,15.07,14.99,15.08
$GC,835,-0.86,-146.0,2201,1986,3452,3369,126.3,-15.9,150,841,0.00,2.33,0.00,0.000,2564,0.000,0.064,2202,573,3410,3452,3369,0,0,0,0,0,0,15.23,14.93,15.23
$GC,894,-0.86,-146.0,2201,573,3453,3369,136.6,-17.7,161,901,0.08,2.30,0.00,0.000,3078,0.290,0.049,2210,1994,3410,3452,3369,0,0,0,0,0,0,14.82,14.94,14.98
$GC,963,-0.86,-146.0,2209,1994,3452,3369,147.8,-15.0,174,970,0.00,2.33,0.00,0.000,2308,0.000,0.070,2200,3394,3410,3452,3369,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1031,-0.86,-146.0,2201,3394,3452,3369,157.4,-13.9,186,1037,0.00,2.30,0.00,0.000,3078,0.000,0.041,2201,1972,3410,3452,3369,0,0,0,0,0,0,15.07,14.97,15.09
$GC,1101,-0.86,-146.0,2200,1974,3452,3369,167.5,-12.5,199,1107,0.00,2.40,0.00,0.000,2308,0.000,0.070,2200,3397,3411,3453,3369,0,0,0,0,0,0,15.24,14.99,15.24
$GC,1114,-0.86,-146.0,2199,3397,3452,3369,169.3,-13.6,201,1121,0.00,2.28,0.00,0.000,3078,0.000,0.041,2200,1986,3410,3452,3369,0,0,0,0,0,0,15.02,14.95,15.04
$GC,1183,-0.86,-146.0,2200,1986,3452,3369,179.6,-14.5,214,1190,0.00,2.33,0.00,0.000,2564,0.000,0.067,2200,577,3410,3452,3369,0,0,0,0,0,0,15.23,14.99,15.23
$GC,1196,-0.86,-146.0,2200,577,3452,3368,181.4,-13.3,216,1203,0.00,2.30,0.00,0.000,3078,0.000,0.049,2200,1995,3410,3452,3369,0,0,0,0,0,0,15.12,15.02,15.13
$GC,1265,-0.86,-146.0,2200,1994,3452,3369,190.9,-13.2,229,1271,0.00,2.35,0.00,0.000,2564,0.000,0.065,2200,580,3410,3452,3369,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1293,-0.86,-146.0,2200,580,3453,3369,194.3,-11.6,234,1300,0.00,2.28,0.00,0.000,3078,0.000,0.051,2200,1987,3410,3452,3369,0,0,0,0,0,0,15.11,15.02,15.13
$STATE,1315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1316,begin apogee
$GC,1320,-0.19,0.0,2200,1987,3452,3371,197.1,-12.3,238,1437,1.08,0.00,107.78,1.164,10246,0.151,0.000,2421,1987,2811,2844,2778,0,0,0,0,0,0,14.89,14.52,14.14
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1440,0.86,146.0,2421,1988,2843,2778,202.0,0.0,259,1558,1.55,2.45,108.72,1.151,10756,0.054,0.064,2793,582,2215,2256,2174,0,0,0,0,0,0,14.68,14.53,14.06
$GC,1945,0.90,180.8,2793,582,2245,2174,164.7,8.4,356,1981,0.05,2.28,27.17,1.099,13318,0.337,0.044,2784,1993,2071,2118,2025,0,0,0,0,0,0,14.77,14.91,14.35
$GC,2043,0.95,221.6,2784,1993,2114,2026,158.0,8.1,374,2083,0.00,2.35,32.40,1.089,10500,0.000,0.063,2784,3389,1905,1954,1857,0,0,0,0,0,0,15.09,14.71,14.26
$GC,2106,0.98,244.1,2784,3390,1952,1856,152.4,9.0,385,2130,0.00,2.33,18.75,1.040,11270,0.000,0.045,2789,1983,1816,1866,1767,0,0,0,0,0,0,14.86,14.78,14.23
$GC,2191,0.98,244.1,2789,1982,1862,1758,143.3,11.3,401,2198,0.00,2.40,0.00,0.000,2308,0.000,0.065,2790,3395,1810,1861,1760,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2230,0.98,244.1,2789,3396,1861,1760,138.7,12.1,408,2237,0.00,2.33,0.00,0.000,3078,0.000,0.045,2790,1981,1812,1864,1760,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2300,0.98,244.1,2789,1981,1861,1758,131.7,10.1,421,2306,0.00,2.35,0.00,0.000,2564,0.000,0.071,2790,581,1809,1860,1758,0,0,0,0,0,0,15.10,14.87,15.10
$GC,2428,0.98,244.1,2789,581,1857,1758,116.4,13.7,446,2435,0.00,2.28,0.00,0.000,3078,0.000,0.047,2790,1985,1807,1857,1758,0,0,0,0,0,0,15.05,14.96,15.06
$GC,2497,0.98,244.1,2789,1985,1857,1758,107.5,12.2,459,2503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2790,1985,1811,1857,1766,0,0,0,0,0,0,15.17,15.18,15.17
$GC,2565,0.98,244.1,2789,1985,1857,1757,99.1,12.1,472,2572,0.00,2.35,0.00,0.000,2564,0.000,0.070,2791,582,1807,1857,1757,0,0,0,0,0,0,15.18,14.90,15.19
$GC,2609,0.98,244.1,2791,581,1855,1757,94.1,11.8,480,2616,0.00,2.28,0.00,0.000,3078,0.000,0.047,2791,1986,1806,1856,1757,0,0,0,0,0,0,15.08,15.00,15.09
$GC,2678,0.98,244.1,2791,1987,1856,1757,86.1,12.3,493,2685,0.00,2.33,0.00,0.000,2564,0.000,0.069,2799,583,1806,1855,1757,0,0,0,0,0,0,15.20,14.97,15.20
$GC,2727,0.98,244.1,2799,583,1855,1757,79.6,12.2,502,2733,0.00,2.28,0.00,0.000,3078,0.000,0.044,2799,1991,1806,1855,1757,0,0,0,0,0,0,15.06,14.98,15.07
$GC,2796,0.98,244.1,2798,1992,1855,1757,70.4,13.5,515,2803,0.00,2.35,0.00,0.000,2564,0.000,0.070,2807,584,1806,1855,1757,0,0,0,0,0,0,15.21,14.95,15.21
$GC,2875,0.98,244.1,2807,584,1854,1757,59.4,13.8,530,2882,0.00,2.28,0.00,0.000,5126,0.000,0.047,2807,1989,1805,1854,1757,0,0,0,0,0,0,15.04,14.95,15.04
$GC,2945,0.98,244.1,2807,1989,1854,1757,50.3,13.2,543,2951,0.00,0.00,0.00,0.000,4102,0.000,0.000,2807,1989,1805,1854,1757,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3013,0.98,244.1,2807,1989,1855,1757,41.5,13.2,556,3018,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1989,1806,1855,1757,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3080,0.98,244.1,2807,1989,1854,1757,32.2,13.2,569,3087,0.00,2.33,0.00,0.000,4356,0.000,0.067,2806,3394,1805,1854,1757,0,0,0,0,0,0,15.23,14.93,15.23
$GC,3104,0.98,244.1,2807,3395,1854,1756,29.2,12.7,573,3110,0.00,2.30,0.00,0.000,5126,0.000,0.045,2807,1979,1805,1854,1756,0,0,0,0,0,0,15.11,15.02,15.13
$GC,3173,0.98,244.1,2807,1978,1855,1756,20.7,12.5,586,3179,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,1979,1805,1854,1756,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3241,0.98,244.1,2807,1978,1854,1756,11.8,14.0,599,3247,0.00,2.35,0.00,0.000,4356,0.000,0.063,2807,3395,1805,1855,1756,0,0,0,0,0,0,15.23,14.95,15.23
$GC,3269,0.98,244.1,2807,3395,1854,1756,7.6,14.2,604,3276,0.00,2.28,0.00,0.000,5126,0.000,0.044,2807,1986,1804,1854,1755,0,0,0,0,0,0,15.12,15.03,15.13
$STATE,3306,end climb,SURFACE_DEPTH_REACHED
$STATE,3306,begin surface coast
$FINISH,0.6,1.011977
$STATE,3328,end surface coast,CONTROL_FINISHED_OK
$STATE,3329,begin surface
$SM_CCo,3349,138.48,0.103,0,0,639,532.78
$SM_GC,0.99,12.25,0.00,138.48,0.056,0.000,0.103,138,1985,639,-7.30,-0.06,532.78,0,0,0,0,0,0,15.01,15.26,14.95
$IRIDIUM_FIX,-2905.46,3157.18,051018,230515
$TT8_MAMPS,0.018725,0.95872
$HUMID,50.86
$INTERNAL_PRESSURE,9.14062
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.9
$ALTIM_BOTTOM_PING,160.2,51.7
$SC_FREEKB,3916992
$24V_AH,13.87,50.337
$10V_AH,13.93,0.000
$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,26.900,92.825,294.825,138.475,0.000,48.727,67.773,285.196,2.500,0.000,18.294,1323.003,635.515,606.576,1441.521,127.495,0.000,1184.078,0.000,929.551,0.000,19.549,0.000
$DEVICE_MAMPS,337.365,81.855,1163.565,102.510,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3360.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.099,0.000,0.000,0.000
$MEM,339784
$DATA_FILE_SIZE,20099,615
$CAP_FILE_SIZE,119306,0
$CFSIZE,1023623168,1019641856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061018,001253,-2918.766,3158.680,18,1.0,20,-24.2,1.0,232.8,8,9.5