version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 16
start: 10 6 118 6 5 27
data:
$ID,573
$MISSION,23
$DIVE,16
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,215
$T_ABORT,240
$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,125
$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,39
$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
$GPS1,061018,055242,-2928.5435,3153.8628,16,1.0,19,-24.4,1.8,206.4,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.0
$GPS2,061018,060503,-2928.8591,3153.5583,18,1.0,23,-24.4,1.0,206.6,9,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2935.053,3203.730
$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,149.4,20000,-18.3,-10.000,-21.04,2236
$D_GRID,600
$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,-146.0,99,1995,621,638,0.0,0.0,0,109,0.00,0.00,-87.45,0.000,16386,0.000,0.000,92,1996,3135,3145,3126,0,0,0,0,0,0,15.11,28.83,15.12
$GC,113,-0.86,-146.0,91,1996,3145,3126,3.8,-9.4,16,138,11.90,2.33,-4.78,0.000,18948,0.287,0.084,2199,577,3409,3450,3369,0,0,0,0,0,0,14.72,13.85,14.88
$GC,249,-0.86,-146.0,2199,577,3452,3370,33.9,-15.8,42,257,0.08,2.30,0.00,0.000,3078,0.288,0.047,2210,1992,3410,3451,3370,0,0,0,0,0,0,14.78,14.90,14.94
$GC,319,-0.86,-146.0,2209,1992,3452,3370,44.7,-15.6,55,326,0.00,2.35,0.00,0.000,2308,0.000,0.070,2210,3398,3410,3451,3370,0,0,0,0,0,0,15.19,14.89,15.19
$GC,358,-0.86,-146.0,2209,3398,3452,3370,50.7,-14.6,62,365,0.00,2.28,0.00,0.000,3078,0.000,0.041,2210,1983,3411,3452,3370,0,0,0,0,0,0,15.08,15.00,15.09
$GC,427,-0.86,-146.0,2210,1983,3451,3370,61.3,-15.8,75,434,0.00,2.33,0.00,0.000,2564,0.000,0.067,2210,583,3410,3452,3369,0,0,0,0,0,0,15.20,14.96,15.20
$GC,446,-0.86,-146.0,2210,583,3452,3370,64.1,-15.1,78,453,0.00,2.30,0.00,0.000,3078,0.000,0.048,2210,1999,3410,3451,3370,0,0,0,0,0,0,15.09,15.00,15.10
$GC,515,-0.86,-146.0,2210,1999,3451,3370,75.1,-16.4,91,521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1999,3411,3452,3370,0,0,0,0,0,0,15.21,15.21,15.21
$GC,583,-0.86,-146.0,2209,1999,3452,3370,86.2,-15.9,104,590,0.00,2.33,0.00,0.000,2308,0.000,0.070,2210,3391,3411,3452,3370,0,0,0,0,0,0,15.21,14.97,15.21
$GC,647,-0.86,-146.0,2210,3392,3452,3370,95.8,-13.7,116,654,0.00,2.28,0.00,0.000,3078,0.000,0.040,2210,1976,3411,3452,3370,0,0,0,0,0,0,15.10,15.00,15.11
$GC,716,-0.86,-146.0,2210,1976,3452,3370,105.4,-15.9,129,723,0.00,2.38,0.00,0.000,2308,0.000,0.068,2203,3388,3411,3452,3370,0,0,0,0,0,0,15.23,14.98,15.23
$GC,755,-0.86,-146.0,2202,3390,3451,3370,111.4,-14.8,136,762,0.00,2.25,0.00,0.000,3078,0.000,0.040,2202,1989,3411,3452,3370,0,0,0,0,0,0,15.07,15.00,15.09
$GC,825,-0.86,-146.0,2202,1989,3452,3370,121.1,-14.5,149,832,0.00,2.35,0.00,0.000,2308,0.000,0.069,2200,3389,3411,3452,3370,0,0,0,0,0,0,15.23,14.95,15.24
$GC,858,-0.86,-146.0,2200,3389,3452,3368,126.0,-13.6,155,865,0.00,2.28,0.00,0.000,3078,0.000,0.040,2200,1983,3411,3452,3370,0,0,0,0,0,0,15.12,15.03,15.14
$GC,928,-0.86,-146.0,2200,1983,3452,3370,134.9,-12.5,168,934,0.00,2.30,0.00,0.000,2564,0.000,0.066,2201,590,3411,3452,3370,0,0,0,0,0,0,15.23,15.00,15.23
$GC,946,-0.86,-146.0,2200,585,3452,3370,137.2,-11.7,171,953,0.00,2.28,0.00,0.000,3078,0.000,0.049,2199,1987,3411,3452,3370,0,0,0,0,0,0,15.11,15.02,15.12
$GC,1015,-0.86,-146.0,2200,1987,3452,3370,146.1,-13.3,184,1022,0.00,2.35,0.00,0.000,2308,0.000,0.070,2200,3394,3411,3452,3370,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1038,-0.86,-146.0,2200,3394,3452,3370,149.2,-12.8,188,1045,0.00,2.28,0.00,0.000,3078,0.000,0.040,2200,1972,3411,3452,3370,0,0,0,0,0,0,15.11,15.01,15.12
$GC,1107,-0.86,-146.0,2200,1973,3452,3370,158.0,-13.2,201,1114,0.03,2.38,0.00,0.000,2308,0.505,0.067,2207,3391,3411,3453,3370,0,0,0,0,0,0,14.88,14.99,15.00
$GC,1141,-0.86,-146.0,2207,3392,3452,3370,162.2,-11.3,207,1148,0.00,2.25,0.00,0.000,3078,0.000,0.039,2207,1990,3411,3453,3370,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1212,-0.86,-146.0,2207,1989,3453,3370,169.1,-9.5,220,1219,0.00,2.35,0.00,0.000,2308,0.000,0.069,2207,3387,3411,3452,3370,0,0,0,0,0,0,15.23,14.99,15.24
$GC,1236,-0.86,-146.0,2206,3388,3453,3370,171.2,-7.9,224,1243,0.00,2.25,0.00,0.000,3078,0.000,0.039,2207,1989,3411,3453,3370,0,0,0,0,0,0,15.12,15.04,15.14
$GC,1306,-0.86,-146.0,2206,1989,3453,3370,177.1,-8.7,237,1313,0.00,2.38,0.00,0.000,2308,0.000,0.070,2206,3395,3411,3452,3370,0,0,0,0,0,0,15.24,14.98,15.24
$GC,1345,-0.86,-146.0,2206,3394,3453,3370,180.6,-8.6,244,1352,0.00,2.28,0.00,0.000,3078,0.000,0.039,2207,1984,3411,3453,3370,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1414,-0.86,-146.0,2206,1984,3452,3370,187.3,-10.4,257,1421,0.00,2.33,0.00,0.000,2564,0.000,0.067,2207,582,3411,3452,3370,0,0,0,0,0,0,15.23,14.92,15.23
$STATE,1439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1440,begin apogee
$GC,1446,-0.19,0.0,2207,1988,3452,3370,190.2,-12.0,261,1563,1.05,0.00,107.47,1.167,10246,0.150,0.000,2422,1988,2811,2843,2780,0,0,0,0,0,0,14.86,14.64,14.14
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1566,0.86,146.0,2422,1988,2843,2778,195.0,0.0,282,1688,1.52,2.45,109.07,1.159,10756,0.055,0.064,2788,585,2213,2253,2174,0,0,0,0,0,0,14.68,14.55,14.07
$GC,1881,0.86,151.8,2788,585,2246,2174,178.3,9.7,341,1894,0.10,2.28,5.22,0.877,13318,0.256,0.045,2768,1988,2192,2229,2155,0,0,0,0,0,0,14.76,14.88,14.30
$GC,1956,0.93,208.6,2768,1988,2229,2153,172.2,7.4,355,2007,0.00,2.42,44.80,1.120,10500,0.000,0.067,2768,3390,1959,2006,1913,0,0,0,0,0,0,15.09,14.67,14.23
$GC,2120,0.93,208.6,2768,3390,2002,1908,152.6,14.5,386,2127,0.00,2.30,0.00,0.000,3078,0.000,0.044,2777,1987,1955,2002,1908,0,0,0,0,0,0,14.95,14.86,14.96
$GC,2189,0.93,208.6,2776,1987,2002,1905,141.9,15.1,399,2195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2776,1987,1953,2002,1905,0,0,0,0,0,0,15.09,15.10,15.11
$GC,2257,0.93,208.6,2776,1992,2002,1905,132.3,12.8,412,2264,0.00,2.40,0.00,0.000,2308,0.000,0.067,2777,3395,1953,2002,1905,0,0,0,0,0,0,15.13,14.85,15.13
$GC,2276,0.93,208.6,2776,3396,2002,1905,129.9,12.7,415,2282,0.00,2.30,0.00,0.000,3078,0.000,0.044,2784,1987,1953,2002,1905,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2345,0.93,208.6,2784,1987,2002,1905,120.0,15.1,428,2352,0.00,2.35,0.00,0.000,2564,0.000,0.072,2784,583,1952,2000,1904,0,0,0,0,0,0,15.16,14.92,15.16
$GC,2368,0.93,208.6,2784,582,2000,1904,116.2,15.7,432,2375,0.00,2.30,0.00,0.000,3078,0.000,0.047,2784,1991,1951,1999,1904,0,0,0,0,0,0,15.02,14.95,15.04
$GC,2439,0.93,208.6,2784,1995,1999,1904,106.5,14.1,445,2445,0.00,2.35,0.00,0.000,2308,0.000,0.067,2784,3401,1951,1999,1904,0,0,0,0,0,0,15.19,14.95,15.19
$GC,2697,0.97,241.0,2784,3401,1999,1904,77.5,8.5,496,2732,0.00,2.30,24.88,1.044,11270,0.000,0.043,2790,1983,1827,1877,1777,0,0,0,0,0,0,15.04,14.96,14.44
$GC,2794,0.99,252.1,2790,1984,1876,1774,69.1,9.5,514,2812,0.00,2.33,9.98,0.949,10756,0.000,0.070,2798,584,1782,1833,1732,0,0,0,0,0,0,15.13,14.88,14.41
$GC,2829,1.00,263.8,2798,585,1831,1731,65.6,9.5,520,2848,0.00,2.30,10.73,0.949,11270,0.000,0.044,2798,1995,1733,1785,1682,0,0,0,0,0,0,15.00,14.92,14.40
$GC,2910,1.00,263.8,2798,1995,1783,1680,55.8,12.9,535,2916,0.00,2.38,0.00,0.000,2564,0.000,0.071,2801,589,1731,1783,1679,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2948,1.00,263.8,2801,588,1782,1680,50.5,13.1,542,2955,0.00,2.30,0.00,0.000,3078,0.000,0.047,2801,1994,1730,1781,1679,0,0,0,0,0,0,15.02,14.93,15.02
$GC,3018,1.00,263.8,2801,1994,1781,1680,41.5,13.1,555,3024,0.00,2.35,0.00,0.000,2308,0.000,0.067,2802,3394,1730,1781,1679,0,0,0,0,0,0,15.15,14.90,15.15
$GC,3041,1.00,263.8,2801,3395,1781,1678,38.2,13.9,559,3047,0.00,2.30,0.00,0.000,1030,0.000,0.044,2808,1987,1729,1781,1678,0,0,0,0,0,0,15.04,14.95,15.04
$GC,3110,1.00,263.8,2807,1986,1781,1678,29.0,13.6,572,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1986,1729,1781,1678,0,0,0,0,0,0,15.16,15.17,15.16
$GC,3179,1.00,263.8,2807,1985,1781,1678,18.9,14.4,585,3186,0.00,2.33,0.00,0.000,516,0.000,0.072,2808,583,1729,1781,1678,0,0,0,0,0,0,15.18,14.95,15.19
$GC,3203,1.00,263.8,2807,582,1781,1678,15.7,13.3,589,3210,0.00,2.30,0.00,0.000,1030,0.000,0.045,2808,1997,1729,1780,1678,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3273,1.00,263.8,2807,1997,1780,1678,6.3,13.6,602,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1997,1729,1780,1678,0,0,0,0,0,0,15.19,15.21,15.20
$STATE,3299,end climb,SURFACE_DEPTH_REACHED
$STATE,3299,begin surface coast
$FINISH,0.3,1.024163
$STATE,3320,end surface coast,CONTROL_FINISHED_OK
$STATE,3320,begin surface
$SM_CCo,3341,131.02,0.104,0,0,639,532.78
$SM_GC,0.99,12.25,0.00,131.02,0.054,0.000,0.104,133,1998,639,-7.30,0.31,532.78,0,0,0,0,0,0,15.00,15.23,14.94
$IRIDIUM_FIX,-2915.34,3159.80,061018,043909
$TT8_MAMPS,0.018725,0.954226
$HUMID,52.55
$INTERNAL_PRESSURE,9.13085
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,190.2,6.9
$SC_FREEKB,3914432
$24V_AH,13.85,51.368
$10V_AH,13.78,0.000
$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,26.925,97.475,312.150,131.025,0.000,25.195,40.754,466.278,3.000,0.000,24.170,1312.297,565.305,619.621,1584.810,139.024,0.000,1199.861,0.000,919.562,0.000,21.266,0.000
$DEVICE_MAMPS,504.900,84.150,1167.390,104.040,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3376.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.133,0.000,0.000,0.000
$MEM,339768
$DATA_FILE_SIZE,20076,611
$CAP_FILE_SIZE,122595,0
$CFSIZE,1023623168,1019019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061018,070434,-2930.840,3152.698,36,0.8,37,-24.4,1.4,226.0,10,8.8