version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 18
start: 10 6 118 8 51 52
data:
$ID,573
$MISSION,23
$DIVE,18
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,061018,083816,-2934.0154,3151.1025,17,0.8,18,-24.5,0.7,238.8,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.7
$GPS2,061018,085128,-2934.4001,3150.8350,18,1.0,19,-24.5,0.8,206.3,9,8.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2940.594,3201.017
$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,149.5,20000,-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,-146.0,74,1992,618,641,0.0,0.0,0,109,0.00,0.00,-87.47,0.000,16386,0.000,0.000,74,1992,3114,3121,3107,0,0,0,0,0,0,15.10,28.83,15.11
$GC,113,-0.86,-146.0,73,1992,3122,3107,3.6,-8.3,16,138,12.02,2.35,-5.18,0.000,18948,0.286,0.082,2206,569,3408,3448,3369,0,0,0,0,0,0,14.73,14.21,14.87
$GC,220,-0.86,-146.0,2206,569,3449,3368,28.5,-15.5,36,227,0.00,2.33,0.00,0.000,3078,0.000,0.047,2203,1996,3408,3449,3368,0,0,0,0,0,0,15.00,14.92,15.02
$GC,289,-0.86,-146.0,2202,1996,3449,3368,39.5,-16.7,49,296,0.00,2.38,0.00,0.000,2308,0.000,0.070,2203,3397,3408,3449,3368,0,0,0,0,0,0,15.17,14.88,15.17
$GC,338,-0.86,-146.0,2203,3397,3449,3368,47.3,-14.4,58,345,0.00,2.30,0.00,0.000,3078,0.000,0.041,2202,1973,3409,3449,3369,0,0,0,0,0,0,15.07,14.97,15.08
$GC,408,-0.86,-146.0,2202,1973,3449,3369,58.6,-15.9,71,414,0.00,2.30,0.00,0.000,2564,0.000,0.067,2203,586,3408,3449,3368,0,0,0,0,0,0,15.19,14.95,15.19
$GC,431,-0.86,-146.0,2203,585,3449,3369,62.4,-16.0,75,438,0.00,2.28,0.00,0.000,3078,0.000,0.048,2199,1989,3409,3449,3369,0,0,0,0,0,0,15.08,14.99,15.09
$GC,501,-0.86,-146.0,2200,1989,3449,3368,74.4,-17.9,88,507,0.00,2.35,0.00,0.000,2308,0.000,0.071,2199,3392,3409,3449,3369,0,0,0,0,0,0,15.20,14.95,15.20
$GC,604,-0.86,-146.0,2199,3391,3449,3369,91.2,-14.4,108,610,0.00,2.28,0.00,0.000,3078,0.000,0.040,2200,1974,3408,3449,3368,0,0,0,0,0,0,15.02,14.92,15.04
$GC,675,-0.86,-146.0,2200,1974,3449,3369,102.1,-14.2,121,681,0.00,2.40,0.00,0.000,2308,0.000,0.069,2200,3396,3409,3449,3369,0,0,0,0,0,0,15.22,14.92,15.22
$GC,698,-0.86,-146.0,2200,3396,3449,3368,105.7,-14.8,125,705,0.00,2.28,0.00,0.000,3078,0.000,0.040,2200,1992,3408,3449,3368,0,0,0,0,0,0,15.10,15.02,15.11
$GC,768,-0.86,-146.0,2200,1992,3449,3368,115.1,-13.5,138,774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2200,1991,3409,3449,3369,0,0,0,0,0,0,15.21,15.22,15.22
$GC,836,-0.86,-146.0,2200,1991,3450,3368,124.0,-12.6,151,842,0.00,2.38,0.00,0.000,2308,0.000,0.070,2200,3397,3409,3450,3369,0,0,0,0,0,0,15.23,14.98,15.23
$GC,864,-0.86,-146.0,2199,3397,3450,3369,127.4,-11.3,156,872,0.05,2.28,0.00,0.000,3078,0.330,0.040,2211,1980,3409,3450,3369,0,0,0,0,0,0,14.81,14.94,14.99
$GC,933,-0.86,-146.0,2211,1980,3449,3368,135.0,-11.4,169,940,0.00,2.30,0.00,0.000,2564,0.000,0.067,2212,589,3409,3450,3369,0,0,0,0,0,0,15.22,14.99,15.23
$GC,962,-0.86,-146.0,2211,589,3450,3368,138.7,-13.3,174,968,0.00,2.28,0.00,0.000,3078,0.000,0.048,2210,1991,3409,3450,3369,0,0,0,0,0,0,15.11,15.02,15.12
$GC,1032,-0.86,-146.0,2210,1991,3450,3368,145.3,-9.6,187,1038,0.00,2.35,0.00,0.000,2308,0.000,0.071,2210,3397,3409,3450,3368,0,0,0,0,0,0,15.23,14.98,15.25
$GC,1105,-0.86,-146.0,2210,3397,3450,3369,152.9,-10.1,201,1111,0.00,2.28,0.00,0.000,3078,0.000,0.039,2210,1988,3409,3450,3368,0,0,0,0,0,0,15.07,14.95,15.07
$GC,1174,-0.86,-146.0,2210,1987,3450,3368,161.0,-12.2,214,1180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2210,1987,3409,3450,3369,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1241,-0.86,-146.0,2210,1987,3450,3369,169.4,-12.4,227,1249,0.00,2.38,0.00,0.000,2308,0.000,0.070,2210,3394,3409,3450,3368,0,0,0,0,0,0,15.24,14.98,15.24
$GC,1291,-0.86,-146.0,2210,3394,3450,3368,175.1,-11.9,236,1298,0.00,2.28,0.00,0.000,3078,0.000,0.039,2210,1981,3409,3450,3368,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1360,-0.86,-146.0,2210,1981,3450,3369,183.2,-11.6,249,1366,0.00,2.33,0.00,0.000,2564,0.000,0.068,2210,581,3409,3450,3368,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1388,-0.86,-146.0,2209,581,3450,3369,186.8,-12.5,254,1395,0.00,2.30,0.00,0.000,3078,0.000,0.049,2210,1991,3409,3450,3368,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1461,-0.86,-146.0,2210,1991,3450,3368,195.3,-11.3,267,1468,0.00,2.35,0.00,0.000,2308,0.000,0.071,2210,3395,3409,3450,3368,0,0,0,0,0,0,15.24,14.98,15.24
$STATE,1507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1507,begin apogee
$GC,1514,-0.19,0.0,2210,1996,3450,3368,200.1,-10.6,275,1631,1.02,0.00,107.80,1.179,10246,0.144,0.000,2423,1995,2810,2843,2777,0,0,0,0,0,0,14.91,14.53,14.14
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1634,0.86,146.0,2423,1995,2843,2777,205.7,0.0,296,1750,1.52,0.00,108.90,1.177,10758,0.055,0.000,2777,1994,2215,2256,2174,0,0,0,0,0,0,14.67,14.52,14.03
$GC,1813,0.86,146.0,2776,1994,2251,2171,199.9,10.6,328,1819,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1994,2211,2251,2171,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1881,0.86,146.0,2776,1994,2247,2171,191.7,12.1,341,1888,0.00,2.38,0.00,0.000,4356,0.000,0.064,2776,3394,2213,2250,2176,0,0,0,0,0,0,15.00,14.77,15.01
$GC,1919,0.86,146.0,2776,3394,2249,2171,187.0,12.0,348,1927,0.10,2.33,0.00,0.000,5126,0.276,0.042,2768,1970,2209,2249,2169,0,0,0,0,0,0,14.69,14.78,14.83
$GC,1988,0.86,146.0,2768,1969,2249,2170,179.3,11.7,361,1995,0.00,2.33,0.00,0.000,4612,0.000,0.070,2777,585,2208,2247,2170,0,0,0,0,0,0,15.09,14.86,15.09
$GC,2027,0.86,146.0,2776,585,2246,2169,175.3,10.6,368,2034,0.00,2.30,0.00,0.000,5126,0.000,0.045,2777,1991,2208,2247,2169,0,0,0,0,0,0,15.00,14.92,15.01
$GC,2098,0.86,146.0,2777,1992,2247,2170,167.9,10.2,381,2104,0.00,2.35,0.00,0.000,4356,0.000,0.067,2777,3403,2208,2246,2170,0,0,0,0,0,0,15.13,14.91,15.14
$GC,2221,0.88,167.1,2776,3403,2246,2170,154.6,9.0,405,2245,0.00,2.30,16.73,1.086,13318,0.000,0.042,2786,1994,2129,2170,2088,0,0,0,0,0,0,15.05,14.96,14.40
$GC,2308,0.90,184.8,2786,1994,2168,2085,146.8,9.2,421,2332,0.00,2.40,15.00,1.063,12548,0.000,0.066,2787,3396,2056,2100,2013,0,0,0,0,0,0,15.12,14.83,14.36
$GC,2439,0.93,207.7,2787,3395,2098,2011,133.5,8.9,446,2463,0.00,2.33,18.75,1.073,9222,0.000,0.043,2787,1980,1964,2012,1917,0,0,0,0,0,0,15.00,14.92,14.36
$GC,2526,0.95,224.3,2786,1980,2009,1914,125.8,9.2,462,2549,0.00,2.38,14.30,1.043,10756,0.000,0.072,2787,593,1895,1942,1848,0,0,0,0,0,0,15.09,14.76,14.35
$GC,2587,0.97,235.2,2786,593,1938,1847,120.2,9.5,473,2605,0.00,2.30,10.05,0.988,11270,0.000,0.045,2787,1999,1850,1898,1803,0,0,0,0,0,0,14.96,14.88,14.33
$GC,2668,0.97,235.2,2786,1999,1897,1800,113.0,10.6,488,2674,0.00,2.35,0.00,0.000,2308,0.000,0.067,2787,3394,1847,1896,1799,0,0,0,0,0,0,15.07,14.86,15.08
$GC,2701,0.97,235.2,2786,3394,1896,1798,108.7,11.9,494,2708,0.00,2.33,0.00,0.000,3078,0.000,0.044,2787,1990,1846,1895,1798,0,0,0,0,0,0,14.96,14.88,14.97
$GC,2771,0.97,235.2,2786,1990,1896,1797,101.3,10.0,507,2777,0.00,2.38,0.00,0.000,2564,0.000,0.072,2787,580,1846,1896,1797,0,0,0,0,0,0,15.13,14.88,15.13
$GC,2814,0.97,235.2,2786,580,1894,1797,96.5,11.7,515,2821,0.00,2.30,0.00,0.000,3078,0.000,0.046,2787,1993,1846,1895,1797,0,0,0,0,0,0,14.98,14.90,14.99
$GC,2884,0.97,235.2,2786,1993,1894,1797,88.9,12.2,528,2891,0.00,2.35,0.00,0.000,2308,0.000,0.067,2786,3394,1845,1894,1797,0,0,0,0,0,0,15.16,14.94,15.16
$GC,3082,0.97,235.2,2786,3394,1893,1796,64.5,13.1,567,3089,0.00,2.33,0.00,0.000,3078,0.000,0.044,2787,1978,1845,1894,1796,0,0,0,0,0,0,15.09,14.98,15.10
$GC,3152,0.97,235.2,2786,1978,1893,1795,55.8,11.9,580,3157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1978,1844,1894,1795,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3219,0.97,235.2,2787,1978,1893,1795,47.6,12.3,593,3226,0.00,2.38,0.00,0.000,2308,0.000,0.064,2787,3401,1844,1893,1795,0,0,0,0,0,0,15.21,14.93,15.21
$GC,3232,0.97,235.2,2787,3401,1893,1795,46.3,11.2,595,3239,0.00,2.30,0.00,0.000,3078,0.000,0.044,2787,1989,1844,1893,1795,0,0,0,0,0,0,15.09,15.00,15.11
$GC,3302,0.97,235.2,2784,1989,1893,1795,37.8,12.5,608,3308,0.00,2.35,0.00,0.000,2564,0.000,0.073,2786,579,1844,1893,1795,0,0,0,0,0,0,15.21,14.97,15.22
$GC,3330,0.97,235.2,2786,579,1892,1795,34.2,13.4,613,3337,0.00,2.28,0.00,0.000,3078,0.000,0.045,2787,1988,1843,1892,1795,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3400,0.97,235.2,2786,1988,1892,1795,26.4,11.4,626,3406,0.00,2.33,0.00,0.000,2308,0.000,0.065,2787,3395,1843,1892,1795,0,0,0,0,0,0,15.24,14.92,15.22
$GC,3418,0.97,235.2,2787,3394,1892,1796,24.1,11.1,629,3425,0.00,2.30,0.00,0.000,3078,0.000,0.044,2787,1978,1843,1892,1795,0,0,0,0,0,0,15.11,15.01,15.11
$GC,3488,0.97,236.4,2787,1978,1892,1795,16.8,9.9,642,3494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1978,1843,1892,1795,0,0,0,0,0,0,15.23,15.22,15.23
$GC,3555,0.97,236.4,2787,1978,1892,1795,9.1,11.4,655,3561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2787,1978,1843,1892,1795,0,0,0,0,0,0,15.22,15.22,15.22
$STATE,3611,end climb,SURFACE_DEPTH_REACHED
$STATE,3611,begin surface coast
$FINISH,0.5,0.999903
$STATE,3637,end surface coast,CONTROL_FINISHED_OK
$STATE,3637,begin surface
$SM_CCo,3657,144.70,0.104,0,0,638,532.78
$SM_GC,0.93,12.10,0.00,144.70,0.048,0.000,0.104,132,1977,638,-7.31,-0.28,532.78,0,0,0,0,0,0,15.02,15.25,14.94
$IRIDIUM_FIX,-2917.81,3152.19,061018,070723
$TT8_MAMPS,0.019474,0.963963
$HUMID,52.48
$INTERNAL_PRESSURE,9.12109
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,200.1,6.9
$SC_FREEKB,3913408
$24V_AH,14.03,51.789
$10V_AH,13.90,0.000
$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,26.825,102.325,291.525,144.700,0.000,24.439,19.160,515.670,3.500,0.000,20.493,1456.615,635.671,631.676,1719.477,154.089,0.000,1257.931,0.000,1011.759,0.000,25.642,0.000
$DEVICE_MAMPS,329.715,81.855,1178.865,104.040,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3705.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.420,0.000,0.000,0.000
$MEM,339744
$DATA_FILE_SIZE,23423,671
$CAP_FILE_SIZE,134659,0
$CFSIZE,1023623168,1018757120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2243.46,0x2131c2,1,24
$GPS,061018,095618,-2936.635,3149.676,17,0.8,25,-24.6,1.0,217.6,10,9.9