version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 51
start: 10 10 118 23 3 50
data:
$ID,573
$MISSION,23
$DIVE,51
$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,170
$T_MISSION,180
$T_ABORT,190
$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,320
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,3
$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
$GPS1,101018,224850,-3136.3247,2945.2065,17,0.9,46,-26.2,1.2,229.2,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.1
$GPS2,101018,230325,-3136.7024,2944.7712,18,1.0,28,-26.2,1.5,241.1,8,9.7
$SPEED_LIMITS,0.170,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,-3142.896,2955.170
$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,151.2,20000,-18.0,-9.804,-20.79,2280
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.84,-146.0,99,1989,1527,1460,0.0,0.0,0,82,0.00,0.00,-60.60,0.000,16386,0.000,0.000,98,1990,3143,3152,3135,0,0,0,0,0,0,14.95,28.83,14.96
$GC,85,-0.84,-146.0,98,1990,3153,3135,3.8,-11.6,11,109,12.23,2.42,-5.00,0.000,18948,0.296,0.090,2208,575,3407,3450,3365,0,0,0,0,0,0,14.53,14.02,14.69
$GC,236,-0.84,-146.0,2208,575,3452,3369,31.5,-14.7,40,243,0.00,2.35,0.00,0.000,3078,0.000,0.050,2204,1983,3410,3451,3369,0,0,0,0,0,0,14.90,14.81,14.92
$GC,306,-0.84,-146.0,2203,1983,3452,3369,40.8,-13.8,53,312,0.00,2.42,0.00,0.000,2308,0.000,0.073,2204,3387,3409,3449,3369,0,0,0,0,0,0,15.03,14.78,15.04
$GC,334,-0.84,-146.0,2203,3387,3453,3369,45.1,-13.7,58,341,0.00,2.35,0.00,0.000,3078,0.000,0.044,2204,1975,3411,3453,3369,0,0,0,0,0,0,14.85,14.76,14.87
$GC,404,-0.84,-146.0,2203,1974,3453,3369,54.4,-13.3,71,410,0.00,2.38,0.00,0.000,2564,0.000,0.073,2204,584,3411,3453,3369,0,0,0,0,0,0,15.04,14.71,15.05
$GC,432,-0.84,-146.0,2203,584,3453,3369,58.7,-15.5,76,439,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1990,3411,3453,3369,0,0,0,0,0,0,14.95,14.85,14.95
$GC,501,-0.84,-146.0,2203,1990,3453,3369,67.9,-14.0,89,507,0.00,2.40,0.00,0.000,2308,0.000,0.073,2204,3390,3410,3453,3367,0,0,0,0,0,0,15.07,14.81,15.07
$GC,564,-0.84,-146.0,2203,3390,3453,3369,76.1,-12.2,101,570,0.00,2.33,0.00,0.000,3078,0.000,0.041,2204,1985,3411,3453,3369,0,0,0,0,0,0,14.87,14.78,14.88
$GC,633,-0.84,-146.0,2204,1985,3453,3370,84.8,-12.8,114,640,0.00,2.40,0.00,0.000,2564,0.000,0.073,2204,575,3411,3454,3369,0,0,0,0,0,0,15.08,14.83,15.08
$GC,657,-0.84,-146.0,2203,575,3453,3369,88.2,-14.1,118,664,0.05,2.35,0.00,0.000,3078,0.346,0.047,2212,1994,3411,3453,3369,0,0,0,0,0,0,14.71,14.88,14.90
$GC,727,-0.84,-146.0,2212,1995,3453,3369,96.4,-11.6,131,733,0.00,2.40,0.00,0.000,2308,0.000,0.073,2208,3388,3411,3453,3369,0,0,0,0,0,0,15.09,14.83,15.08
$GC,762,-0.84,-146.0,2207,3389,3453,3369,101.1,-13.3,137,768,0.00,2.33,0.00,0.000,3078,0.000,0.042,2207,1984,3411,3453,3369,0,0,0,0,0,0,14.97,14.88,14.99
$GC,831,-0.84,-146.0,2207,1987,3453,3369,109.1,-12.3,150,838,0.00,2.40,0.00,0.000,2564,0.000,0.073,2207,575,3411,3454,3369,0,0,0,0,0,0,15.09,14.84,15.09
$GC,865,-0.84,-146.0,2207,574,3454,3369,113.1,-11.2,156,872,0.00,2.35,0.00,0.000,3078,0.000,0.047,2212,1988,3411,3453,3369,0,0,0,0,0,0,14.94,14.85,14.95
$GC,934,-0.84,-146.0,2207,1988,3454,3369,120.8,-11.4,169,941,0.00,2.40,0.00,0.000,2308,0.000,0.074,2204,3389,3410,3453,3368,0,0,0,0,0,0,15.09,14.78,15.09
$GC,978,-0.84,-146.0,2203,3389,3453,3369,125.6,-10.4,177,984,0.00,2.30,0.00,0.000,3078,0.000,0.041,2204,1987,3411,3453,3369,0,0,0,0,0,0,14.98,14.89,15.00
$GC,1047,-0.84,-146.0,2203,1987,3453,3369,133.4,-11.8,190,1054,0.00,2.40,0.00,0.000,2564,0.000,0.072,2204,582,3411,3453,3369,0,0,0,0,0,0,15.10,14.85,15.10
$GC,1071,-0.84,-146.0,2203,582,3453,3368,136.3,-11.6,194,1077,0.00,2.33,0.00,0.000,3078,0.000,0.047,2204,1989,3411,3453,3369,0,0,0,0,0,0,14.99,14.89,14.99
$GC,1142,-0.84,-146.0,2203,1989,3453,3369,145.0,-12.9,207,1148,0.00,2.42,0.00,0.000,2308,0.000,0.074,2204,3397,3411,3453,3369,0,0,0,0,0,0,15.10,14.85,15.11
$STATE,1169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1169,begin apogee
$GC,1176,-0.19,0.0,2204,1941,3454,3370,148.9,-12.0,212,1293,1.10,0.00,109.70,1.216,10246,0.153,0.000,2424,1940,2811,2846,2777,0,0,0,0,0,0,14.73,14.46,13.97
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1297,0.84,146.0,2425,1940,2846,2776,155.0,0.0,233,1419,1.50,2.42,111.57,1.195,10756,0.077,0.074,2758,549,2213,2255,2172,0,0,0,0,0,0,14.47,14.33,13.88
$GC,1582,0.84,146.0,2758,549,2249,2172,141.4,10.2,286,1588,0.00,2.35,0.00,0.000,1030,0.000,0.045,2762,1961,2210,2249,2172,0,0,0,0,0,0,14.70,14.63,14.71
$GC,1651,0.84,146.0,2758,1961,2249,2172,135.0,10.2,299,1658,0.00,2.40,0.00,0.000,2308,0.000,0.068,2759,3357,2210,2248,2172,0,0,0,0,0,0,14.91,14.69,14.92
$GC,1680,0.87,164.5,2758,3357,2248,2171,132.1,9.0,304,1703,0.00,2.35,15.27,1.090,9222,0.000,0.044,2768,1946,2139,2181,2097,0,0,0,0,0,0,14.83,14.74,14.16
$GC,1765,0.87,164.5,2768,1947,2180,2095,122.7,10.9,320,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1946,2137,2180,2095,0,0,0,0,0,0,14.92,14.92,14.94
$GC,1833,0.87,164.5,2768,1946,2179,2094,114.9,11.6,333,1840,0.00,2.38,0.00,0.000,516,0.000,0.074,2778,550,2136,2178,2094,0,0,0,0,0,0,14.96,14.71,14.96
$GC,1876,0.87,164.5,2778,550,2177,2094,109.7,12.5,341,1883,0.00,2.33,0.00,0.000,5126,0.000,0.045,2778,1958,2135,2177,2094,0,0,0,0,0,0,14.88,14.80,14.89
$GC,1945,0.87,164.5,2776,1958,2177,2094,102.3,10.8,354,1951,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1958,2135,2177,2094,0,0,0,0,0,0,15.00,15.01,15.01
$GC,2013,0.87,164.5,2778,1959,2177,2094,94.5,10.7,367,2019,0.00,0.00,0.00,0.000,4102,0.000,0.000,2778,1958,2135,2177,2094,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2081,0.87,164.5,2778,1959,2177,2094,87.5,10.4,380,2086,0.00,0.00,0.00,0.000,4102,0.000,0.000,2779,1958,2135,2177,2094,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2149,0.87,164.5,2778,1958,2175,2094,80.2,10.9,393,2155,0.00,2.42,0.00,0.000,4612,0.000,0.075,2789,550,2135,2176,2094,0,0,0,0,0,0,15.06,14.82,15.07
$GC,2202,0.87,164.5,2788,550,2176,2094,74.2,11.2,403,2209,0.08,2.33,0.00,0.000,5126,0.286,0.047,2774,1960,2135,2176,2094,0,0,0,0,0,0,14.69,14.82,14.85
$GC,2273,0.88,175.1,2773,1961,2176,2094,67.3,9.3,416,2291,0.00,2.40,9.07,0.985,8452,0.000,0.069,2773,3347,2097,2141,2054,0,0,0,0,0,0,15.07,14.76,14.31
$GC,2378,0.88,175.1,2773,3347,2140,2052,55.7,11.8,436,2385,0.00,2.33,0.00,0.000,5126,0.000,0.047,2780,1949,2095,2140,2051,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2448,0.90,193.0,2780,1949,2141,2051,48.5,9.0,449,2471,0.00,2.40,15.75,1.048,8708,0.000,0.076,2780,545,2021,2068,1975,0,0,0,0,0,0,15.06,14.77,14.26
$GC,2528,0.90,193.0,2780,544,2067,1975,40.9,9.9,464,2535,0.00,2.33,0.00,0.000,1030,0.000,0.044,2780,1957,2021,2067,1975,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2598,0.90,193.0,2780,1957,2066,1975,33.8,10.4,477,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1957,2020,2066,1975,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2666,0.94,224.0,2780,1958,2067,1974,27.7,8.4,490,2695,0.00,2.45,21.77,1.069,10756,0.000,0.074,2780,542,1896,1947,1845,0,0,0,0,0,0,15.04,14.67,14.27
$STATE,2971,end climb,SURFACE_DEPTH_REACHED
$STATE,2971,begin surface coast
$FINISH,0.1,1.024903
$STATE,3028,end surface coast,CONTROL_FINISHED_OK
$STATE,3028,begin surface
$SM_CCo,3051,49.65,0.124,0,0,1506,320.11
$SM_GC,0.88,12.45,2.42,49.65,0.062,0.047,0.124,138,1984,1506,-7.30,-1.24,320.11,0,0,0,0,0,0,14.85,14.90,14.80
$IRIDIUM_FIX,-3122.76,2944.07,101018,205204
$TT8_MAMPS,0.019474,0.910784
$HUMID,53.66
$INTERNAL_PRESSURE,8.90623
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,100.0,63.5
$SC_FREEKB,3894080
$24V_AH,13.88,62.896
$10V_AH,13.61,0.000
$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,27.400,80.800,283.150,49.650,0.000,23.634,14.663,577.619,0.750,0.000,29.716,1207.961,543.654,469.109,1616.356,139.645,0.000,989.442,0.000,846.787,0.000,7.244,0.000
$DEVICE_MAMPS,345.780,90.270,1215.585,123.930,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3106.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.651,0.000,0.000,0.000
$MEM,339760
$DATA_FILE_SIZE,20126,561
$CAP_FILE_SIZE,109570,0
$CFSIZE,1023623168,1012809728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101018,235651,-3137.290,2944.581,41,0.9,42,-26.2,1.5,218.4,8,7.5