version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 56
start: 10 11 118 14 5 42
data:
$ID,573
$MISSION,23
$DIVE,56
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,335
$T_MISSION,350
$T_ABORT,360
$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,320
$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,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,61
$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,4
$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
$GPS1,111018,134623,-3140.8049,2938.2971,24,0.7,48,-26.3,2.5,230.9,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.4
$GPS2,111018,140518,-3140.9854,2937.8503,16,0.8,36,-26.3,1.1,238.8,11,10.0
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3132.713,2929.705
$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,346.3,20000,-18.2,-9.950,-20.98,2247
$D_GRID,1000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.0,73,2018,1531,1461,0.0,0.0,0,84,0.00,0.00,-61.42,0.000,16386,0.000,0.000,73,2018,3214,3227,3202,0,0,0,0,0,0,14.92,28.83,14.93
$GC,86,-0.85,-146.0,73,2018,3228,3204,4.2,-11.6,11,110,12.55,2.47,-3.28,0.000,18948,0.307,0.101,2205,583,3410,3447,3374,0,0,0,0,0,0,14.50,13.66,14.67
$GC,252,-0.85,-146.0,2205,583,3448,3374,39.7,-13.2,43,260,0.05,2.30,0.00,0.000,3078,0.348,0.050,2210,1963,3411,3448,3374,0,0,0,0,0,0,14.62,14.78,14.81
$GC,323,-0.85,-146.0,2211,1963,3449,3374,47.9,-11.2,56,329,0.00,2.47,0.00,0.000,2308,0.000,0.076,2202,3394,3411,3449,3373,0,0,0,0,0,0,15.02,14.75,15.01
$GC,346,-0.85,-146.0,2202,3394,3449,3373,50.6,-11.2,60,353,0.00,2.38,0.00,0.000,3078,0.000,0.047,2202,1976,3411,3449,3374,0,0,0,0,0,0,14.88,14.76,14.90
$GC,415,-0.85,-146.0,2202,1978,3450,3373,58.9,-12.1,73,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1977,3411,3450,3373,0,0,0,0,0,0,15.00,15.02,15.03
$GC,483,-0.85,-146.0,2202,1977,3450,3373,67.0,-11.6,86,490,0.00,2.47,0.00,0.000,2308,0.000,0.075,2200,3396,3411,3450,3373,0,0,0,0,0,0,15.04,14.78,15.04
$GC,542,-0.85,-146.0,2200,3396,3450,3371,73.7,-10.7,97,549,0.05,2.35,0.00,0.000,3078,0.327,0.044,2212,1986,3411,3450,3373,0,0,0,0,0,0,14.68,14.83,14.86
$GC,612,-0.85,-146.0,2211,1986,3450,3374,80.8,-10.5,110,618,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1986,3411,3450,3373,0,0,0,0,0,0,15.05,15.06,15.06
$GC,680,-0.85,-146.0,2207,1986,3450,3374,88.8,-12.1,123,685,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1986,3411,3450,3373,0,0,0,0,0,0,15.06,15.06,15.06
$GC,747,-0.85,-146.0,2212,1986,3450,3373,97.4,-12.4,136,754,0.00,2.45,0.00,0.000,2308,0.000,0.074,2207,3394,3411,3450,3373,0,0,0,0,0,0,15.07,14.81,15.08
$GC,786,-0.85,-146.0,2207,3394,3450,3372,102.0,-12.4,143,793,0.00,2.35,0.00,0.000,3078,0.000,0.044,2207,1984,3416,3460,3373,0,0,0,0,0,0,14.95,14.85,14.96
$GC,856,-0.85,-146.0,2207,1983,3450,3374,110.6,-13.0,156,862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3412,3450,3374,0,0,0,0,0,0,15.07,15.08,15.08
$GC,924,-0.85,-146.0,2207,1983,3451,3373,119.6,-12.8,169,930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1983,3412,3451,3373,0,0,0,0,0,0,15.07,15.08,15.08
$GC,993,-0.85,-146.0,2207,1983,3450,3373,128.6,-12.5,182,999,0.00,2.45,0.00,0.000,2308,0.000,0.074,2202,3393,3412,3450,3374,0,0,0,0,0,0,15.09,14.82,15.09
$GC,1016,-0.85,-146.0,2202,3394,3451,3373,131.2,-11.7,186,1023,0.00,2.38,0.00,0.000,3078,0.000,0.045,2202,1982,3415,3451,3380,0,0,0,0,0,0,14.93,14.81,14.94
$GC,1086,-0.85,-146.0,2202,1980,3451,3373,140.5,-13.5,199,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2202,1980,3412,3451,3373,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1154,-0.85,-146.0,2202,1980,3451,3373,149.8,-13.7,212,1162,0.00,2.47,0.00,0.000,2308,0.000,0.075,2200,3392,3412,3451,3373,0,0,0,0,0,0,15.09,14.74,15.09
$GC,1194,-0.85,-146.0,2200,3392,3450,3372,155.2,-12.9,219,1201,0.03,2.33,0.00,0.000,3078,0.470,0.044,2209,1986,3412,3451,3373,0,0,0,0,0,0,14.64,14.83,14.83
$GC,1264,-0.85,-146.0,2209,1986,3450,3373,164.0,-13.3,232,1269,0.00,0.00,0.00,0.000,2054,0.000,0.000,2209,1986,3411,3450,3373,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1332,-0.85,-146.0,2209,1992,3451,3373,172.7,-12.6,245,1338,0.00,2.45,0.00,0.000,2308,0.000,0.073,2207,3392,3411,3450,3373,0,0,0,0,0,0,15.10,14.83,15.10
$GC,1360,-0.85,-146.0,2207,3393,3451,3373,176.1,-10.9,250,1367,0.00,2.35,0.00,0.000,3078,0.000,0.044,2207,1988,3412,3451,3373,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1432,-0.85,-146.0,2207,1987,3451,3373,185.1,-12.3,263,1437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2206,1987,3411,3450,3373,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1500,-0.85,-146.0,2207,1985,3450,3373,192.4,-10.7,276,1505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2207,1988,3411,3450,3373,0,0,0,0,0,0,15.09,15.10,15.09
$STATE,1526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1526,begin apogee
$GC,1531,-0.19,0.0,2207,1895,3450,3373,195.7,-12.0,281,1647,1.08,0.00,110.85,1.262,10246,0.156,0.000,2422,1894,2811,2848,2775,0,0,0,0,0,0,14.66,14.45,13.94
$STATE,1649,end apogee,CONTROL_FINISHED_OK
$STATE,1649,begin climb
$GC,1651,0.85,146.0,2422,1895,2848,2775,199.6,0.0,302,1773,1.52,2.42,112.07,1.239,10756,0.076,0.075,2762,526,2213,2255,2172,0,0,0,0,0,0,14.43,14.24,13.83
$GC,1870,0.85,146.0,2762,525,2249,2172,190.9,10.6,342,1877,0.00,2.33,0.00,0.000,1030,0.000,0.046,2762,1913,2210,2249,2171,0,0,0,0,0,0,14.66,14.59,14.67
$GC,1940,0.85,146.0,2765,1913,2249,2171,183.9,10.8,355,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1913,2208,2246,2171,0,0,0,0,0,0,14.84,14.84,14.84
$GC,2007,0.85,146.0,2761,1914,2248,2171,176.3,10.4,368,2014,0.00,2.40,0.00,0.000,260,0.000,0.069,2761,3316,2209,2247,2171,0,0,0,0,0,0,14.90,14.65,14.90
$GC,2056,0.85,146.0,2761,3316,2247,2170,170.9,11.1,377,2063,0.00,2.33,0.00,0.000,5126,0.000,0.047,2771,1926,2208,2247,2169,0,0,0,0,0,0,14.81,14.73,14.81
$GC,2125,0.85,146.0,2771,1924,2248,2169,163.8,10.9,390,2132,0.00,2.40,0.00,0.000,4356,0.000,0.069,2771,3316,2208,2247,2169,0,0,0,0,0,0,14.96,14.73,14.96
$GC,2214,0.85,146.0,2771,3316,2247,2169,153.8,11.5,407,2222,0.08,2.35,0.00,0.000,5126,0.308,0.047,2768,1910,2207,2247,2168,0,0,0,0,0,0,14.66,14.79,14.85
$GC,2284,0.85,146.0,2767,1910,2248,2168,146.2,10.4,420,2291,0.00,2.40,0.00,0.000,4356,0.000,0.070,2768,3313,2207,2247,2168,0,0,0,0,0,0,15.02,14.78,15.03
$GC,2318,0.85,146.0,2767,3313,2247,2168,142.2,12.0,426,2324,0.00,2.35,0.00,0.000,5126,0.000,0.047,2776,1908,2207,2247,2168,0,0,0,0,0,0,14.88,14.79,14.89
$GC,2387,0.85,146.0,2775,1908,2247,2168,135.1,10.3,439,2394,0.00,2.42,0.00,0.000,4356,0.000,0.068,2776,3308,2207,2247,2168,0,0,0,0,0,0,15.03,14.77,15.03
$GC,2451,0.85,146.0,2775,3308,2247,2168,126.8,12.9,451,2458,0.10,2.33,0.00,0.000,5126,0.276,0.047,2768,1911,2207,2247,2167,0,0,0,0,0,0,14.66,14.84,14.83
$GC,2521,0.85,146.0,2767,1911,2247,2167,118.0,13.7,464,2526,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,1910,2207,2247,2167,0,0,0,0,0,0,15.05,15.07,15.06
$GC,2589,0.85,146.0,2767,1911,2246,2167,109.8,11.5,477,2594,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,1911,2207,2247,2167,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2656,0.85,146.0,2767,1911,2246,2167,102.7,10.6,490,2662,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,1911,2206,2246,2167,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2724,0.85,146.0,2768,1911,2246,2167,96.4,10.6,503,2729,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,1911,2206,2246,2167,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2792,0.85,146.0,2767,1911,2246,2166,89.0,10.8,516,2798,0.00,2.40,0.00,0.000,4356,0.000,0.068,2767,3310,2206,2246,2167,0,0,0,0,0,0,15.09,14.78,15.09
$GC,2880,0.88,164.6,2767,3310,2245,2167,79.8,9.1,533,2904,0.00,2.35,14.73,1.089,13318,0.000,0.048,2775,1908,2138,2181,2095,0,0,0,0,0,0,14.97,14.88,14.31
$GC,2965,0.88,164.6,2775,1910,2180,2094,70.8,10.9,549,2971,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1909,2137,2180,2094,0,0,0,0,0,0,15.02,15.03,15.03
$GC,3033,0.88,164.6,2775,1910,2179,2093,63.2,10.7,562,3039,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1910,2136,2179,2094,0,0,0,0,0,0,15.05,15.05,15.05
$GC,3101,0.88,164.6,2775,1910,2179,2093,55.5,11.3,575,3107,0.00,0.00,0.00,0.000,4102,0.000,0.000,2776,1910,2136,2179,2093,0,0,0,0,0,0,15.05,15.05,15.06
$GC,3169,0.88,165.4,2775,1910,2178,2094,48.8,9.9,588,3176,0.00,2.42,0.00,0.000,4356,0.000,0.071,2776,3307,2136,2178,2094,0,0,0,0,0,0,15.07,14.83,15.07
$GC,3243,0.90,181.7,2775,3308,2178,2093,40.9,9.2,602,3267,0.00,2.35,14.32,1.081,13318,0.000,0.048,2786,1913,2070,2117,2024,0,0,0,0,0,0,14.96,14.86,14.28
$GC,3329,0.91,194.4,2783,1913,2115,2021,32.7,9.4,618,3346,0.00,0.00,11.38,1.004,12294,0.000,0.000,2786,1913,2018,2067,1970,0,0,0,0,0,0,15.02,14.66,14.26
$GC,3409,0.91,194.4,2786,1913,2066,1967,23.4,10.7,633,3415,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,1913,2016,2065,1967,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3479,0.91,194.4,2785,1913,2065,1967,16.0,10.8,646,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1913,2016,2065,1967,0,0,0,0,0,0,15.02,15.02,15.03
$GC,3546,0.91,194.4,2785,1913,2063,1967,8.8,10.0,659,3553,0.00,2.45,0.00,0.000,4356,0.000,0.070,2786,3313,2015,2063,1967,0,0,0,0,0,0,15.03,14.74,15.04
$STATE,3633,end climb,SURFACE_DEPTH_REACHED
$STATE,3634,begin surface coast
$FINISH,0.5,1.024902
$STATE,3695,end surface coast,CONTROL_FINISHED_OK
$STATE,3695,begin surface
$SM_CCo,3718,65.10,0.121,0,0,1506,320.11
$SM_GC,0.96,12.32,2.28,65.10,0.057,0.050,0.121,149,1981,1506,-7.26,0.93,320.11,0,0,0,0,0,0,14.85,14.86,14.79
$IRIDIUM_FIX,-3130.35,2937.47,111018,105037
$TT8_MAMPS,0.019474,0.951979
$HUMID,53.54
$INTERNAL_PRESSURE,8.86717
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,0.0
$ALTIM_BOTTOM_PING,180.2,30.1
$SC_FREEKB,3891200
$24V_AH,13.66,64.443
$10V_AH,13.69,0.000
$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,27.775,71.750,263.350,65.100,0.000,23.821,40.578,760.759,2.750,0.000,36.565,1500.433,681.832,507.950,2052.905,166.986,0.000,1129.783,0.000,1038.193,0.000,21.144,0.000
$DEVICE_MAMPS,469.710,133.875,1262.250,120.870,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3802.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.046,0.000,0.000,0.000
$MEM,339720
$DATA_FILE_SIZE,23425,688
$CAP_FILE_SIZE,135055,0
$CFSIZE,1023623168,1011957760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111018,150941,-3140.821,2937.407,17,0.8,19,-26.3,0.0,217.8,11,8.8