version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 103
start: 10 17 118 4 47 0
data:
$ID,573
$MISSION,23
$DIVE,103
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,250
$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,84
$T_MISSION,90
$T_ABORT,100
$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,290
$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,0
$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,28
$R_STBD_OVSHOOT,72
$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
$GPS1,171018,043703,-3306.9067,2811.4731,20,0.8,36,-27.4,0.7,251.6,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.5
$GPS2,171018,044636,-3307.0217,2811.3352,17,0.9,19,-27.4,0.9,231.0,10,7.6
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-3303.328,2759.228
$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,317.4,20000,-18.1,-9.921,-20.94,2253
$D_GRID,250
$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,-146.0,74,2021,1536,1458,0.0,0.0,0,84,0.00,0.00,-61.40,0.000,16386,0.000,0.000,74,2021,3175,3188,3162,0,0,0,0,0,0,14.98,28.83,15.00
$GC,86,-0.85,-146.0,73,2021,3187,3163,4.2,-12.1,11,111,12.45,2.47,-4.00,0.000,18948,0.306,0.094,2209,575,3411,3448,3374,0,0,0,0,0,0,14.57,13.68,14.72
$GC,152,-0.85,-146.0,2208,575,3448,3374,25.0,-19.4,23,159,0.00,2.30,0.00,0.000,3078,0.000,0.051,2204,1951,3411,3448,3374,0,0,0,0,0,0,14.90,14.81,14.91
$GC,222,-0.85,-146.0,2204,1951,3449,3374,35.2,-14.2,36,228,0.00,2.53,0.00,0.000,2308,0.000,0.075,2201,3396,3411,3449,3374,0,0,0,0,0,0,15.02,14.79,15.04
$GC,527,-0.85,-146.0,2201,3396,3449,3374,77.1,-11.4,96,534,0.00,2.35,0.00,0.000,3078,0.000,0.043,2201,1987,3413,3452,3374,0,0,0,0,0,0,14.97,14.88,14.99
$GC,596,-0.85,-146.0,2201,1987,3452,3374,85.3,-11.9,109,602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2201,1988,3412,3452,3373,0,0,0,0,0,0,15.11,15.10,15.11
$GC,664,-0.85,-146.0,2201,1987,3451,3374,93.1,-11.2,122,670,0.00,2.47,0.00,0.000,2308,0.000,0.074,2196,3391,3413,3452,3374,0,0,0,0,0,0,15.09,14.78,15.11
$GC,733,-0.85,-146.0,2194,3391,3453,3374,100.9,-10.5,135,740,0.08,2.35,0.00,0.000,3078,0.276,0.043,2211,1969,3414,3453,3375,0,0,0,0,0,0,14.76,14.88,14.93
$GC,803,-0.85,-146.0,2211,1969,3453,3374,108.4,-10.7,148,809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1969,3413,3453,3374,0,0,0,0,0,0,15.11,15.11,15.11
$GC,871,-0.85,-146.0,2211,1969,3453,3374,115.6,-11.1,161,876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1969,3414,3454,3374,0,0,0,0,0,0,15.11,15.12,15.12
$GC,941,-0.85,-146.0,2211,1969,3453,3374,123.4,-11.0,174,947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,1969,3413,3453,3374,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1009,-0.85,-146.0,2211,1969,3454,3374,131.1,-10.7,187,1014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1969,3413,3453,3374,0,0,0,0,0,0,15.11,15.12,15.12
$GC,1077,-0.85,-146.0,2211,1969,3454,3374,138.6,-11.3,200,1082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2211,1970,3413,3453,3374,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1144,-0.85,-146.0,2211,1969,3454,3374,146.2,-10.7,213,1151,0.00,2.47,0.00,0.000,2308,0.000,0.074,2210,3389,3413,3453,3374,0,0,0,0,0,0,15.12,14.80,15.13
$GC,1173,-0.85,-146.0,2210,3389,3453,3374,149.1,-9.5,218,1180,0.00,2.33,0.00,0.000,3078,0.000,0.045,2210,1989,3414,3454,3374,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1243,-0.85,-146.0,2210,1989,3453,3374,155.6,-9.4,231,1250,0.00,2.40,0.00,0.000,2564,0.000,0.073,2207,580,3413,3453,3374,0,0,0,0,0,0,15.12,14.87,15.12
$STATE,1285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1285,begin apogee
$GC,1291,-0.19,0.0,2210,1917,3452,3374,160.1,-10.3,239,1409,1.05,0.00,110.22,1.207,10246,0.159,0.000,2420,1918,2811,2849,2774,0,0,0,0,0,0,14.73,14.49,13.99
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1412,0.85,146.0,2420,1918,2849,2773,164.2,0.0,260,1532,1.55,2.50,110.38,1.191,10756,0.087,0.075,2756,506,2215,2257,2173,0,0,0,0,0,0,14.47,14.35,13.88
$GC,1794,0.85,146.0,2755,506,2248,2172,137.8,10.6,332,1801,0.00,2.35,0.00,0.000,3078,0.000,0.047,2756,1912,2210,2249,2172,0,0,0,0,0,0,14.83,14.74,14.85
$GC,1863,0.85,146.0,2755,1912,2249,2172,130.7,10.1,345,1870,0.00,2.40,0.00,0.000,2308,0.000,0.069,2756,3308,2210,2248,2172,0,0,0,0,0,0,15.00,14.74,15.00
$GC,1917,0.85,146.0,2755,3308,2248,2171,124.8,10.8,355,1924,0.00,2.35,0.00,0.000,1030,0.000,0.046,2765,1897,2210,2249,2171,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1987,0.88,166.6,2765,1898,2249,2170,118.7,9.0,368,2011,0.00,2.40,16.60,1.113,10756,0.000,0.074,2776,500,2131,2173,2090,0,0,0,0,0,0,15.04,14.67,14.24
$GC,2063,0.88,166.6,2775,500,2170,2088,110.8,10.7,382,2070,0.00,2.35,0.00,0.000,5126,0.000,0.046,2776,1911,2130,2171,2089,0,0,0,0,0,0,14.85,14.77,14.86
$GC,2133,0.88,166.6,2775,1911,2170,2088,103.6,10.7,395,2139,0.00,2.40,0.00,0.000,4356,0.000,0.070,2783,3308,2129,2171,2088,0,0,0,0,0,0,15.02,14.73,15.02
$GC,2171,0.88,166.6,2776,3307,2171,2088,99.2,11.9,402,2179,0.05,2.33,0.00,0.000,5126,0.367,0.047,2777,1915,2129,2171,2087,0,0,0,0,0,0,14.66,14.83,14.85
$GC,2241,0.88,166.6,2776,1915,2171,2087,91.2,11.9,415,2248,0.00,2.40,0.00,0.000,4356,0.000,0.069,2777,3307,2129,2171,2087,0,0,0,0,0,0,15.04,14.81,15.05
$GC,2420,0.88,166.6,2777,3307,2171,2087,68.4,13.5,450,2427,0.00,2.33,0.00,0.000,5126,0.000,0.047,2785,1912,2127,2171,2084,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2490,0.88,166.6,2784,1913,2171,2087,60.5,11.8,463,2495,0.00,0.00,0.00,0.000,4102,0.000,0.000,2785,1913,2128,2170,2086,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2558,0.90,186.2,2785,1912,2170,2086,53.7,9.0,476,2582,0.00,2.42,16.80,1.052,12548,0.000,0.067,2781,3313,2049,2097,2001,0,0,0,0,0,0,15.09,14.70,14.30
$GC,2689,0.94,217.7,2785,3313,2097,1999,42.1,8.5,501,2723,0.00,2.38,25.62,1.068,13318,0.000,0.047,2794,1908,1922,1976,1868,0,0,0,0,0,0,14.91,14.83,14.24
$GC,2786,0.99,260.2,2793,1908,1974,1872,34.4,8.0,519,2826,0.00,2.53,35.17,1.072,10500,0.000,0.069,2793,3317,1749,1812,1687,0,0,0,0,0,0,14.97,14.62,14.15
$GC,2978,0.99,260.2,2793,3317,1808,1681,13.0,11.7,556,2985,0.00,2.38,0.00,0.000,3078,0.000,0.049,2793,1912,1744,1808,1681,0,0,0,0,0,0,14.82,14.71,14.83
$GC,3048,0.99,260.2,2792,1913,1808,1680,5.9,10.5,569,3053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2793,1912,1743,1807,1680,0,0,0,0,0,0,15.00,15.00,15.02
$STATE,3083,end climb,SURFACE_DEPTH_REACHED
$STATE,3084,begin surface coast
$FINISH,0.5,1.025072
$STATE,3122,end surface coast,CONTROL_FINISHED_OK
$STATE,3122,begin surface
$SM_CCo,3143,30.75,0.119,0,0,1506,320.11
$SM_GC,1.34,12.48,0.10,30.75,0.053,0.117,0.119,130,2006,1506,-7.31,-1.33,320.11,0,0,0,0,0,0,14.85,14.85,14.77
$IRIDIUM_FIX,-3251.89,2810.55,171018,030743
$TT8_MAMPS,0.019474,0.929509
$HUMID,54.72
$INTERNAL_PRESSURE,8.89647
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.4
$ALTIM_BOTTOM_PING,120.5,54.5
$SC_FREEKB,3864928
$24V_AH,13.68,79.446
$10V_AH,13.64,0.000
$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,27.650,57.525,314.800,30.750,0.000,24.702,20.665,310.937,1.250,0.000,20.706,1242.896,572.335,444.217,1378.140,114.580,0.000,968.743,0.000,882.018,0.000,10.358,0.000
$DEVICE_MAMPS,367.200,117.045,1207.170,118.575,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3189.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.798,0.000,0.000,0.000
$MEM,339736
$DATA_FILE_SIZE,20106,583
$CAP_FILE_SIZE,102549,0
$CFSIZE,1023623168,1003962368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1439.12,0x23609a,1,24
$GPS,171018,054052,-3306.688,2811.152,19,0.8,20,-27.4,0.5,200.6,10,7.2