version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 105
start: 10 17 118 6 42 11
data:
$ID,573
$MISSION,23
$DIVE,105
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$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,34
$T_MISSION,44
$T_ABORT,54
$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,34
$R_STBD_OVSHOOT,47
$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,30
$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
$GPS1,171018,063447,-3306.5815,2810.7910,26,0.8,28,-27.4,0.6,223.6,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.9
$GPS2,171018,064146,-3306.6382,2810.7141,21,0.7,22,-27.4,0.4,186.0,12,9.0
$SPEED_LIMITS,0.170,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,-3302.945,2758.607
$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,-18.0,-9.804,-20.79,2280
$D_GRID,100
$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,-0.84,-146.0,87,1998,1536,1458,0.0,0.0,0,78,0.00,0.00,-55.97,0.000,16386,0.000,0.000,82,1997,3015,3022,3008,0,0,0,0,0,0,15.02,28.83,15.03
$GC,81,-0.84,-146.0,82,1996,3019,3008,3.2,-8.1,10,111,12.35,2.47,-7.22,0.000,18948,0.306,0.092,2206,582,3410,3449,3371,0,0,0,0,0,0,14.60,13.71,14.76
$GC,153,-0.84,-146.0,2206,581,3450,3375,21.6,-18.3,23,160,0.00,2.33,0.00,0.000,3078,0.000,0.051,2201,1980,3410,3450,3371,0,0,0,0,0,0,14.95,14.83,14.94
$GC,222,-0.84,-146.0,2200,1980,3450,3371,32.6,-14.9,36,229,0.05,2.42,0.00,0.000,2308,0.372,0.073,2204,3395,3410,3450,3371,0,0,0,0,0,0,14.66,14.82,14.82
$GC,436,-0.84,-146.0,2203,3394,3451,3371,59.5,-11.5,78,446,0.00,2.35,0.00,0.000,3078,0.000,0.044,2204,1987,3411,3451,3371,0,0,0,0,0,0,14.98,14.88,15.00
$GC,509,-0.84,-146.0,2203,1987,3452,3371,68.2,-12.3,91,515,0.00,2.40,0.00,0.000,2564,0.000,0.072,2204,576,3411,3452,3371,0,0,0,0,0,0,15.11,14.79,15.11
$GC,538,-0.84,-146.0,2203,576,3452,3371,71.7,-12.2,96,545,0.00,2.33,0.00,0.000,3078,0.000,0.049,2203,1986,3411,3452,3371,0,0,0,0,0,0,15.00,14.90,15.01
$GC,607,-0.84,-146.0,2203,1986,3452,3371,79.1,-10.1,109,614,0.00,2.42,0.00,0.000,2308,0.000,0.076,2203,3396,3411,3451,3371,0,0,0,0,0,0,15.12,14.86,15.12
$GC,651,-0.84,-146.0,2203,3397,3452,3371,83.0,-9.4,117,657,0.00,2.35,0.00,0.000,3078,0.000,0.041,2204,1981,3411,3452,3371,0,0,0,0,0,0,15.00,14.90,15.02
$GC,721,-0.84,-146.0,2203,1980,3453,3371,90.2,-11.0,130,728,0.00,2.45,0.00,0.000,2308,0.000,0.073,2203,3390,3411,3452,3371,0,0,0,0,0,0,15.12,14.87,15.12
$GC,750,-0.84,-146.0,2203,3390,3452,3371,93.5,-9.6,135,757,0.00,2.33,0.00,0.000,3078,0.000,0.041,2203,1978,3412,3453,3371,0,0,0,0,0,0,14.97,14.85,14.97
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,816,begin apogee
$GC,821,-0.19,0.0,2203,1905,3453,3371,100.6,-11.2,147,937,1.10,0.00,109.18,1.107,10246,0.150,0.000,2425,1905,2812,2848,2776,0,0,0,0,0,0,14.72,14.52,14.04
$STATE,939,end apogee,CONTROL_FINISHED_OK
$STATE,939,begin climb
$GC,940,0.84,146.0,2425,1905,2849,2776,107.1,0.0,168,1063,1.55,2.47,109.32,1.097,10756,0.062,0.074,2780,519,2215,2254,2177,0,0,0,0,0,0,14.54,14.38,13.96
$GC,1269,0.84,146.0,2780,519,2248,2173,83.3,11.3,230,1277,0.08,2.33,0.00,0.000,5126,0.290,0.045,2767,1915,2210,2248,2172,0,0,0,0,0,0,14.63,14.76,14.79
$GC,1339,0.84,146.0,2766,1916,2248,2172,76.4,10.2,243,1346,0.00,2.38,0.00,0.000,4356,0.000,0.068,2767,3310,2210,2248,2172,0,0,0,0,0,0,15.00,14.76,15.00
$GC,1463,0.84,146.0,2766,3310,2247,2171,62.8,10.4,267,1470,0.00,2.33,0.00,0.000,5126,0.000,0.046,2775,1911,2209,2248,2170,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1533,0.84,146.0,2774,1911,2247,2170,55.3,10.4,280,1538,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1911,2209,2248,2170,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1600,0.84,146.0,2774,1911,2247,2170,48.4,9.9,293,1606,0.00,0.00,0.00,0.000,4102,0.000,0.000,2775,1911,2208,2247,2170,0,0,0,0,0,0,15.07,15.07,15.08
$GC,1669,0.85,151.3,2775,1911,2247,2170,42.3,9.6,306,1681,0.00,2.42,4.28,0.675,12548,0.000,0.067,2774,3302,2195,2234,2157,0,0,0,0,0,0,15.09,14.84,14.30
$GC,1799,0.96,242.7,2774,3302,2233,2156,33.2,5.7,331,1877,0.00,2.33,71.88,1.056,11270,0.000,0.046,2785,1910,1820,1878,1763,0,0,0,0,0,0,14.99,14.88,14.14
$GC,1940,0.96,242.7,2791,1910,1876,1758,21.3,10.1,357,1947,0.00,2.45,0.00,0.000,2308,0.000,0.069,2785,3307,1816,1876,1757,0,0,0,0,0,0,14.88,14.62,14.89
$STATE,2122,end climb,SURFACE_DEPTH_REACHED
$STATE,2122,begin surface coast
$FINISH,0.7,1.025070
$STATE,2143,end surface coast,CONTROL_FINISHED_OK
$STATE,2143,begin surface
$SM_CCo,2166,39.38,0.117,0,0,1507,320.11
$SM_GC,1.36,12.30,2.28,39.38,0.050,0.053,0.117,144,1987,1507,-7.27,1.02,320.11,0,0,0,0,0,0,14.83,14.83,14.78
$IRIDIUM_FIX,-3251.89,2810.55,171018,054726
$TT8_MAMPS,0.018725,0.916027
$HUMID,53.97
$INTERNAL_PRESSURE,8.92577
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,100.6,16.0
$SC_FREEKB,3863904
$24V_AH,13.71,79.755
$10V_AH,13.39,0.000
$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,27.425,42.900,294.650,39.375,0.000,23.169,21.337,195.467,2.500,0.000,24.506,828.460,366.043,401.534,959.841,83.655,0.000,782.476,0.000,606.632,0.000,17.623,0.000
$DEVICE_MAMPS,371.790,159.120,1106.955,117.045,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.598,0.000,0.000,0.000
$MEM,339712
$DATA_FILE_SIZE,13477,397
$CAP_FILE_SIZE,71744,0
$CFSIZE,1023623168,1003814912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171018,071955,-3306.530,2810.407,18,0.8,20,-27.4,0.7,201.4,10,9.7