version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 106
start: 10 17 118 7 26 47
data:
$ID,573
$MISSION,23
$DIVE,106
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,35
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,171018,071955,-3306.5303,2810.4067,18,0.8,20,-27.4,0.7,201.4,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.0
$GPS2,171018,072623,-3306.5767,2810.3486,26,0.8,28,-27.4,0.7,338.4,10,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3302.883,2758.242
$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,-18.3,-10.000,-21.04,2236
$D_GRID,45
$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,-0.86,-146.0,85,1984,1534,1460,0.0,0.0,0,78,0.00,0.00,-56.03,0.000,16386,0.000,0.000,81,1984,3032,3031,3034,0,0,0,0,0,0,15.04,28.83,15.04
$GC,81,-0.86,-146.0,81,1984,3031,3034,3.4,-8.5,10,106,12.35,2.45,-6.75,0.000,18948,0.307,0.091,2203,578,3414,3457,3371,0,0,0,0,0,0,14.60,13.72,14.78
$GC,128,-0.86,-146.0,2203,577,3449,3371,17.6,-20.3,18,135,0.05,2.33,0.00,0.000,3078,0.353,0.049,2208,1981,3409,3448,3371,0,0,0,0,0,0,14.69,14.85,14.88
$GC,198,-0.86,-146.0,2208,1981,3449,3371,28.0,-14.5,31,205,0.00,2.42,0.00,0.000,2308,0.000,0.076,2202,3391,3409,3449,3370,0,0,0,0,0,0,15.07,14.82,15.07
$STATE,325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,326,begin apogee
$GC,333,-0.19,0.0,2202,1903,3449,3371,45.2,-11.5,56,449,1.10,0.00,108.30,1.030,10246,0.161,0.000,2422,1902,2810,2843,2778,0,0,0,0,0,0,14.76,14.54,14.09
$STATE,451,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,452,0.86,146.0,2422,1903,2843,2777,49.6,0.0,77,570,1.52,2.53,107.50,1.016,10756,0.082,0.075,2758,496,2213,2254,2173,0,0,0,0,0,0,14.54,14.38,14.01
$GC,662,0.86,146.0,2758,497,2249,2173,37.4,10.0,115,669,0.00,2.38,0.00,0.000,3078,0.000,0.045,2758,1924,2210,2248,2173,0,0,0,0,0,0,14.75,14.66,14.76
$GC,732,0.95,221.5,2758,1925,2247,2173,32.3,6.5,128,800,0.08,2.42,57.40,0.988,10500,0.181,0.069,2811,3297,1906,1960,1853,0,0,0,0,0,0,14.73,14.52,14.08
$GC,918,0.95,221.5,2811,3297,1957,1850,12.2,12.3,163,926,0.12,2.35,0.00,0.000,5126,0.238,0.048,2797,1904,1903,1958,1849,0,0,0,0,0,0,14.62,14.69,14.76
$GC,988,0.95,221.9,2797,1904,1957,1848,5.0,10.0,176,994,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,1904,1902,1956,1848,0,0,0,0,0,0,14.98,14.99,14.99
$STATE,1009,end climb,SURFACE_DEPTH_REACHED
$STATE,1009,begin surface coast
$FINISH,0.5,1.016061
$STATE,1040,end surface coast,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$SM_CCo,1062,50.00,0.112,0,0,1506,320.11
$SM_GC,0.87,12.50,0.12,50.00,0.054,0.107,0.112,132,2016,1506,-7.31,-1.05,320.11,0,0,0,0,0,0,14.83,14.83,14.77
$IRIDIUM_FIX,-3254.46,2810.55,171018,063710
$TT8_MAMPS,0.019474,0.934752
$HUMID,52.28
$INTERNAL_PRESSURE,8.9746
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$SC_FREEKB,3863392
$24V_AH,13.72,79.869
$10V_AH,13.80,0.000
$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,27.725,19.525,273.200,50.000,0.000,26.087,16.904,171.868,0.750,0.000,29.597,366.131,133.424,352.046,599.543,64.783,0.000,574.067,0.000,290.041,0.000,5.640,0.000
$DEVICE_MAMPS,352.665,107.100,1029.690,112.455,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1075.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.864,0.000,0.000,0.000
$MEM,339760
$DATA_FILE_SIZE,6862,186
$CAP_FILE_SIZE,40688,0
$CFSIZE,1023623168,1003749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171018,074622,-3306.578,2810.122,17,0.8,24,-27.4,0.3,347.2,10,9.8