version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 107
start: 10 17 118 7 52 27
data:
$ID,573
$MISSION,23
$DIVE,107
$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,32
$R_STBD_OVSHOOT,62
$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
$GPS1,171018,074622,-3306.5781,2810.1223,17,0.8,24,-27.4,0.3,347.2,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.8
$GPS2,171018,075201,-3306.6160,2810.0911,22,1.2,30,-27.4,0.8,197.5,9,6.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3302.923,2757.984
$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,-146.0,77,2018,1535,1458,0.0,0.0,0,83,0.00,0.00,-60.78,0.000,16386,0.000,0.000,75,2018,3188,3202,3174,0,0,0,0,0,0,15.05,28.83,15.06
$GC,85,-0.86,-146.0,74,2017,3202,3175,3.7,-9.7,11,110,12.35,2.45,-3.83,0.000,18948,0.305,0.090,2203,571,3410,3448,3373,0,0,0,0,0,0,14.62,13.73,14.78
$GC,122,-0.86,-146.0,2203,572,3449,3373,17.5,-30.1,17,129,0.05,2.30,0.00,0.000,3078,0.360,0.050,2209,1965,3411,3448,3374,0,0,0,0,0,0,14.71,14.85,14.89
$GC,192,-0.86,-146.0,2208,1965,3448,3374,28.2,-13.3,30,199,0.00,2.45,0.00,0.000,2308,0.000,0.073,2204,3394,3411,3449,3374,0,0,0,0,0,0,15.07,14.83,15.08
$STATE,331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,331,begin apogee
$GC,338,-0.19,0.0,2204,1899,3450,3374,45.2,-10.9,57,454,1.10,0.00,107.78,1.014,10246,0.156,0.000,2424,1898,2810,2843,2777,0,0,0,0,0,0,14.76,14.55,14.10
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,458,0.86,146.0,2425,1898,2843,2777,49.7,0.0,78,575,1.52,2.42,106.60,1.001,10756,0.077,0.073,2764,503,2214,2254,2174,0,0,0,0,0,0,14.56,14.37,14.00
$GC,657,0.86,146.0,2764,503,2250,2173,39.2,10.7,114,663,0.00,2.35,0.00,0.000,1030,0.000,0.046,2764,1917,2212,2250,2174,0,0,0,0,0,0,14.73,14.66,14.75
$GC,726,0.88,163.4,2764,1917,2249,2173,32.3,9.2,127,750,0.00,2.42,14.27,0.906,10500,0.000,0.067,2764,3313,2143,2184,2102,0,0,0,0,0,0,14.92,14.66,14.19
$GC,993,0.97,242.4,2764,3313,2181,2099,12.3,6.4,179,1044,0.00,2.35,42.25,0.870,11270,0.000,0.047,2774,1904,1819,1878,1761,0,0,0,0,0,0,14.88,14.78,14.28
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,0.5,1.025090
$STATE,1130,end surface coast,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$SM_CCo,1152,39.03,0.112,0,0,1506,320.11
$SM_GC,1.17,12.20,0.12,39.03,0.047,0.098,0.112,147,2024,1506,-7.26,-1.05,320.11,0,0,0,0,0,0,14.81,14.82,14.76
$IRIDIUM_FIX,-3254.46,2810.55,171018,072214
$TT8_MAMPS,0.019474,0.83888
$HUMID,51.14
$INTERNAL_PRESSURE,8.98436
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$SC_FREEKB,3862880
$24V_AH,13.73,79.978
$10V_AH,13.81,0.000
$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,27.225,19.400,270.900,39.025,0.000,25.069,37.526,126.781,0.750,0.000,31.850,404.622,155.548,340.003,591.570,59.571,0.000,572.927,0.000,319.650,0.000,5.643,0.000
$DEVICE_MAMPS,359.550,97.920,1013.625,111.690,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.531,0.000,0.000,0.000
$MEM,339712
$DATA_FILE_SIZE,6846,205
$CAP_FILE_SIZE,40283,0
$CFSIZE,1023623168,1003667456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171018,081320,-3306.610,2809.878,20,0.9,24,-27.4,0.6,248.3,10,7.6