version: 66.12
revision: DORADO
glider: 573
mission: 23
dive: 109
start: 10 17 118 8 47 5
data:
$ID,573
$MISSION,23
$DIVE,109
$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,36
$R_STBD_OVSHOOT,46
$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
$GPS1,171018,084110,-3306.6541,2809.6511,15,0.8,16,-27.4,0.6,243.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.8
$GPS2,171018,084640,-3306.6875,2809.6064,17,0.8,17,-27.4,0.0,0.0,10,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-3302.994,2757.500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.86,-146.0,92,1993,1537,1457,0.0,0.0,0,83,0.00,0.00,-60.90,0.000,16386,0.000,0.000,87,1993,3187,3202,3173,0,0,0,0,0,0,15.05,28.83,15.05
$GC,85,-0.86,-146.0,87,1993,3202,3174,3.6,-9.6,11,110,12.25,2.38,-3.92,0.000,18948,0.304,0.090,2206,579,3410,3447,3373,0,0,0,0,0,0,14.62,13.75,14.79
$GC,122,-0.86,-146.0,2206,579,3448,3373,17.0,-30.0,17,129,0.05,2.30,0.00,0.000,3078,0.360,0.048,2208,1981,3410,3448,3373,0,0,0,0,0,0,14.70,14.85,14.89
$GC,192,-0.86,-146.0,2208,1981,3448,3373,27.5,-13.0,30,199,0.00,2.40,0.00,0.000,2308,0.000,0.075,2208,3385,3411,3449,3374,0,0,0,0,0,0,15.08,14.83,15.09
$GC,351,-0.86,-146.0,2208,3385,3449,3373,43.3,-10.3,61,357,0.00,2.30,0.00,0.000,3078,0.000,0.041,2208,1992,3411,3449,3373,0,0,0,0,0,0,15.00,14.90,15.01
$STATE,368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,368,begin apogee
$GC,373,-0.19,0.0,2210,1878,3449,3374,45.3,-10.5,64,484,1.05,0.00,106.07,1.011,10246,0.153,0.000,2421,1877,2811,2844,2779,0,0,0,0,0,0,14.79,14.54,14.11
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,488,0.86,146.0,2422,1877,2842,2777,50.2,0.0,84,605,1.52,2.38,105.70,0.997,10756,0.077,0.073,2759,522,2213,2253,2174,0,0,0,0,0,0,14.56,14.43,14.03
$GC,652,0.86,146.0,2759,522,2251,2173,45.2,10.4,113,659,0.00,2.30,0.00,0.000,3078,0.000,0.044,2760,1915,2211,2250,2173,0,0,0,0,0,0,14.71,14.63,14.71
$GC,722,0.86,146.0,2759,1915,2249,2173,38.2,10.1,126,728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2760,1915,2211,2249,2173,0,0,0,0,0,0,14.90,14.90,14.90
$GC,790,0.89,176.8,2759,1915,2249,2173,31.4,8.6,139,819,0.00,2.42,23.55,0.962,10500,0.000,0.066,2760,3306,2089,2133,2045,0,0,0,0,0,0,14.97,14.64,14.23
$GC,1012,0.97,238.2,2759,3307,2132,2041,13.6,7.2,182,1053,0.10,2.30,33.17,0.867,11270,0.140,0.047,2819,1920,1839,1896,1782,0,0,0,0,0,0,14.86,14.84,14.31
$STATE,1113,end climb,SURFACE_DEPTH_REACHED
$STATE,1114,begin surface coast
$FINISH,0.1,1.025092
$STATE,1140,end surface coast,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$SM_CCo,1162,41.03,0.110,0,0,1507,320.11
$SM_GC,1.10,12.40,0.08,41.03,0.045,0.149,0.110,144,1981,1507,-7.27,-1.39,320.11,0,0,0,0,0,0,14.80,14.81,14.78
$IRIDIUM_FIX,-3254.46,2724.54,171018,081712
$TT8_MAMPS,0.019474,0.947485
$HUMID,50.98
$INTERNAL_PRESSURE,8.99413
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.1
$SC_FREEKB,3861856
$24V_AH,13.75,80.197
$10V_AH,13.83,0.000
$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,27.375,18.975,268.500,41.025,0.000,22.371,41.757,122.198,0.750,0.000,18.170,412.212,158.182,339.708,581.751,62.041,0.000,575.992,0.000,318.971,0.000,5.644,0.000
$DEVICE_MAMPS,360.315,149.175,1010.565,110.160,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.176,0.000,0.000,0.000
$MEM,339732
$DATA_FILE_SIZE,6828,206
$CAP_FILE_SIZE,42233,0
$CFSIZE,1023623168,1003503616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171018,090804,-3306.699,2809.423,17,0.8,18,-27.4,0.5,65.3,11,9.2