version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 1
start: 3 30 119 3 51 28
data:
$ID,573
$MISSION,30
$DIVE,1
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,10
$D_ABORT,35
$D_NO_BLEED,29
$D_BOOST,0
$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,5
$T_MISSION,18
$T_ABORT,60
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,532.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,1987
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,83
$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,-167.97279
$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,20
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,300319,034522,-2836.5913,3227.8057,15,0.9,16,-23.4,0.0,180.2,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-64.9
$GPS2,300319,035103,-2836.7068,3227.7910,18,0.9,18,-23.4,0.6,171.9,10,9.2
$SPEED_LIMITS,0.115,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,-2836.707,3215.490
$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,293.4,20000,-10.4,-6.667,-14.68,4431
$D_GRID,10
$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,17,begin dive
$GC,19,-0.62,-194.6,135,1931,651,608,0.0,0.0,0,121,0.00,0.00,-98.93,0.000,16386,0.000,0.000,128,1932,3422,3445,3400,0,0,0,0,0,0,15.16,28.83,15.16
$GC,124,-0.62,-194.6,128,1932,3445,3401,4.2,-11.2,17,139,12.55,0.00,-0.08,0.000,18946,0.300,0.000,2282,1931,3427,3453,3401,0,0,0,0,0,0,14.50,28.83,14.80
$STATE,140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,140,begin apogee
$GC,144,-0.19,0.0,2282,1931,3454,3401,12.0,-34.8,19,234,0.73,0.00,84.18,0.922,10246,0.227,0.000,2419,1930,2811,2844,2778,0,0,0,0,0,0,14.57,14.62,14.09
$STATE,236,end apogee,CONTROL_FINISHED_OK
$STATE,236,begin climb
$GC,237,0.62,194.6,2419,1931,2843,2778,26.0,0.0,34,367,1.20,2.28,119.85,0.931,10756,0.116,0.066,2671,625,2015,2056,1974,0,0,0,0,0,0,14.56,14.45,13.93
$GC,426,0.74,287.0,2671,626,2050,1973,22.2,4.5,66,491,0.15,2.17,55.00,0.874,11270,0.104,0.043,2744,1960,1639,1689,1589,0,0,0,0,0,0,14.63,14.62,14.00
$GC,553,0.74,287.0,2743,1959,1685,1584,14.0,7.2,89,562,0.08,2.40,0.00,0.000,4356,0.236,0.060,2719,3382,1633,1683,1583,0,0,0,0,0,0,14.52,14.51,14.59
$GC,675,0.79,328.2,2719,3382,1683,1581,6.9,5.7,112,705,0.00,2.25,21.30,0.766,11270,0.000,0.041,2719,2019,1472,1526,1419,0,0,0,0,0,0,14.83,14.73,14.22
$STATE,740,end climb,SURFACE_DEPTH_REACHED
$STATE,740,begin surface coast
$FINISH,0.0,1.022983
$STATE,787,end surface coast,CONTROL_FINISHED_OK
$STATE,787,begin surface
$SM_CCo,807,110.50,0.751,0,0,639,532.78
$SM_GC,0.81,11.98,0.00,110.50,0.050,0.000,0.751,133,2018,639,-7.31,0.88,532.78,0,0,0,0,0,0,14.72,15.02,14.15
$IRIDIUM_FIX,-2826.10,3225.82,300319,034146
$TT8_MAMPS,0.019474,0.990927
$HUMID,52.95
$INTERNAL_PRESSURE,9.51173
$TCM_TEMP,27.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,3.9,999.0
$SC_FREEKB,3922304
$24V_AH,13.93,85.896
$10V_AH,13.66,0.000
$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,26.675,9.100,280.325,110.500,0.000,0.000,0.000,0.000,0.500,0.000,18.727,242.501,62.194,435.739,236.882,21.207,0.000,615.114,0.000,208.799,0.000,2.563,0.000
$DEVICE_MAMPS,299.880,65.790,931.005,751.230,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,772.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.460,0.000,0.000,0.000
$MEM,339676
$DATA_FILE_SIZE,3520,133
$CAP_FILE_SIZE,60496,0
$CFSIZE,1023623168,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.529,179.61,1
$GPS,300319,040744,-2836.990,3227.728,18,0.8,22,-23.4,0.9,180.8,11,8.5