version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 3
start: 3 30 119 4 54 55
data:
$ID,573
$MISSION,30
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$D_ABORT,75
$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,17
$T_MISSION,27
$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,40
$R_STBD_OVSHOOT,54
$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
$GPS1,300319,044739,-2837.6809,3227.6843,17,0.8,21,-23.4,0.9,183.4,12,9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.4
$GPS2,300319,045431,-2837.8328,3227.6938,14,0.9,19,-23.4,1.0,174.4,11,8.9
$SPEED_LIMITS,0.170,0.293
$TGT_NAME,HEADING
$TGT_LATLONG,-2837.759,3239.997
$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,113.0,20000,-15.4,-9.804,-18.47,3035
$D_GRID,50
$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,-0.81,-194.6,122,1979,596,578,0.0,0.0,0,115,0.00,0.00,-93.22,0.000,16386,0.000,0.000,112,1980,3212,3225,3199,0,0,0,0,0,0,15.18,28.83,15.18
$GC,118,-0.81,-194.6,112,1980,3224,3200,3.3,-7.6,16,144,12.23,2.33,-6.43,0.000,18692,0.300,0.080,2210,3384,3606,3672,3540,0,0,0,0,0,0,14.54,13.90,14.83
$STATE,183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,183,begin apogee
$GC,190,-0.19,0.0,2210,1983,3681,3540,26.8,-23.0,27,327,1.08,0.00,130.43,0.911,10246,0.171,0.000,2423,1981,2810,2851,2770,0,0,0,0,0,0,14.57,14.55,14.12
$STATE,328,end apogee,CONTROL_FINISHED_OK
$STATE,328,begin climb
$GC,330,0.81,194.6,2423,1981,2851,2770,37.1,0.0,50,479,1.45,2.40,137.55,0.900,11012,0.102,0.060,2731,3367,2014,2054,1975,0,0,0,0,0,0,14.54,14.43,14.04
$GC,567,0.91,272.5,2731,3370,2051,1973,35.7,7.2,92,633,0.10,2.28,56.45,0.888,11270,0.142,0.041,2805,1984,1698,1746,1651,0,0,0,0,0,0,14.69,14.69,14.08
$GC,696,0.91,274.5,2798,1985,1737,1648,22.3,9.7,115,703,0.08,2.35,0.00,0.000,4612,0.264,0.064,2787,586,1695,1742,1648,0,0,0,0,0,0,14.57,14.62,14.66
$GC,842,0.99,338.0,2787,585,1738,1647,11.1,7.7,143,884,0.00,2.25,34.80,0.762,11270,0.000,0.041,2791,1982,1432,1485,1379,0,0,0,0,0,0,14.85,14.76,14.31
$STATE,945,end climb,SURFACE_DEPTH_REACHED
$STATE,945,begin surface coast
$FINISH,0.0,1.020951
$STATE,981,end surface coast,CONTROL_FINISHED_OK
$STATE,981,begin surface
$SM_CCo,1001,102.97,0.715,0,0,638,532.78
$SM_GC,0.78,12.30,0.00,102.97,0.057,0.000,0.715,146,1982,638,-7.27,-0.14,532.78,0,0,0,0,0,0,14.78,15.05,14.22
$IRIDIUM_FIX,-2826.10,3301.23,300319,044249
$TT8_MAMPS,0.019474,0.974449
$HUMID,52.59
$INTERNAL_PRESSURE,9.53126
$TCM_TEMP,27.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,5.9
$ALTIM_BOTTOM_PING,20.2,21.1
$SC_FREEKB,3921536
$24V_AH,13.90,86.208
$10V_AH,13.64,0.000
$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,27.225,13.925,359.225,102.975,0.000,0.000,0.000,0.000,0.750,0.000,19.698,292.598,85.157,490.908,295.214,22.462,0.000,706.770,0.000,261.944,0.000,7.116,0.000
$DEVICE_MAMPS,299.880,79.560,911.115,714.510,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,966.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.240,0.000,0.000,0.000
$MEM,339644
$DATA_FILE_SIZE,3503,169
$CAP_FILE_SIZE,41612,0
$CFSIZE,1023623168,1020723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.439,175.67,1
$GPS,300319,051420,-2838.111,3227.746,19,0.8,23,-23.4,0.8,162.3,12,9.4