version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 4
start: 3 30 119 5 30 18
data:
$ID,573
$MISSION,30
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$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,33
$T_MISSION,43
$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,48
$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
$GPS1,300319,052437,-2838.3354,3227.7693,20,0.9,27,-23.4,0.9,196.5,10,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.3
$GPS2,300319,052954,-2838.4597,3227.7778,17,0.9,25,-23.4,0.7,174.1,10,9.4
$SPEED_LIMITS,0.175,0.297
$TGT_NAME,HEADING
$TGT_LATLONG,-2837.644,3240.046
$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,109.1,20000,-15.8,-10.101,-18.81,2947
$D_GRID,100
$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,-0.83,-194.6,120,1989,635,617,0.0,0.0,0,115,0.00,0.00,-92.78,0.000,16386,0.000,0.000,120,1990,3246,3261,3232,0,0,0,0,0,0,15.17,28.83,15.18
$GC,118,-0.83,-194.6,119,1990,3262,3232,3.7,-9.7,16,144,12.18,2.30,-5.82,0.000,18948,0.300,0.071,2215,571,3608,3676,3540,0,0,0,0,0,0,14.60,13.87,14.91
$STATE,192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,192,begin apogee
$GC,199,-0.19,0.0,2210,1987,3677,3540,25.2,-17.5,29,329,1.02,0.00,125.60,0.902,10246,0.172,0.000,2414,1987,2809,2850,2769,0,0,0,0,0,0,14.64,14.55,14.10
$STATE,331,end apogee,CONTROL_FINISHED_OK
$STATE,331,begin climb
$GC,333,0.83,194.6,2414,1987,2849,2771,34.2,0.0,51,480,1.52,2.38,137.05,0.897,10500,0.102,0.058,2738,3386,2015,2054,1977,0,0,0,0,0,0,14.56,14.40,14.04
$GC,497,1.00,335.7,2737,3386,2053,1975,31.7,5.2,78,604,0.20,2.30,97.55,0.877,11270,0.087,0.039,2823,1978,1442,1495,1389,0,0,0,0,0,0,14.59,14.59,14.08
$GC,668,1.02,351.1,2822,1977,1490,1385,16.4,9.6,108,682,0.00,2.35,8.23,0.694,12804,0.000,0.063,2824,593,1379,1432,1326,0,0,0,0,0,0,14.90,14.66,14.17
$STATE,787,end climb,SURFACE_DEPTH_REACHED
$STATE,787,begin surface coast
$FINISH,1.7,1.022970
$STATE,799,end surface coast,CONTROL_FINISHED_OK
$STATE,799,begin surface
$SM_CCo,822,96.60,0.703,0,0,639,532.78
$SM_GC,0.85,12.43,2.30,96.60,0.055,0.040,0.703,147,1985,639,-7.27,-1.16,532.78,0,0,0,0,0,0,14.80,14.81,14.25
$IRIDIUM_FIX,-2826.10,3229.21,300319,052116
$TT8_MAMPS,0.019474,0.978194
$HUMID,52.28
$INTERNAL_PRESSURE,9.55079
$TCM_TEMP,27.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,6.1
$ALTIM_BOTTOM_PING,20.1,20.0
$SC_FREEKB,3921024
$24V_AH,13.87,86.359
$10V_AH,13.60,0.000
$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,27.350,13.950,368.425,96.600,0.000,0.000,0.000,0.000,0.750,0.000,25.888,206.381,47.607,484.872,246.791,20.536,0.000,677.130,0.000,208.475,0.000,7.121,0.000
$DEVICE_MAMPS,299.880,71.145,901.935,703.035,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,783.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.472,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,3498,133
$CAP_FILE_SIZE,40265,0
$CFSIZE,1023623168,1020641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.483,174.08,1
$GPS,300319,054649,-2838.726,3227.844,20,1.3,35,-23.4,0.9,172.3,9,9.9