version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 51
start: 4 1 119 23 20 30
data:
$ID,573
$MISSION,30
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,1050
$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,150
$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,90
$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,542.59473
$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,44
$R_STBD_OVSHOOT,42
$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,50
$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
$GPS1,010419,231303,-2855.5913,3212.7998,19,0.9,22,-23.7,0.8,289.9,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.5
$GPS2,010419,232006,-2855.5100,3212.7380,16,1.0,18,-23.7,1.0,310.6,8,8.5
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2853.838,3224.924
$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,104.8,20000,-18.4,-10.101,-21.17,2215
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,72,1979,588,576,0.0,0.0,0,113,0.00,0.00,-90.93,0.000,16386,0.000,0.000,72,1980,3149,3162,3136,0,0,0,0,0,0,15.05,28.83,15.06
$GC,117,-0.86,-146.0,72,1980,3160,3140,3.2,-7.2,16,142,12.52,2.35,-4.57,0.000,18692,0.309,0.081,2192,3391,3411,3444,3379,0,0,0,0,0,0,14.54,13.45,14.73
$GC,305,-0.86,-146.0,2192,3391,3444,3379,46.3,-16.5,52,313,0.08,2.28,0.00,0.000,3078,0.282,0.037,2208,1984,3411,3445,3378,0,0,0,0,0,0,14.62,14.78,14.83
$STATE,347,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,347,begin apogee
$GC,352,-0.19,0.0,2208,1983,3445,3378,53.7,-18.4,59,465,1.10,0.00,104.90,0.912,10246,0.187,0.000,2422,1982,2811,2844,2778,0,0,0,0,0,0,14.62,14.62,14.16
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,468,0.86,146.0,2422,1982,2844,2778,61.1,0.0,78,585,1.55,2.45,105.93,0.910,11012,0.104,0.058,2748,3391,2216,2253,2180,0,0,0,0,0,0,14.59,14.52,14.07
$GC,782,1.02,271.6,2748,3392,2246,2175,49.8,4.3,136,884,0.22,2.28,92.65,0.909,11270,0.080,0.039,2836,1990,1705,1752,1659,0,0,0,0,0,0,14.85,14.81,14.12
$GC,947,1.02,271.6,2835,1990,1747,1651,34.5,11.2,165,954,0.08,2.38,0.00,0.000,4612,0.263,0.067,2816,584,1698,1746,1651,0,0,0,0,0,0,14.57,14.67,14.65
$GC,1093,1.02,275.4,2815,584,1744,1650,19.4,9.9,193,1099,0.00,2.28,0.00,0.000,1030,0.000,0.038,2815,1999,1697,1744,1650,0,0,0,0,0,0,14.92,14.85,14.94
$GC,1161,1.02,275.4,2814,1999,1748,1649,12.4,10.9,206,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1999,1696,1744,1649,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1230,1.05,300.9,2815,2004,1744,1648,5.4,8.9,219,1249,0.00,2.35,14.52,0.682,10500,0.000,0.061,2816,3384,1583,1634,1532,0,0,0,0,0,0,15.09,14.80,14.38
$STATE,1254,end climb,SURFACE_DEPTH_REACHED
$STATE,1255,begin surface coast
$FINISH,0.1,1.023491
$STATE,1286,end surface coast,CONTROL_FINISHED_OK
$STATE,1286,begin surface
$SM_CCo,1309,127.90,0.693,0,0,598,542.59
$SM_GC,0.91,12.32,2.33,127.90,0.051,0.040,0.693,145,1986,598,-7.27,1.07,542.59,0,0,0,0,0,0,14.85,14.87,14.24
$IRIDIUM_FIX,-2845.75,3212.59,010419,224317
$TT8_MAMPS,0.019474,0.832888
$HUMID,51.26
$INTERNAL_PRESSURE,9.48243
$TCM_TEMP,26.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,50.4,18.2
$SC_FREEKB,3896736
$24V_AH,13.45,97.773
$10V_AH,13.55,0.000
$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,27.875,18.675,318.000,127.900,0.000,22.586,40.555,209.530,0.750,0.000,19.030,459.421,155.367,492.517,703.036,69.914,0.000,749.327,0.000,353.177,0.000,7.134,0.000
$DEVICE_MAMPS,309.060,81.090,911.880,693.090,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.920,0.000,0.000,0.000
$MEM,339540
$DATA_FILE_SIZE,6822,229
$CAP_FILE_SIZE,46399,0
$CFSIZE,1023623168,1014890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.328,359.03,1
$GPS,010419,234523,-2855.285,3212.837,16,0.8,18,-23.7,1.3,2.2,11,9.5