version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 57
start: 4 2 119 2 37 0
data:
$ID,573
$MISSION,30
$DIVE,57
$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,46
$R_STBD_OVSHOOT,45
$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
$GPS1,020419,022941,-2853.8079,3213.9597,15,0.8,17,-23.7,1.1,48.4,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-59.3
$GPS2,020419,023637,-2853.7314,3214.0090,16,1.0,20,-23.7,1.2,79.3,10,9.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2858.896,3224.851
$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,142.3,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.0,73,1978,587,576,0.0,0.0,0,114,0.00,0.00,-92.03,0.000,16386,0.000,0.000,73,1979,3144,3149,3140,0,0,0,0,0,0,15.08,28.83,15.08
$GC,118,-0.86,-146.0,73,1979,3149,3140,3.3,-8.2,16,144,12.70,2.35,-4.65,0.000,18692,0.324,0.084,2193,3383,3410,3443,3378,0,0,0,0,0,0,14.55,13.47,14.75
$GC,297,-0.86,-146.0,2193,3384,3443,3378,47.5,-20.3,50,304,0.08,2.25,0.00,0.000,3078,0.298,0.036,2207,1987,3411,3445,3378,0,0,0,0,0,0,14.69,14.91,14.90
$STATE,343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,343,begin apogee
$GC,347,-0.19,0.0,2208,1986,3443,3378,55.7,-14.8,58,459,1.10,0.00,104.57,0.912,10246,0.184,0.000,2423,1985,2812,2845,2779,0,0,0,0,0,0,14.69,14.64,14.17
$STATE,461,end apogee,CONTROL_FINISHED_OK
$STATE,461,begin climb
$GC,463,0.86,146.0,2423,1985,2845,2779,62.0,0.0,77,582,1.55,2.40,106.53,0.907,10756,0.113,0.065,2747,591,2213,2251,2176,0,0,0,0,0,0,14.60,14.52,14.09
$GC,694,0.98,245.4,2746,591,2246,2176,52.6,5.5,118,778,0.17,2.28,74.43,0.894,11270,0.090,0.041,2829,1996,1810,1854,1766,0,0,0,0,0,0,14.77,14.73,14.12
$GC,840,0.98,245.4,2828,1996,1848,1762,40.2,11.8,144,847,0.08,2.33,0.00,0.000,4356,0.266,0.059,2809,3378,1805,1848,1762,0,0,0,0,0,0,14.54,14.67,14.63
$GC,1046,1.03,280.7,2809,3379,1846,1761,18.4,8.5,184,1071,0.00,2.25,19.38,0.770,11270,0.000,0.040,2809,1995,1665,1715,1616,0,0,0,0,0,0,14.96,14.88,14.35
$GC,1133,1.09,330.2,2809,1994,1710,1612,10.8,7.8,200,1163,0.00,0.00,26.55,0.734,10246,0.000,0.000,2809,1994,1463,1517,1410,0,0,0,0,0,0,15.07,14.73,14.28
$STATE,1218,end climb,SURFACE_DEPTH_REACHED
$STATE,1219,begin surface coast
$FINISH,0.5,1.023654
$STATE,1245,end surface coast,CONTROL_FINISHED_OK
$STATE,1245,begin surface
$SM_CCo,1265,112.28,0.686,0,0,599,542.59
$SM_GC,0.77,12.30,0.00,112.28,0.049,0.000,0.686,146,1992,599,-7.27,0.14,542.59,0,0,0,0,0,0,14.84,15.08,14.27
$IRIDIUM_FIX,-2840.83,3216.76,020419,020113
$TT8_MAMPS,0.018725,0.871836
$HUMID,52.44
$INTERNAL_PRESSURE,9.48243
$TCM_TEMP,26.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,50.5,20.1
$SC_FREEKB,3893664
$24V_AH,13.47,98.679
$10V_AH,13.56,0.000
$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,27.975,13.850,331.450,112.275,0.000,26.208,39.205,199.938,0.750,0.000,20.796,434.629,144.278,480.920,683.219,68.531,0.000,732.002,0.000,342.696,0.000,7.137,0.000
$DEVICE_MAMPS,323.595,84.150,911.880,686.205,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.008,0.000,0.000,0.000
$MEM,339540
$DATA_FILE_SIZE,6804,221
$CAP_FILE_SIZE,44616,0
$CFSIZE,1023623168,1014382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.425,34.53,1
$GPS,020419,030101,-2853.516,3214.276,22,0.8,27,-23.7,0.4,101.1,11,7.0