version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 58
start: 4 2 119 3 8 11
data:
$ID,573
$MISSION,30
$DIVE,58
$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,36
$R_STBD_OVSHOOT,51
$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
$GPS1,020419,030101,-2853.5164,3214.2759,22,0.8,27,-23.7,0.4,101.1,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-58.4
$GPS2,020419,030747,-2853.4495,3214.3462,17,0.8,18,-23.7,0.9,9.0,12,8.6
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.570,3224.518
$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,148.2,20000,-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,-146.0,73,1991,587,576,0.0,0.0,0,119,0.00,0.00,-96.53,0.000,16386,0.000,0.000,73,1991,3302,3319,3285,0,0,0,0,0,0,15.07,28.83,15.08
$GC,122,-0.86,-146.0,73,1991,3319,3289,4.2,-11.2,17,143,12.73,2.38,-1.73,0.000,18692,0.326,0.083,2193,3380,3409,3438,3380,0,0,0,0,0,0,14.53,13.46,14.74
$STATE,344,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,344,begin apogee
$GC,350,-0.19,0.0,2193,1977,3441,3380,56.9,-15.6,59,462,1.17,0.00,104.82,0.912,10246,0.186,0.000,2421,1975,2810,2844,2777,0,0,0,0,0,0,14.58,14.63,14.16
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,466,0.86,146.0,2421,1975,2844,2778,65.3,0.0,78,585,1.58,2.35,107.10,0.908,10756,0.116,0.063,2749,589,2215,2253,2177,0,0,0,0,0,0,14.59,14.45,14.09
$GC,632,0.99,248.9,2749,586,2248,2172,61.7,5.3,106,721,0.17,2.28,78.55,0.898,11270,0.091,0.040,2826,1992,1795,1840,1750,0,0,0,0,0,0,14.69,14.63,14.05
$GC,785,1.03,281.7,2825,1992,1835,1744,48.9,8.6,133,820,0.00,2.35,26.15,0.863,12548,0.000,0.060,2826,3367,1664,1717,1611,0,0,0,0,0,0,14.92,14.58,14.14
$GC,968,1.06,309.9,2825,3367,1704,1607,28.9,8.8,168,994,0.00,2.25,19.88,0.841,9222,0.000,0.042,2828,1989,1547,1598,1496,0,0,0,0,0,0,14.91,14.83,14.28
$GC,1056,1.08,319.7,2827,1992,1595,1492,20.2,9.6,184,1071,0.00,2.40,5.12,0.646,10756,0.000,0.067,2828,584,1506,1557,1456,0,0,0,0,0,0,15.03,14.72,14.25
$GC,1110,1.08,320.9,2827,584,1555,1456,15.0,10.0,193,1116,0.00,2.25,0.00,0.000,3078,0.000,0.036,2828,1996,1505,1555,1456,0,0,0,0,0,0,14.93,14.85,14.95
$GC,1179,1.08,320.9,2827,1996,1554,1456,7.6,11.4,206,1185,0.00,2.30,0.00,0.000,2308,0.000,0.063,2828,3374,1505,1555,1455,0,0,0,0,0,0,15.08,14.83,15.08
$GC,1207,1.08,320.9,2828,3374,1554,1454,3.5,15.9,211,1214,0.00,2.25,0.00,0.000,3078,0.000,0.039,2828,1988,1504,1555,1454,0,0,0,0,0,0,14.92,14.81,14.93
$STATE,1219,end climb,SURFACE_DEPTH_REACHED
$STATE,1219,begin surface coast
$FINISH,0.2,1.023675
$STATE,1241,end surface coast,CONTROL_FINISHED_OK
$STATE,1241,begin surface
$SM_CCo,1262,118.05,0.697,0,0,599,542.59
$SM_GC,0.79,12.50,0.00,118.05,0.055,0.000,0.697,135,1986,599,-7.31,-0.03,542.59,0,0,0,0,0,0,14.85,15.13,14.28
$IRIDIUM_FIX,-2843.29,3218.07,020419,023143
$TT8_MAMPS,0.019474,0.589463
$HUMID,52.59
$INTERNAL_PRESSURE,9.47266
$TCM_TEMP,26.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,50.2,21.1
$SC_FREEKB,3893152
$24V_AH,13.46,98.828
$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,28.150,23.100,341.625,118.050,0.000,29.746,22.499,206.667,0.750,0.000,19.035,422.293,138.065,507.761,668.072,69.805,0.000,765.419,0.000,335.783,0.000,7.126,0.000
$DEVICE_MAMPS,325.890,83.385,911.880,696.915,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1260.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.494,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,6820,217
$CAP_FILE_SIZE,46313,0
$CFSIZE,1023623168,1014300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.433,34.17,1
$GPS,020419,033207,-2853.238,3214.632,13,0.9,18,-23.7,0.5,261.1,10,8.5