version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 60
start: 4 2 119 4 12 5
data:
$ID,573
$MISSION,30
$DIVE,60
$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,40
$R_STBD_OVSHOOT,43
$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
$GPS1,020419,040500,-2852.9341,3215.0820,16,0.8,18,-23.7,0.8,30.5,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.3
$GPS2,020419,041141,-2852.8762,3215.1707,18,0.8,20,-23.7,0.4,106.7,11,9.2
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.595,3224.836
$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,152.2,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.86,-146.0,72,1979,587,576,0.0,0.0,0,119,0.00,0.00,-97.53,0.000,16386,0.000,0.000,72,1980,3347,3365,3330,0,0,0,0,0,0,15.07,28.83,15.08
$GC,123,-0.86,-146.0,72,1980,3366,3330,4.4,-11.9,17,143,12.68,2.40,-1.00,0.000,18692,0.324,0.078,2195,3394,3409,3438,3381,0,0,0,0,0,0,14.57,13.46,14.88
$GC,418,-0.86,-146.0,2194,3394,3441,3380,68.8,-15.5,74,425,0.08,2.28,0.00,0.000,3078,0.288,0.039,2210,1984,3411,3442,3380,0,0,0,0,0,0,14.71,14.92,14.92
$STATE,434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,434,begin apogee
$GC,438,-0.19,0.0,2210,1982,3441,3380,71.3,-17.8,76,550,1.08,0.00,104.97,0.938,10246,0.189,0.000,2421,1981,2811,2845,2778,0,0,0,0,0,0,14.69,14.65,14.16
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,554,0.86,146.0,2421,1981,2845,2778,78.6,0.0,95,670,1.58,2.45,107.28,0.936,11012,0.118,0.057,2747,3390,2214,2253,2175,0,0,0,0,0,0,14.58,14.49,14.09
$GC,818,1.05,295.6,2747,3390,2248,2174,70.5,3.2,143,941,0.22,2.30,112.30,0.929,11270,0.080,0.039,2842,1979,1603,1654,1552,0,0,0,0,0,0,14.83,14.80,14.10
$GC,1004,1.05,295.6,2841,1979,1650,1548,51.2,12.7,176,1012,0.05,2.38,0.00,0.000,4356,0.328,0.055,2829,3387,1600,1653,1548,0,0,0,0,0,0,14.59,14.61,14.73
$GC,1109,1.05,295.6,2828,3387,1647,1546,37.9,13.0,196,1116,0.00,2.28,0.00,0.000,5126,0.000,0.041,2829,1987,1597,1648,1546,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1179,1.05,295.6,2829,1987,1647,1546,30.5,10.6,209,1186,0.00,2.33,0.00,0.000,4612,0.000,0.069,2829,589,1596,1647,1546,0,0,0,0,0,0,15.07,14.72,15.07
$GC,1213,1.05,295.6,2825,589,1647,1546,26.8,11.0,215,1220,0.00,2.25,0.00,0.000,5126,0.000,0.037,2829,1994,1596,1647,1545,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1284,1.05,302.3,2829,1995,1646,1546,19.8,9.8,228,1293,0.00,2.40,2.50,0.422,8708,0.000,0.067,2829,589,1578,1629,1527,0,0,0,0,0,0,15.10,14.82,14.19
$GC,1316,1.08,320.5,2828,588,1629,1527,16.6,9.3,233,1334,0.00,2.25,10.40,0.747,11270,0.000,0.040,2829,1986,1504,1555,1453,0,0,0,0,0,0,14.95,14.86,14.33
$GC,1396,1.08,320.5,2828,1986,1552,1450,8.2,10.9,248,1403,0.00,2.35,0.00,0.000,2308,0.000,0.062,2829,3388,1501,1552,1450,0,0,0,0,0,0,15.11,14.85,15.11
$GC,1420,1.08,320.5,2829,3388,1551,1453,5.5,11.8,252,1428,0.00,2.28,0.00,0.000,3078,0.000,0.041,2829,1991,1501,1552,1450,0,0,0,0,0,0,14.93,14.84,14.95
$STATE,1443,end climb,SURFACE_DEPTH_REACHED
$STATE,1443,begin surface coast
$FINISH,0.1,1.023667
$STATE,1470,end surface coast,CONTROL_FINISHED_OK
$STATE,1471,begin surface
$SM_CCo,1492,118.20,0.704,0,0,598,542.59
$SM_GC,0.77,12.48,0.00,118.20,0.056,0.000,0.704,134,1988,598,-7.30,0.03,542.59,0,0,0,0,0,0,14.90,15.14,14.29
$IRIDIUM_FIX,-2840.83,3214.68,020419,033407
$TT8_MAMPS,0.019474,0.911533
$HUMID,54.01
$INTERNAL_PRESSURE,9.45313
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,71.3,11.4
$SC_FREEKB,3892128
$24V_AH,13.46,99.135
$10V_AH,13.76,0.000
$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,28.150,27.925,337.450,118.200,0.000,24.349,16.438,208.552,1.500,0.000,20.837,527.190,181.186,513.749,730.428,77.154,0.000,803.120,0.000,402.706,0.000,14.410,0.000
$DEVICE_MAMPS,328.185,78.030,937.890,703.800,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1493.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.850,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,6806,261
$CAP_FILE_SIZE,53664,0
$CFSIZE,1023623168,1014120448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.498,42.11,1
$GPS,020419,043955,-2852.641,3215.628,20,0.8,23,-23.7,0.7,352.8,11,9.2