version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 62
start: 4 2 119 5 25 28
data:
$ID,573
$MISSION,30
$DIVE,62
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,020419,051731,-2852.3445,3216.3127,36,0.9,39,-23.7,1.1,67.8,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.9
$GPS2,020419,052504,-2852.2822,3216.4358,17,1.3,18,-23.7,0.7,78.5,9,8.7
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.890,3225.198
$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,158.5,20000,-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,-146.0,72,1979,585,577,0.0,0.0,0,114,0.00,0.00,-92.03,0.000,16386,0.000,0.000,72,1975,3119,3121,3118,0,0,0,0,0,0,15.07,28.83,15.07
$GC,117,-0.86,-146.0,72,1975,3121,3119,3.2,-7.5,16,144,12.68,2.38,-5.18,0.000,18692,0.317,0.085,2196,3390,3409,3442,3377,0,0,0,0,0,0,14.57,13.47,14.87
$GC,326,-0.86,-146.0,2196,3390,3443,3377,48.4,-18.0,56,333,0.05,2.28,0.00,0.000,3078,0.340,0.040,2207,1990,3410,3443,3377,0,0,0,0,0,0,14.68,14.90,14.90
$GC,398,-0.86,-146.0,2206,1989,3443,3377,61.0,-18.2,69,406,0.00,2.33,0.00,0.000,2564,0.000,0.062,2206,584,3410,3444,3377,0,0,0,0,0,0,15.14,14.77,15.15
$GC,412,-0.86,-146.0,2206,585,3444,3377,63.7,-17.7,71,419,0.00,2.28,0.00,0.000,3078,0.000,0.044,2204,1991,3410,3443,3377,0,0,0,0,0,0,15.01,14.92,15.02
$GC,485,-0.86,-146.0,2203,1991,3443,3381,74.3,-14.9,84,491,0.00,2.35,0.00,0.000,2308,0.000,0.064,2204,3392,3410,3444,3377,0,0,0,0,0,0,15.14,14.81,15.14
$GC,563,-0.86,-146.0,2203,3393,3443,3377,88.0,-17.8,99,570,0.00,2.28,0.00,0.000,3078,0.000,0.036,2204,1982,3410,3444,3377,0,0,0,0,0,0,15.02,14.92,15.02
$STATE,585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,585,begin apogee
$GC,589,-0.19,0.0,2204,1979,3444,3377,92.5,-19.7,103,703,1.10,0.00,106.15,0.971,10246,0.178,0.000,2421,1979,2811,2845,2777,0,0,0,0,0,0,14.69,14.62,14.13
$STATE,705,end apogee,CONTROL_FINISHED_OK
$STATE,705,begin climb
$GC,707,0.86,146.0,2421,1979,2845,2777,97.1,0.0,122,823,1.55,0.00,107.88,0.962,10502,0.097,0.000,2750,1979,2214,2254,2175,0,0,0,0,0,0,14.59,14.54,14.06
$GC,884,0.86,146.0,2750,1979,2249,2173,85.1,13.4,153,892,0.00,2.38,0.00,0.000,2564,0.000,0.063,2751,573,2210,2247,2173,0,0,0,0,0,0,14.90,14.65,14.90
$GC,975,0.94,211.4,2750,573,2246,2173,79.3,7.1,170,1034,0.10,2.30,49.95,0.940,11270,0.141,0.042,2812,1995,1947,1990,1904,0,0,0,0,0,0,14.80,14.80,14.15
$GC,1098,0.95,215.3,2812,1995,1985,1903,69.1,9.9,192,1112,0.08,2.35,3.83,0.651,12548,0.269,0.059,2793,3381,1936,1982,1891,0,0,0,0,0,0,14.62,14.64,14.14
$GC,1225,0.95,215.3,2793,3381,1973,1890,56.9,11.6,216,1231,0.00,2.28,0.00,0.000,1030,0.000,0.041,2793,1984,1931,1973,1890,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1294,1.10,340.0,2793,1983,1973,1889,51.2,4.3,229,1397,0.10,2.42,95.20,0.926,10756,0.142,0.069,2855,588,1424,1478,1371,0,0,0,0,0,0,14.78,14.59,14.14
$GC,1514,1.10,340.0,2854,591,1473,1370,26.9,12.2,269,1522,0.00,2.28,0.00,0.000,5126,0.000,0.039,2855,1988,1421,1472,1370,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1585,1.10,340.0,2854,1988,1471,1368,18.4,11.4,282,1591,0.00,2.35,0.00,0.000,4356,0.000,0.063,2855,3386,1420,1472,1368,0,0,0,0,0,0,15.04,14.78,15.05
$GC,1613,1.10,340.0,2854,3386,1470,1367,14.8,13.4,287,1620,0.05,2.30,0.00,0.000,5126,0.360,0.041,2848,1981,1419,1471,1367,0,0,0,0,0,0,14.57,14.75,14.81
$GC,1683,1.10,340.0,2847,1981,1471,1367,5.9,14.0,300,1689,0.00,0.00,0.00,0.000,4102,0.000,0.000,2848,1981,1419,1471,1367,0,0,0,0,0,0,15.08,15.08,15.08
$STATE,1708,end climb,SURFACE_DEPTH_REACHED
$STATE,1708,begin surface coast
$FINISH,0.3,1.023700
$STATE,1736,end surface coast,CONTROL_FINISHED_OK
$STATE,1736,begin surface
$SM_CCo,1757,108.43,0.720,0,0,599,542.59
$SM_GC,0.80,12.57,0.00,108.43,0.056,0.000,0.720,138,1979,599,-7.31,-0.23,542.59,0,0,0,0,0,0,14.84,15.12,14.28
$IRIDIUM_FIX,-2838.37,3153.54,020419,044207
$TT8_MAMPS,0.019474,0.92127
$HUMID,55.15
$INTERNAL_PRESSURE,9.44336
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,70.8,36.0
$SC_FREEKB,3891104
$24V_AH,13.47,99.465
$10V_AH,13.74,0.000
$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,28.275,32.525,363.000,108.425,0.000,24.939,38.773,228.690,1.250,0.000,18.684,639.444,219.636,538.044,853.384,85.930,0.000,871.162,0.000,474.157,0.000,10.221,0.000
$DEVICE_MAMPS,359.550,84.915,970.785,719.865,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.893,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10171,310
$CAP_FILE_SIZE,62405,0
$CFSIZE,1023623168,1013923840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.470,43.24,1
$GPS,020419,055729,-2852.106,3216.929,16,0.8,18,-23.7,0.9,50.5,11,7.7