version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 89
start: 4 4 119 5 5 25
data:
$ID,573
$MISSION,30
$DIVE,89
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,290
$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,0
$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,34
$R_STBD_OVSHOOT,37
$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,2
$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
$GPS1,040419,045011,-2902.5786,3210.6274,23,0.9,30,-23.9,0.7,217.2,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-59.8
$GPS2,040419,050500,-2902.8755,3210.6055,29,0.8,38,-23.9,2.0,190.1,11,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2859.182,3159.004
$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,313.9,20000,-18.3,-10.010,-21.05,2234
$D_GRID,1000
$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,-146.0,72,1983,585,577,0.0,0.0,0,120,0.00,0.00,-98.07,0.000,16386,0.000,0.000,72,1987,3266,3281,3252,0,0,0,0,0,0,14.97,28.83,14.98
$GC,124,-0.86,-146.0,72,1984,3281,3250,3.7,-9.4,18,149,12.68,2.45,-2.35,0.000,18692,0.311,0.086,2196,3391,3411,3441,3381,0,0,0,0,0,0,14.33,13.34,14.52
$GC,236,-0.86,-146.0,2195,3392,3442,3381,33.9,-16.7,39,243,0.05,2.35,0.00,0.000,3078,0.335,0.040,2207,1972,3412,3443,3381,0,0,0,0,0,0,14.55,14.71,14.77
$GC,306,-0.86,-146.0,2207,1972,3443,3381,43.7,-14.5,52,313,0.00,2.45,0.00,0.000,2308,0.000,0.066,2204,3388,3415,3451,3380,0,0,0,0,0,0,15.05,14.73,15.05
$GC,345,-0.86,-146.0,2203,3387,3443,3380,49.2,-13.5,59,352,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1991,3412,3444,3380,0,0,0,0,0,0,14.84,14.74,14.85
$STATE,359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,359,begin apogee
$GC,363,-0.19,0.0,2204,1990,3443,3380,51.0,-13.4,61,480,1.10,0.00,107.45,0.923,10246,0.177,0.000,2420,1988,2811,2846,2777,0,0,0,0,0,0,14.57,14.41,14.03
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,483,0.86,146.0,2419,1988,2846,2777,56.5,0.0,82,601,1.58,2.45,109.07,0.918,10756,0.108,0.069,2749,580,2214,2254,2174,0,0,0,0,0,0,14.49,14.34,13.95
$GC,623,0.94,213.2,2749,580,2250,2174,50.5,6.9,106,685,0.10,2.35,52.53,0.897,11270,0.142,0.041,2801,1995,1940,1984,1897,0,0,0,0,0,0,14.46,14.47,13.96
$GC,749,0.95,223.7,2801,1995,1979,1893,38.2,9.5,129,767,0.00,2.42,8.93,0.799,12548,0.000,0.065,2803,3392,1898,1941,1855,0,0,0,0,0,0,14.83,14.52,14.03
$GC,834,0.95,223.7,2801,3392,1939,1853,29.9,11.3,145,841,0.00,2.35,0.00,0.000,5126,0.000,0.042,2804,1982,1896,1939,1853,0,0,0,0,0,0,14.70,14.62,14.71
$GC,904,1.01,270.6,2803,1982,1938,1854,24.0,7.9,158,939,0.00,2.42,28.25,0.838,10500,0.000,0.058,2804,3401,1706,1757,1656,0,0,0,0,0,0,14.96,14.50,14.10
$GC,951,1.09,332.6,2803,3401,1754,1655,20.4,7.2,166,998,0.05,2.38,36.78,0.821,11270,0.252,0.047,2848,1987,1453,1507,1400,0,0,0,0,0,0,14.59,14.66,14.04
$GC,1060,1.09,332.6,2847,1987,1503,1396,9.2,11.2,186,1067,0.00,2.42,0.00,0.000,4356,0.000,0.060,2847,3394,1449,1502,1396,0,0,0,0,0,0,14.90,14.64,14.90
$GC,1093,1.09,332.6,2847,3394,1501,1396,5.2,12.4,192,1100,0.00,2.38,0.00,0.000,5126,0.000,0.046,2849,1981,1448,1501,1396,0,0,0,0,0,0,14.76,14.69,14.76
$STATE,1110,end climb,SURFACE_DEPTH_REACHED
$STATE,1110,begin surface coast
$FINISH,0.3,1.023820
$STATE,1132,end surface coast,CONTROL_FINISHED_OK
$STATE,1132,begin surface
$SM_CCo,1153,113.85,0.707,0,0,598,542.59
$SM_GC,0.64,12.57,0.00,113.85,0.047,0.000,0.707,142,1978,598,-7.28,-0.25,542.59,0,0,0,0,0,0,14.73,14.98,14.12
$IRIDIUM_FIX,-2850.67,3211.82,040419,031438
$TT8_MAMPS,0.019474,0.888314
$HUMID,51.96
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,51.0,6.8
$SC_FREEKB,3877920
$24V_AH,13.34,107.273
$10V_AH,13.39,0.000
$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,28.125,28.725,343.000,113.850,0.000,25.621,43.641,554.882,0.750,0.000,38.779,353.947,117.513,509.862,1070.441,108.475,0.000,769.385,0.000,307.461,0.000,7.084,0.000
$DEVICE_MAMPS,335.070,86.445,923.355,706.860,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1206.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.432,0.000,0.000,0.000
$MEM,339540
$DATA_FILE_SIZE,6856,199
$CAP_FILE_SIZE,54058,0
$CFSIZE,1023623168,1010368512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,052728,-2903.109,3210.369,18,0.8,19,-23.9,0.8,194.6,11,8.0