version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 91
start: 4 4 119 6 26 2
data:
$ID,573
$MISSION,30
$DIVE,91
$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,110
$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,39
$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
$GPS1,040419,061836,-2903.3743,3209.9131,15,0.8,17,-23.9,0.6,195.2,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-61.4
$GPS2,040419,062538,-2903.5056,3209.8884,18,0.8,23,-23.9,0.7,124.6,11,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,-2907.199,3221.505
$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,133.9,20000,-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,-146.0,74,1982,583,577,0.0,0.0,0,116,0.00,0.00,-93.65,0.000,16386,0.000,0.000,72,1982,3131,3132,3131,0,0,0,0,0,0,15.00,28.83,15.01
$GC,120,-0.86,-146.0,72,1982,3133,3130,3.4,-7.9,17,144,12.68,2.35,-4.60,0.000,18948,0.312,0.082,2204,580,3412,3444,3380,0,0,0,0,0,0,14.41,13.88,14.61
$GC,211,-0.86,-146.0,2204,579,3446,3381,30.2,-20.9,34,218,0.00,2.33,0.00,0.000,3078,0.000,0.044,2204,1989,3412,3444,3381,0,0,0,0,0,0,14.90,14.80,14.92
$GC,280,-0.86,-146.0,2203,1990,3445,3380,43.5,-17.4,47,286,0.00,2.40,0.00,0.000,2308,0.000,0.069,2203,3391,3413,3446,3381,0,0,0,0,0,0,15.07,14.74,15.07
$GC,313,-0.86,-146.0,2204,3393,3446,3381,48.8,-15.3,53,320,0.00,2.30,0.00,0.000,3078,0.000,0.037,2204,1988,3413,3446,3381,0,0,0,0,0,0,14.92,14.83,14.94
$GC,383,-0.86,-146.0,2203,1988,3446,3381,58.7,-15.0,66,390,0.00,2.38,0.00,0.000,2564,0.000,0.068,2204,579,3413,3446,3381,0,0,0,0,0,0,15.07,14.77,15.07
$STATE,397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,397,begin apogee
$GC,404,-0.19,0.0,2204,1993,3446,3381,61.0,-15.0,68,521,1.12,0.00,107.60,0.942,10246,0.176,0.000,2424,1994,2810,2845,2776,0,0,0,0,0,0,14.61,14.43,14.04
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,524,0.86,146.0,2423,1994,2845,2776,67.0,0.0,89,640,1.55,0.00,109.47,0.932,10246,0.104,0.000,2747,1994,2214,2254,2174,0,0,0,0,0,0,14.51,14.31,13.95
$GC,703,0.94,211.5,2747,1994,2249,2172,58.6,7.0,121,760,0.08,2.50,51.17,0.907,10756,0.177,0.069,2804,580,1947,1990,1904,0,0,0,0,0,0,14.58,14.47,13.98
$GC,797,0.94,211.5,2803,580,1986,1904,50.0,10.7,138,804,0.00,2.33,0.00,0.000,5126,0.000,0.039,2804,1999,1944,1986,1903,0,0,0,0,0,0,14.71,14.63,14.72
$GC,867,0.94,211.5,2804,1993,1985,1902,42.3,10.9,151,874,0.00,2.42,0.00,0.000,4612,0.000,0.071,2804,584,1943,1985,1901,0,0,0,0,0,0,14.90,14.64,14.90
$GC,901,0.94,217.8,2804,584,1983,1901,39.0,9.7,157,914,0.00,2.30,5.43,0.728,13318,0.000,0.039,2804,1981,1923,1967,1880,0,0,0,0,0,0,14.80,14.71,14.07
$GC,976,0.97,238.4,2804,1986,1965,1879,32.0,9.1,171,999,0.00,0.00,18.25,0.861,12294,0.000,0.000,2804,1980,1836,1882,1791,0,0,0,0,0,0,14.99,14.69,14.14
$GC,1061,1.02,276.2,2804,1982,1877,1788,24.6,8.3,187,1090,0.00,2.40,22.80,0.838,10756,0.000,0.070,2804,579,1682,1733,1632,0,0,0,0,0,0,14.97,14.54,14.12
$GC,1138,1.05,303.2,2804,579,1728,1632,17.8,8.8,201,1162,0.00,2.30,15.30,0.780,11270,0.000,0.039,2803,1992,1573,1626,1521,0,0,0,0,0,0,14.83,14.75,14.11
$GC,1224,1.09,337.4,2804,1992,1622,1517,10.0,8.4,217,1249,0.08,2.40,18.52,0.739,10500,0.181,0.065,2857,3386,1433,1486,1381,0,0,0,0,0,0,14.73,14.69,14.16
$STATE,1275,end climb,SURFACE_DEPTH_REACHED
$STATE,1275,begin surface coast
$FINISH,0.7,1.023821
$STATE,1291,end surface coast,CONTROL_FINISHED_OK
$STATE,1291,begin surface
$SM_CCo,1314,111.25,0.714,0,0,599,542.59
$SM_GC,0.59,12.62,2.38,111.25,0.054,0.046,0.714,149,1994,599,-7.27,0.99,542.59,0,0,0,0,0,0,14.72,14.72,14.12
$IRIDIUM_FIX,-2850.67,3209.73,040419,052923
$TT8_MAMPS,0.019474,0.910035
$HUMID,53.07
$INTERNAL_PRESSURE,9.3457
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,61.0,6.9
$SC_FREEKB,3876896
$24V_AH,13.88,107.607
$10V_AH,13.45,0.000
$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,28.125,33.125,348.550,111.250,0.000,23.871,20.493,199.708,1.000,0.000,23.605,428.481,147.869,511.729,697.331,76.960,0.000,790.835,0.000,352.340,0.000,9.550,0.000
$DEVICE_MAMPS,312.120,81.855,942.480,713.745,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1334.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.970,0.000,0.000,0.000
$MEM,339580
$DATA_FILE_SIZE,6817,229
$CAP_FILE_SIZE,52963,0
$CFSIZE,1023623168,1010188288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040419,065048,-2903.757,3209.924,21,0.9,23,-23.9,0.9,201.1,8,8.4