version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 251
start: 4 17 119 23 24 40
data:
$ID,573
$MISSION,30
$DIVE,251
$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,335
$T_MISSION,345
$T_ABORT,360
$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,200
$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,260
$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,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,33
$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,80
$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
$GPS1,170419,231648,-3129.3542,2954.3135,16,0.9,36,-26.1,1.0,233.8,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-64.8
$GPS2,170419,232415,-3129.5271,2954.0708,19,0.8,24,-26.1,1.3,211.2,11,9.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3131.402,2941.594
$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,286.1,20000,-15.6,-9.950,-18.64,2991
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,91,2015,589,575,0.0,0.0,0,116,0.00,0.00,-92.57,0.000,16386,0.000,0.000,79,2016,3135,3140,3131,0,0,0,0,0,0,15.02,28.83,15.03
$GC,120,-0.82,-194.6,79,2016,3141,3131,3.2,-7.2,17,150,12.75,2.42,-7.88,0.000,18948,0.312,0.083,2217,610,3608,3675,3541,0,0,0,0,0,0,14.38,13.02,14.75
$GC,223,-0.82,-194.6,2217,610,3677,3541,29.7,-16.4,36,230,0.00,2.33,0.00,0.000,3078,0.000,0.046,2217,2021,3611,3682,3541,0,0,0,0,0,0,14.90,14.79,14.92
$GC,293,-0.82,-194.6,2216,2021,3676,3541,40.4,-15.6,49,299,0.00,2.40,0.00,0.000,2308,0.000,0.076,2216,3414,3609,3678,3541,0,0,0,0,0,0,15.07,14.74,15.07
$GC,527,-0.82,-194.6,2216,3414,3677,3541,70.9,-11.3,95,534,0.00,2.30,0.00,0.000,3078,0.000,0.037,2216,2011,3609,3677,3541,0,0,0,0,0,0,14.95,14.86,14.97
$GC,597,-0.82,-194.6,2216,2011,3677,3541,77.4,-9.8,108,603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2011,3609,3677,3541,0,0,0,0,0,0,15.09,15.10,15.09
$STATE,660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,662,begin apogee
$GC,666,-0.19,0.0,2216,2011,3677,3541,84.3,-10.0,120,816,1.02,0.00,142.52,0.928,10246,0.151,0.000,2421,2009,2810,2857,2763,0,0,0,0,0,0,14.59,14.43,13.86
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,820,0.82,194.6,2421,2009,2856,2764,90.3,0.0,147,976,1.50,2.55,144.07,0.923,10756,0.095,0.070,2737,571,2014,2056,1972,0,0,0,0,0,0,14.48,14.41,13.86
$GC,1089,0.87,240.2,2736,570,2053,1972,72.6,8.4,196,1135,0.05,2.30,35.62,0.883,11270,0.255,0.041,2782,1975,1831,1877,1785,0,0,0,0,0,0,14.59,14.71,13.90
$GC,1197,0.92,280.8,2781,1975,1872,1783,62.7,8.6,216,1237,0.00,2.40,32.53,0.884,10500,0.000,0.064,2782,3360,1666,1717,1615,0,0,0,0,0,0,14.93,14.44,13.95
$GC,1265,0.93,284.9,2782,3361,1714,1614,56.7,9.8,228,1278,0.00,2.33,4.55,0.677,11270,0.000,0.041,2783,1963,1650,1701,1599,0,0,0,0,0,0,14.67,14.56,13.87
$GC,1341,1.02,357.2,2783,1963,1699,1598,50.8,7.5,242,1403,0.05,0.00,58.03,0.883,10758,0.253,0.000,2827,1962,1353,1411,1296,0,0,0,0,0,0,14.66,14.54,13.95
$GC,1465,1.07,400.6,2826,1962,1409,1294,39.5,8.5,265,1506,0.00,2.50,34.38,0.868,10500,0.000,0.064,2827,3363,1178,1238,1118,0,0,0,0,0,0,14.90,14.50,13.95
$GC,1553,1.07,400.6,2827,3363,1239,1118,31.6,10.4,281,1561,0.00,2.35,0.00,0.000,3078,0.000,0.042,2826,1961,1178,1239,1117,0,0,0,0,0,0,14.78,14.68,14.80
$GC,1624,1.11,428.3,2827,1961,1239,1118,25.5,9.0,294,1648,0.00,2.47,18.10,0.819,10500,0.000,0.063,2828,3361,1065,1123,1007,0,0,0,0,0,0,14.96,14.60,13.97
$GC,1671,1.13,448.6,2827,3360,1122,1006,20.9,9.3,302,1691,0.00,2.33,12.75,0.771,11270,0.000,0.041,2828,1963,982,1039,925,0,0,0,0,0,0,14.76,14.66,14.06
$GC,1753,1.18,491.0,2828,1963,1039,922,14.4,8.5,317,1782,0.08,0.00,25.35,0.754,10758,0.178,0.000,2884,1964,808,849,768,0,0,0,0,0,0,14.64,14.60,14.04
$GC,1844,1.18,491.0,2884,1963,852,759,4.3,10.5,334,1851,0.05,2.42,0.00,0.000,4612,0.324,0.075,2872,557,805,853,758,0,0,0,0,0,0,14.57,14.67,14.71
$STATE,1856,end climb,SURFACE_DEPTH_REACHED
$STATE,1856,begin surface coast
$FINISH,1.5,1.023768
$STATE,1868,end surface coast,CONTROL_FINISHED_OK
$STATE,1868,begin surface
$SM_CCo,1892,29.23,0.674,0,0,599,542.59
$SM_GC,0.74,12.68,2.42,29.23,0.046,0.038,0.674,146,2016,599,-7.27,-1.10,542.59,0,0,0,0,0,0,14.78,14.78,14.11
$IRIDIUM_FIX,-3115.19,2956.29,170419,223803
$TT8_MAMPS,0.019474,0.872585
$HUMID,53.26
$INTERNAL_PRESSURE,9.25781
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,80.4,18.4
$SC_FREEKB,3790784
$24V_AH,13.02,152.633
$10V_AH,13.51,0.000
$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,28.175,33.525,507.900,29.225,0.000,23.253,42.733,185.490,0.750,0.000,25.196,604.317,239.593,552.808,867.562,119.138,0.000,932.823,0.000,517.365,0.000,7.115,0.000
$DEVICE_MAMPS,324.360,83.385,927.945,673.965,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.618,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10167,338
$CAP_FILE_SIZE,64454,0
$CFSIZE,1023623168,985923584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170419,235755,-3129.810,2953.293,27,0.8,35,-26.1,1.0,218.7,11,9.2