version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 284
start: 4 20 119 14 49 16
data:
$ID,573
$MISSION,30
$DIVE,284
$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,180
$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,40
$R_STBD_OVSHOOT,42
$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
$GPS1,200419,144110,-3215.8606,2905.1482,18,0.9,19,-26.7,2.5,219.3,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-59.5
$GPS2,200419,144851,-3216.1575,2904.7610,15,1.0,21,-26.7,1.7,252.1,9,9.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3226.957,2904.761
$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,206.7,20000,-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,-194.6,71,2008,595,572,0.0,0.0,0,111,0.00,0.00,-87.40,0.000,16386,0.000,0.000,72,2008,3027,3029,3025,0,0,0,0,0,0,15.05,28.83,15.06
$GC,116,-0.82,-194.6,71,2008,3028,3025,3.5,-8.7,16,146,12.65,2.45,-9.75,0.000,18692,0.305,0.093,2209,3404,3607,3674,3540,0,0,0,0,0,0,14.44,13.88,14.63
$GC,400,-0.82,-194.6,2209,3407,3677,3540,60.7,-12.1,71,407,0.05,2.30,0.00,0.000,3078,0.315,0.038,2221,2004,3608,3677,3540,0,0,0,0,0,0,14.57,14.75,14.77
$GC,471,-0.82,-194.6,2221,2004,3676,3541,69.2,-12.5,84,477,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2004,3608,3677,3540,0,0,0,0,0,0,15.13,15.13,15.13
$GC,539,-0.82,-194.6,2221,2004,3673,3540,77.7,-12.5,97,546,0.00,2.35,0.00,0.000,2564,0.000,0.067,2222,617,3609,3677,3541,0,0,0,0,0,0,15.13,14.69,15.14
$GC,595,-0.82,-194.6,2220,616,3677,3541,84.2,-11.4,107,602,0.00,2.28,0.00,0.000,3078,0.000,0.044,2221,2008,3608,3677,3540,0,0,0,0,0,0,14.92,14.81,14.93
$STATE,607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,607,begin apogee
$GC,612,-0.19,0.0,2221,2008,3677,3540,85.6,-10.7,109,761,1.00,0.00,142.93,0.930,10246,0.152,0.000,2426,2008,2810,2858,2763,0,0,0,0,0,0,14.63,14.49,13.86
$STATE,763,end apogee,CONTROL_FINISHED_OK
$STATE,763,begin climb
$GC,765,0.82,194.6,2422,2007,2858,2763,92.7,0.0,136,921,1.48,2.53,145.48,0.929,10756,0.096,0.067,2734,568,2016,2061,1971,0,0,0,0,0,0,14.51,14.28,13.85
$GC,959,0.98,324.0,2734,567,2056,1970,87.9,5.5,170,1072,0.22,2.30,100.30,0.915,11270,0.078,0.040,2820,1978,1489,1543,1435,0,0,0,0,0,0,14.69,14.65,13.85
$GC,1136,0.98,324.0,2820,1978,1540,1434,67.7,14.0,202,1143,0.08,2.45,0.00,0.000,4612,0.262,0.070,2800,567,1486,1539,1433,0,0,0,0,0,0,14.56,14.59,14.66
$GC,1180,0.98,324.0,2800,566,1538,1434,62.0,12.7,210,1187,0.00,2.28,0.00,0.000,3078,0.000,0.037,2800,1968,1485,1538,1433,0,0,0,0,0,0,14.73,14.66,14.73
$GC,1251,0.98,324.0,2799,1969,1536,1432,54.4,10.5,223,1257,0.00,2.40,0.00,0.000,260,0.000,0.067,2799,3356,1485,1537,1433,0,0,0,0,0,0,15.01,14.64,15.02
$GC,1279,0.98,324.0,2799,3357,1536,1432,51.1,10.8,228,1286,0.00,2.30,0.00,0.000,1030,0.000,0.041,2800,1961,1484,1536,1433,0,0,0,0,0,0,14.88,14.79,14.90
$GC,1350,0.99,335.6,2799,1961,1536,1433,44.6,9.6,241,1369,0.00,2.42,10.07,0.813,10756,0.000,0.075,2800,566,1443,1497,1389,0,0,0,0,0,0,15.06,14.62,14.02
$GC,1403,1.00,344.3,2799,567,1496,1389,39.2,9.7,250,1421,0.00,2.28,8.73,0.795,11270,0.000,0.037,2800,1969,1406,1461,1351,0,0,0,0,0,0,14.91,14.82,13.99
$GC,1484,1.10,420.2,2799,1970,1459,1350,33.9,7.3,265,1552,0.08,2.50,61.38,0.880,10756,0.181,0.072,2848,558,1097,1156,1039,0,0,0,0,0,0,14.77,14.57,13.99
$GC,1596,1.23,527.9,2848,558,1156,1038,26.7,6.3,285,1678,0.08,2.30,73.05,0.845,11270,0.177,0.041,2901,1963,658,657,660,0,0,0,0,0,0,14.64,14.66,13.91
$GC,1741,1.23,527.9,2900,1963,657,643,11.6,11.7,311,1748,0.08,2.42,0.00,0.000,4612,0.261,0.073,2881,568,650,657,643,0,0,0,0,0,0,14.55,14.56,14.66
$GC,1775,1.23,527.9,2880,567,656,640,7.5,12.0,317,1782,0.00,2.28,0.00,0.000,1030,0.000,0.035,2881,1964,648,657,640,0,0,0,0,0,0,14.73,14.67,14.74
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,0.1,1.009976
$STATE,1854,end surface coast,CONTROL_FINISHED_OK
$STATE,1854,begin surface
$SM_CCo,1876,6.75,0.584,0,0,598,542.59
$SM_GC,0.51,12.55,0.00,6.75,0.035,0.000,0.584,128,1965,598,-7.30,-1.33,542.59,0,0,0,0,0,0,14.81,15.05,14.08
$IRIDIUM_FIX,-3203.33,2905.50,200419,140123
$TT8_MAMPS,0.019474,0.80143
$HUMID,54.01
$INTERNAL_PRESSURE,9.27734
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,80.1,19.9
$SC_FREEKB,3772864
$24V_AH,13.85,162.449
$10V_AH,13.09,0.000
$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,28.250,37.825,541.925,6.750,0.000,26.383,51.354,187.793,0.750,0.000,22.176,575.822,228.732,558.845,864.065,131.380,0.000,945.539,0.000,506.157,0.000,7.123,0.000
$DEVICE_MAMPS,315.180,92.565,930.240,583.695,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1896.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.490,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10169,332
$CAP_FILE_SIZE,64148,0
$CFSIZE,1023623168,981172224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,152135,-3217.164,2903.938,15,0.8,17,-26.8,1.4,260.1,10,9.0