version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 307
start: 4 21 119 16 3 2
data:
$ID,573
$MISSION,30
$DIVE,307
$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,41
$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
$GPS1,210419,155427,-3251.6616,2827.6250,22,0.8,28,-27.2,2.1,233.1,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.1
$GPS2,210419,160236,-3251.9094,2827.2371,38,0.9,48,-27.2,2.4,232.8,10,6.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3302.708,2827.237
$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,207.2,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.82,-194.6,72,2028,600,571,0.0,0.0,0,117,0.00,0.00,-92.43,0.000,16386,0.000,0.000,72,2028,3206,3221,3192,0,0,0,0,0,0,15.11,28.83,15.11
$GC,121,-0.82,-194.6,70,2033,3221,3192,4.2,-11.0,17,146,12.52,2.42,-6.22,0.000,18692,0.298,0.086,2209,3425,3608,3674,3543,0,0,0,0,0,0,14.49,13.15,14.69
$GC,174,-0.82,-194.6,2208,3425,3676,3543,23.4,-22.5,26,182,0.05,2.30,0.00,0.000,3078,0.334,0.038,2220,2014,3609,3676,3543,0,0,0,0,0,0,14.56,14.77,14.76
$GC,247,-0.82,-194.6,2220,2014,3677,3543,36.7,-19.4,39,252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2014,3609,3677,3542,0,0,0,0,0,0,15.14,15.15,15.15
$GC,315,-0.82,-194.6,2220,2014,3681,3543,50.4,-19.3,52,322,0.00,2.38,0.00,0.000,2564,0.000,0.065,2221,605,3610,3677,3543,0,0,0,0,0,0,15.15,14.75,15.15
$GC,384,-0.82,-194.6,2221,605,3677,3543,64.4,-18.4,65,391,0.00,2.33,0.00,0.000,3078,0.000,0.046,2219,2030,3609,3677,3542,0,0,0,0,0,0,14.92,14.90,14.93
$GC,455,-0.82,-194.6,2219,2030,3675,3542,74.4,-12.1,78,461,0.00,2.40,0.00,0.000,2564,0.000,0.063,2219,608,3609,3677,3542,0,0,0,0,0,0,15.17,14.76,15.17
$GC,479,-0.82,-194.6,2218,608,3677,3542,77.2,-11.2,82,486,0.00,2.28,0.00,0.000,3078,0.000,0.044,2217,2011,3610,3678,3542,0,0,0,0,0,0,15.02,14.92,15.04
$GC,552,-0.82,-194.6,2217,2015,3677,3542,85.7,-11.9,95,558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3609,3677,3542,0,0,0,0,0,0,15.17,15.17,15.17
$STATE,563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,563,begin apogee
$GC,568,-0.19,0.0,2217,2011,3677,3541,87.2,-11.6,97,717,1.00,0.00,142.00,0.914,10246,0.151,0.000,2421,2011,2811,2858,2764,0,0,0,0,0,0,14.73,14.54,13.93
$STATE,719,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,721,0.82,194.6,2421,2011,2857,2764,93.8,0.0,124,871,1.48,0.00,143.82,0.910,10502,0.094,0.000,2737,2013,2017,2062,1972,0,0,0,0,0,0,14.57,14.53,13.93
$GC,934,0.99,330.7,2737,2012,2056,1969,83.6,5.3,162,1048,0.20,2.55,103.93,0.897,10756,0.084,0.069,2825,560,1461,1515,1408,0,0,0,0,0,0,14.70,14.56,13.95
$GC,1102,1.01,348.6,2824,560,1514,1408,66.4,9.3,192,1126,0.00,2.30,15.10,0.833,13318,0.000,0.038,2825,1970,1390,1447,1333,0,0,0,0,0,0,14.73,14.66,13.98
$GC,1188,1.13,446.5,2824,1969,1445,1331,59.6,6.6,208,1271,0.00,0.00,77.65,0.877,10502,0.000,0.000,2824,1969,990,1048,932,0,0,0,0,0,0,15.03,14.59,14.01
$GC,1336,1.19,494.1,2824,1969,1048,929,48.4,8.3,235,1382,0.08,2.42,40.00,0.852,10500,0.179,0.067,2867,3355,796,830,762,0,0,0,0,0,0,14.76,14.57,14.04
$GC,1436,1.20,508.4,2868,3356,833,751,38.9,9.5,253,1455,0.00,2.30,13.15,0.800,11270,0.000,0.039,2868,1967,737,769,706,0,0,0,0,0,0,14.86,14.77,14.07
$GC,1517,1.21,514.2,2867,1967,770,694,30.9,9.7,268,1530,0.00,2.40,5.78,0.698,10756,0.000,0.070,2868,560,713,749,678,0,0,0,0,0,0,15.02,14.52,14.04
$GC,1588,1.24,537.7,2867,559,750,672,24.2,9.1,281,1612,0.00,2.28,15.93,0.781,11270,0.000,0.034,2868,1980,619,629,609,0,0,0,0,0,0,14.88,14.81,14.12
$GC,1675,1.24,537.7,2867,1981,628,597,15.8,10.2,297,1681,0.00,2.33,0.00,0.000,2308,0.000,0.065,2868,3350,612,629,596,0,0,0,0,0,0,15.07,14.80,15.07
$GC,1739,1.24,537.7,2868,3350,628,594,8.8,10.0,309,1745,0.00,2.28,0.00,0.000,3078,0.000,0.037,2867,1960,611,628,594,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,1795,end climb,SURFACE_DEPTH_REACHED
$STATE,1796,begin surface coast
$FINISH,0.4,1.023377
$STATE,1823,end surface coast,CONTROL_FINISHED_OK
$STATE,1823,begin surface
$SM_CCo,1845,1.30,0.097,0,0,599,542.59
$SM_GC,1.22,12.38,0.00,1.30,0.039,0.000,0.097,142,1960,599,-7.27,-1.50,542.59,0,0,0,0,0,0,14.91,15.15,14.84
$IRIDIUM_FIX,-3239.07,2828.64,210419,150949
$TT8_MAMPS,0.019474,0.908537
$HUMID,55.19
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,80.3,20.8
$SC_FREEKB,3761056
$24V_AH,13.15,167.840
$10V_AH,13.11,0.000
$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,27.700,32.950,557.350,1.300,0.000,23.789,38.061,193.675,0.750,0.000,49.078,559.276,212.946,560.189,874.469,140.791,0.000,945.382,0.000,499.850,0.000,7.135,0.000
$DEVICE_MAMPS,333.540,85.680,914.175,97.155,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.446,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10161,325
$CAP_FILE_SIZE,63693,0
$CFSIZE,1023623168,978583552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,163504,-3252.804,2826.024,36,1.1,37,-27.2,2.0,233.2,8,7.9