version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 309
start: 4 21 119 17 22 42
data:
$ID,573
$MISSION,30
$DIVE,309
$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,43
$R_STBD_OVSHOOT,53
$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
$GPS1,210419,171509,-3253.9966,2824.3411,19,1.0,24,-27.2,2.0,228.8,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-63.2
$GPS2,210419,172216,-3254.2524,2823.9583,20,0.8,25,-27.2,1.3,233.3,10,9.3
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3305.052,2823.958
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.82,-194.6,72,2004,592,571,0.0,0.0,0,117,0.00,0.00,-92.70,0.000,16386,0.000,0.000,72,2004,3220,3237,3204,0,0,0,0,0,0,15.12,28.83,15.13
$GC,121,-0.82,-194.6,72,2005,3237,3205,4.1,-10.9,17,146,12.48,2.42,-5.95,0.000,18692,0.298,0.088,2208,3398,3608,3674,3543,0,0,0,0,0,0,14.50,13.19,14.71
$GC,291,-0.82,-194.6,2207,3398,3675,3542,45.6,-18.8,49,298,0.08,2.25,0.00,0.000,3078,0.275,0.037,2223,2011,3609,3676,3543,0,0,0,0,0,0,14.69,14.88,14.88
$GC,362,-0.82,-194.6,2223,2010,3676,3542,59.4,-20.7,62,369,0.00,2.35,0.00,0.000,2564,0.000,0.063,2224,608,3609,3676,3542,0,0,0,0,0,0,15.17,14.88,15.17
$GC,405,-0.82,-194.6,2218,608,3676,3542,68.3,-18.6,70,412,0.00,2.28,0.00,0.000,3078,0.000,0.046,2222,2003,3609,3676,3542,0,0,0,0,0,0,14.97,14.86,14.98
$GC,476,-0.82,-194.6,2222,2003,3676,3542,77.2,-12.4,83,482,0.00,2.40,0.00,0.000,2308,0.000,0.067,2217,3415,3608,3674,3542,0,0,0,0,0,0,15.17,14.82,15.18
$GC,489,-0.82,-194.6,2217,3415,3676,3541,79.0,-12.2,85,496,0.00,2.28,0.00,0.000,3078,0.000,0.038,2217,2014,3609,3677,3542,0,0,0,0,0,0,14.90,14.79,14.90
$STATE,549,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,549,begin apogee
$GC,554,-0.19,0.0,2217,2013,3676,3541,84.5,-10.1,96,703,1.00,0.00,141.73,0.905,10246,0.155,0.000,2420,2013,2810,2857,2763,0,0,0,0,0,0,14.74,14.57,13.94
$STATE,705,end apogee,CONTROL_FINISHED_OK
$STATE,705,begin climb
$GC,707,0.82,194.6,2420,2012,2856,2764,89.2,0.0,123,863,1.50,2.50,144.23,0.898,11012,0.105,0.066,2737,557,2017,2061,1973,0,0,0,0,0,0,14.58,14.52,13.91
$GC,921,0.97,321.7,2736,557,2057,1973,78.4,5.6,161,1028,0.20,2.30,97.62,0.885,11270,0.083,0.040,2820,1978,1499,1553,1446,0,0,0,0,0,0,14.80,14.76,13.99
$GC,1093,1.03,370.7,2820,1978,1549,1444,62.8,8.3,192,1139,0.00,2.42,38.78,0.860,8708,0.000,0.067,2821,565,1300,1362,1239,0,0,0,0,0,0,14.97,14.47,14.02
$GC,1166,1.13,445.3,2821,566,1361,1239,57.3,7.4,205,1234,0.00,2.28,60.30,0.863,11270,0.000,0.037,2821,1973,995,1054,936,0,0,0,0,0,0,14.85,14.76,13.96
$GC,1298,1.18,491.6,2821,1973,1053,932,47.2,8.4,229,1344,0.10,2.38,38.88,0.845,10500,0.145,0.065,2869,3359,805,844,767,0,0,0,0,0,0,14.78,14.48,14.05
$GC,1403,1.20,503.5,2869,3359,847,758,37.5,9.5,248,1422,0.00,2.30,11.05,0.780,11270,0.000,0.040,2869,1960,758,797,720,0,0,0,0,0,0,14.83,14.72,14.07
$GC,1484,1.20,503.5,2869,1960,797,711,29.3,10.5,263,1491,0.00,2.38,0.00,0.000,2564,0.000,0.070,2869,564,754,798,711,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1519,1.20,503.5,2869,563,798,709,25.9,10.4,269,1525,0.00,2.25,0.00,0.000,3078,0.000,0.037,2869,1967,753,798,709,0,0,0,0,0,0,14.90,14.82,14.91
$GC,1589,1.20,503.5,2869,1967,798,708,18.8,10.7,282,1596,0.00,2.35,0.00,0.000,2308,0.000,0.066,2869,3352,753,798,708,0,0,0,0,0,0,15.10,14.83,15.11
$GC,1660,1.20,503.5,2870,3352,798,707,11.3,10.7,295,1666,0.00,2.25,0.00,0.000,3078,0.000,0.039,2869,1963,752,798,707,0,0,0,0,0,0,15.00,14.90,15.01
$GC,1730,1.21,513.4,2869,1963,798,706,4.3,9.6,308,1743,0.00,2.35,4.72,0.519,10756,0.000,0.076,2866,567,718,757,679,0,0,0,0,0,0,15.13,14.74,14.08
$STATE,1748,end climb,SURFACE_DEPTH_REACHED
$STATE,1748,begin surface coast
$FINISH,1.7,1.023424
$STATE,1754,end surface coast,CONTROL_FINISHED_OK
$STATE,1754,begin surface
$SM_CCo,1779,16.55,0.636,0,0,599,542.59
$SM_GC,0.93,12.48,2.35,16.55,0.050,0.036,0.636,144,2000,599,-7.26,-1.44,542.59,0,0,0,0,0,0,14.96,14.94,14.21
$IRIDIUM_FIX,-3239.07,2826.39,210419,163804
$TT8_MAMPS,0.018725,0.8988
$HUMID,54.80
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,80.2,19.1
$SC_FREEKB,3760032
$24V_AH,13.19,168.209
$10V_AH,13.16,0.000
$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,27.825,42.075,537.300,16.550,0.000,24.530,38.394,167.870,0.750,0.000,26.373,534.934,201.352,565.820,797.636,137.675,0.000,938.270,0.000,475.619,0.000,7.133,0.000
$DEVICE_MAMPS,298.350,87.975,904.995,635.715,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.589,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10184,312
$CAP_FILE_SIZE,61900,0
$CFSIZE,1023623168,978386944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,175355,-3255.130,2822.732,17,0.8,38,-27.2,1.9,241.4,10,8.1