version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 311
start: 4 21 119 18 46 20
data:
$ID,573
$MISSION,30
$DIVE,311
$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,52
$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
$GPS1,210419,183826,-3256.4202,2821.0000,17,1.0,26,-27.2,0.8,221.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.5
$GPS2,210419,184555,-3256.6763,2820.6436,22,1.0,39,-27.2,1.7,228.3,9,5.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3307.475,2820.644
$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,20,begin dive
$GC,22,-0.82,-194.6,73,1955,603,568,0.0,0.0,0,117,0.00,0.00,-92.55,0.000,16386,0.000,0.000,73,1956,3210,3225,3196,0,0,0,0,0,0,15.12,28.83,15.13
$GC,121,-0.82,-194.6,73,1956,3225,3196,4.0,-10.7,17,146,12.57,2.53,-6.25,0.000,18692,0.310,0.089,2207,3399,3607,3674,3541,0,0,0,0,0,0,14.52,13.20,14.72
$GC,359,-0.82,-194.6,2206,3399,3676,3541,57.4,-19.3,63,366,0.08,2.28,0.00,0.000,3078,0.278,0.037,2222,2003,3608,3676,3540,0,0,0,0,0,0,14.66,14.95,14.85
$GC,430,-0.82,-194.6,2222,2003,3677,3541,67.1,-11.0,76,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2003,3608,3676,3540,0,0,0,0,0,0,15.18,15.19,15.19
$GC,498,-0.82,-194.6,2222,2003,3675,3541,74.9,-11.2,89,505,0.00,2.33,0.00,0.000,2564,0.000,0.063,2223,608,3608,3676,3541,0,0,0,0,0,0,15.19,14.90,15.19
$STATE,573,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,574,begin apogee
$GC,581,-0.19,0.0,2222,1965,3676,3541,84.3,-13.9,103,730,0.98,0.00,141.38,0.904,10246,0.143,0.000,2423,1966,2810,2857,2764,0,0,0,0,0,0,14.62,14.59,13.97
$STATE,732,end apogee,CONTROL_FINISHED_OK
$STATE,732,begin climb
$GC,734,0.82,194.6,2423,1966,2857,2765,93.4,0.0,130,890,1.42,2.42,144.48,0.903,11012,0.080,0.066,2739,554,2016,2060,1972,0,0,0,0,0,0,14.62,14.52,13.90
$GC,1049,0.97,316.2,2738,552,2052,1971,85.5,5.8,188,1151,0.17,2.28,93.80,0.895,11270,0.093,0.041,2819,1959,1521,1575,1468,0,0,0,0,0,0,14.77,14.77,13.97
$GC,1215,0.97,316.2,2818,1959,1570,1466,69.0,12.4,218,1223,0.08,2.38,0.00,0.000,4612,0.267,0.067,2798,565,1518,1570,1466,0,0,0,0,0,0,14.64,14.69,14.73
$GC,1265,0.97,316.2,2797,564,1569,1465,62.5,11.3,227,1272,0.00,2.28,0.00,0.000,1030,0.000,0.039,2798,1969,1517,1569,1465,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1336,1.09,417.8,2798,1969,1568,1464,56.9,6.5,240,1421,0.08,0.00,79.53,0.874,10758,0.178,0.000,2857,1970,1106,1166,1047,0,0,0,0,0,0,14.76,14.57,14.00
$GC,1484,1.21,515.5,2857,1970,1166,1045,46.3,6.6,267,1572,0.00,0.00,80.82,0.860,10246,0.000,0.000,2857,1970,708,714,703,0,0,0,0,0,0,15.00,14.38,13.98
$GC,1637,1.24,541.0,2857,1970,716,688,33.6,9.1,295,1667,0.05,2.47,23.05,0.821,10756,0.252,0.071,2907,561,603,589,618,0,0,0,0,0,0,14.66,14.64,14.07
$GC,1685,1.24,541.0,2907,561,588,610,28.4,11.5,303,1693,0.08,2.28,0.00,0.000,5126,0.242,0.036,2890,1968,598,588,609,0,0,0,0,0,0,14.62,14.73,14.77
$GC,1757,1.24,541.0,2890,1969,589,600,20.9,10.7,316,1763,0.00,2.38,0.00,0.000,260,0.000,0.066,2890,3361,594,589,599,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1775,1.24,541.0,2889,3360,589,598,18.6,11.4,319,1782,0.00,2.30,0.00,0.000,1030,0.000,0.040,2890,1958,593,589,597,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1846,1.24,541.0,2889,1958,590,594,11.3,10.2,332,1852,0.00,2.38,0.00,0.000,516,0.000,0.074,2890,561,592,590,594,0,0,0,0,0,0,15.10,14.81,15.11
$GC,1885,1.24,541.0,2889,561,590,593,7.2,10.3,339,1892,0.00,2.25,0.00,0.000,1030,0.000,0.035,2890,1965,591,590,592,0,0,0,0,0,0,14.92,14.85,14.95
$STATE,1922,end climb,SURFACE_DEPTH_REACHED
$STATE,1922,begin surface coast
$FINISH,0.4,1.023456
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,2032,0.00,0.000,0,0,589,545.05
$SM_GC,0.83,12.45,0.00,0.00,0.039,0.000,0.000,139,1967,589,-7.27,-1.30,545.05,0,0,0,0,0,0,14.96,15.16,15.02
$IRIDIUM_FIX,-3241.63,2824.13,210419,180250
$TT8_MAMPS,0.018725,0.902545
$HUMID,55.43
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,80.4,18.9
$SC_FREEKB,3759008
$24V_AH,13.20,168.593
$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,27.950,32.725,563.050,0.000,0.000,22.369,38.043,173.980,0.750,0.000,39.744,607.944,310.176,559.778,878.370,136.469,0.000,957.373,0.000,534.780,0.000,7.129,0.000
$DEVICE_MAMPS,309.825,88.740,904.230,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.799,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10135,351
$CAP_FILE_SIZE,63523,0
$CFSIZE,1023623168,978190336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,192105,-3257.596,2819.397,16,1.0,17,-27.3,1.1,226.4,9,8.1