version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 313
start: 4 21 119 20 8 5
data:
$ID,573
$MISSION,30
$DIVE,313
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,210419,200023,-3258.7434,2817.8850,18,0.9,20,-27.3,1.4,245.3,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.4
$GPS2,210419,200740,-3258.9858,2817.5364,19,0.8,20,-27.3,1.4,223.0,10,7.6
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3309.785,2817.536
$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,207.3,20000,-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,-194.6,72,2025,604,568,0.0,0.0,0,117,0.00,0.00,-92.80,0.000,16386,0.000,0.000,73,2025,3201,3214,3189,0,0,0,0,0,0,15.12,28.83,15.13
$GC,122,-0.82,-194.6,72,2025,3215,3189,3.8,-9.9,17,147,12.60,2.42,-6.40,0.000,18948,0.310,0.079,2217,603,3608,3676,3541,0,0,0,0,0,0,14.52,13.22,14.71
$GC,180,-0.82,-194.6,2216,603,3677,3542,23.7,-21.6,27,188,0.05,2.30,0.00,0.000,3078,0.364,0.046,2220,2007,3609,3677,3542,0,0,0,0,0,0,14.63,14.85,14.85
$GC,252,-0.82,-194.6,2220,2007,3677,3542,37.5,-19.0,40,258,0.00,2.40,0.00,0.000,2308,0.000,0.072,2212,3413,3609,3677,3542,0,0,0,0,0,0,15.16,14.85,15.16
$GC,291,-0.82,-194.6,2212,3413,3677,3542,45.0,-18.2,47,298,0.00,2.28,0.00,0.000,3078,0.000,0.038,2212,2010,3609,3677,3542,0,0,0,0,0,0,15.03,14.93,15.04
$GC,362,-0.82,-194.6,2212,2009,3678,3542,59.0,-20.4,60,367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,2010,3610,3678,3543,0,0,0,0,0,0,15.16,15.16,15.16
$GC,430,-0.82,-194.6,2212,2009,3677,3542,69.7,-15.0,73,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,2009,3609,3677,3542,0,0,0,0,0,0,15.19,15.19,15.19
$GC,498,-0.82,-194.6,2212,2009,3678,3542,78.5,-11.6,86,505,0.00,2.33,0.00,0.000,2564,0.000,0.063,2212,611,3610,3678,3542,0,0,0,0,0,0,15.19,14.90,15.19
$STATE,560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,560,begin apogee
$GC,568,-0.19,0.0,2208,1975,3678,3541,86.3,-13.1,97,717,1.05,0.00,142.65,0.907,10246,0.148,0.000,2423,1976,2811,2858,2764,0,0,0,0,0,0,14.76,14.59,13.97
$STATE,719,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,721,0.82,194.6,2423,1976,2858,2763,99.2,0.0,124,877,1.42,2.42,144.90,0.902,11012,0.067,0.066,2743,561,2016,2061,1972,0,0,0,0,0,0,14.62,14.54,13.93
$GC,902,0.90,264.1,2742,561,2058,1972,91.7,7.6,155,965,0.08,2.28,54.50,0.888,11270,0.176,0.035,2801,1975,1733,1782,1685,0,0,0,0,0,0,14.60,14.63,13.95
$GC,1029,0.90,264.1,2801,1976,1777,1681,77.4,14.4,178,1036,0.08,2.38,0.00,0.000,4612,0.258,0.056,2781,560,1729,1777,1681,0,0,0,0,0,0,14.57,14.71,14.64
$GC,1085,0.93,283.6,2780,558,1775,1681,71.7,9.3,188,1109,0.00,2.25,16.17,0.832,11270,0.000,0.037,2780,1965,1654,1704,1604,0,0,0,0,0,0,14.92,14.84,14.03
$GC,1172,1.27,564.1,2780,1965,1701,1601,67.6,0.3,204,1390,0.40,2.47,207.55,0.869,10756,0.057,0.069,2912,563,596,590,603,0,0,0,0,0,0,14.87,14.58,14.02
$GC,1418,1.28,570.9,2912,562,588,594,37.9,9.7,248,1424,0.00,2.28,0.00,0.000,5126,0.000,0.036,2912,1961,590,589,592,0,0,0,0,0,0,14.76,14.68,14.77
$GC,1488,1.28,570.9,2912,1961,590,585,30.1,12.1,261,1495,0.00,2.38,0.00,0.000,4356,0.000,0.065,2912,3356,587,590,584,0,0,0,0,0,0,15.02,14.76,15.02
$GC,1512,1.28,570.9,2912,3356,590,583,26.9,13.1,265,1519,0.00,2.28,0.00,0.000,5126,0.000,0.041,2912,1970,586,590,582,0,0,0,0,0,0,14.85,14.74,14.88
$GC,1583,1.28,570.9,2912,1970,590,581,18.8,11.2,278,1590,0.00,2.38,0.00,0.000,4612,0.000,0.071,2912,563,586,591,581,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1622,1.28,570.9,2912,562,591,579,14.1,11.9,285,1629,0.00,2.25,0.00,0.000,5126,0.000,0.035,2912,1971,585,591,579,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1692,1.28,570.9,2912,1971,591,577,6.1,11.6,298,1698,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,1971,583,591,576,0,0,0,0,0,0,15.13,15.14,15.13
$STATE,1718,end climb,SURFACE_DEPTH_REACHED
$STATE,1719,begin surface coast
$FINISH,0.3,1.014399
$STATE,1745,end surface coast,CONTROL_FINISHED_OK
$STATE,1745,begin surface
$SM_CCo,1828,0.00,0.000,0,0,583,546.76
$SM_GC,0.79,12.62,0.00,0.00,0.040,0.000,0.000,125,1972,583,-7.31,-1.16,546.76,0,0,0,0,0,0,14.91,15.16,15.00
$IRIDIUM_FIX,-3244.20,2819.61,210419,192801
$TT8_MAMPS,0.019474,0.904043
$HUMID,55.55
$INTERNAL_PRESSURE,9.38477
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$ALTIM_BOTTOM_PING,80.8,20.1
$SC_FREEKB,3757984
$24V_AH,13.22,168.969
$10V_AH,13.59,0.000
$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,28.300,37.325,565.775,0.000,0.000,26.350,46.176,171.156,0.750,0.000,21.281,513.807,253.315,571.251,800.660,138.200,0.000,949.109,0.000,469.578,0.000,7.132,0.000
$DEVICE_MAMPS,364.140,78.795,907.290,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1784.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.733,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10148,308
$CAP_FILE_SIZE,60699,0
$CFSIZE,1023623168,977993728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,203939,-3259.838,2816.443,20,0.8,30,-27.3,1.4,249.9,11,9.7