version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 315
start: 4 21 119 21 27 35
data:
$ID,573
$MISSION,30
$DIVE,315
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,210419,212010,-3300.9189,2814.9116,13,0.8,14,-27.3,2.0,230.8,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.3
$GPS2,210419,212710,-3301.1228,2814.6084,19,0.8,20,-27.3,1.5,221.6,10,7.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3311.922,2814.608
$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,20,begin dive
$GC,22,-0.82,-194.6,77,2019,585,573,0.0,0.0,0,117,0.00,0.00,-92.62,0.000,16386,0.000,0.000,73,2019,3197,3209,3186,0,0,0,0,0,0,15.12,28.83,15.13
$GC,122,-0.82,-194.6,73,2019,3209,3186,3.9,-9.9,17,147,12.50,2.42,-6.32,0.000,18692,0.302,0.084,2207,3417,3607,3674,3541,0,0,0,0,0,0,14.53,13.19,14.72
$GC,245,-0.82,-194.6,2207,3417,3675,3541,37.5,-19.6,40,252,0.08,2.30,0.00,0.000,3078,0.274,0.037,2223,2000,3608,3676,3541,0,0,0,0,0,0,14.69,14.83,14.88
$GC,317,-0.82,-194.6,2223,2000,3676,3541,50.1,-17.2,53,322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2000,3608,3676,3541,0,0,0,0,0,0,15.17,15.17,15.15
$GC,385,-0.82,-194.6,2222,1999,3676,3541,62.3,-15.4,66,391,0.00,2.40,0.00,0.000,2308,0.000,0.066,2216,3409,3608,3676,3541,0,0,0,0,0,0,15.17,14.78,15.17
$GC,433,-0.82,-194.6,2216,3409,3676,3541,69.4,-14.1,75,440,0.00,2.25,0.00,0.000,3078,0.000,0.040,2216,2020,3609,3677,3541,0,0,0,0,0,0,15.05,14.96,15.06
$GC,504,-0.82,-194.6,2216,2017,3677,3541,76.8,-10.0,88,511,0.00,2.35,0.00,0.000,2564,0.000,0.058,2217,602,3609,3677,3541,0,0,0,0,0,0,15.19,14.80,15.19
$STATE,550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,550,begin apogee
$GC,557,-0.19,0.0,2215,1975,3677,3541,83.8,-13.8,96,707,1.02,0.00,142.07,0.909,10246,0.161,0.000,2421,1976,2810,2857,2764,0,0,0,0,0,0,14.73,14.55,13.94
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,711,0.82,194.6,2421,1976,2856,2764,95.3,0.0,123,867,1.48,2.40,144.93,0.901,10756,0.103,0.065,2734,564,2016,2061,1971,0,0,0,0,0,0,14.59,14.54,13.93
$GC,1026,0.82,194.6,2733,564,2053,1969,77.5,10.0,181,1033,0.00,2.25,0.00,0.000,3078,0.000,0.033,2734,1978,2011,2054,1968,0,0,0,0,0,0,14.83,14.76,14.88
$GC,1097,1.04,375.9,2733,1978,2053,1967,73.8,3.7,194,1243,0.28,2.50,138.25,0.882,10756,0.070,0.069,2844,561,1281,1344,1218,0,0,0,0,0,0,14.91,14.57,14.02
$GC,1291,1.04,375.9,2845,560,1340,1218,55.3,10.2,229,1299,0.08,2.25,0.00,0.000,5126,0.236,0.040,2826,1953,1279,1340,1218,0,0,0,0,0,0,14.56,14.66,14.71
$GC,1363,1.11,430.0,2826,1953,1338,1218,49.4,8.1,242,1413,0.00,0.00,43.38,0.848,10246,0.000,0.000,2826,1953,1059,1119,1000,0,0,0,0,0,0,15.05,14.50,14.08
$GC,1476,1.24,536.1,2826,1953,1119,999,42.0,6.3,263,1577,0.15,2.40,89.10,0.846,11012,0.107,0.069,2901,571,623,624,623,0,0,0,0,0,0,14.81,14.54,14.06
$GC,1655,1.24,536.1,2901,571,624,608,24.8,10.0,296,1662,0.00,2.25,0.00,0.000,5126,0.000,0.037,2901,1975,616,624,608,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1725,1.24,536.1,2901,1975,624,602,17.7,10.9,309,1732,0.05,2.33,0.00,0.000,4356,0.312,0.062,2890,3359,613,624,602,0,0,0,0,0,0,14.72,14.81,14.87
$GC,1780,1.24,536.1,2889,3359,624,600,11.8,11.5,319,1786,0.00,2.28,0.00,0.000,5126,0.000,0.039,2890,1957,614,629,600,0,0,0,0,0,0,14.97,14.86,14.99
$GC,1850,1.28,566.8,2890,1956,625,599,4.8,8.9,332,1859,0.00,2.40,2.00,0.113,10756,0.000,0.072,2890,569,597,609,586,0,0,0,0,0,0,15.13,14.64,11.81
$STATE,1869,end climb,SURFACE_DEPTH_REACHED
$STATE,1869,begin surface coast
$FINISH,0.2,0.999266
$STATE,1896,end surface coast,CONTROL_FINISHED_OK
$STATE,1896,begin surface
$SM_CCo,1981,0.00,0.000,0,0,594,544.07
$SM_GC,0.84,12.55,2.35,0.00,0.042,0.038,0.000,122,2006,594,-7.31,-1.53,544.07,0,0,0,0,0,0,14.95,14.93,15.01
$IRIDIUM_FIX,-3246.76,2813.87,210419,204224
$TT8_MAMPS,0.019474,0.913031
$HUMID,56.41
$INTERNAL_PRESSURE,9.41407
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,80.0,18.3
$SC_FREEKB,3756960
$24V_AH,11.81,169.344
$10V_AH,13.15,0.000
$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,28.175,37.375,559.725,0.000,0.000,23.756,20.953,180.892,0.750,0.000,20.706,585.564,294.755,562.042,832.949,137.907,0.000,953.772,0.000,517.612,0.000,7.423,0.000
$DEVICE_MAMPS,312.120,84.150,908.820,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.577,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10156,340
$CAP_FILE_SIZE,62818,0
$CFSIZE,1023623168,977797120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,220129,-3301.881,2813.376,16,0.9,17,-27.3,2.0,244.5,9,9.7