version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 316
start: 4 21 119 22 9 7
data:
$ID,573
$MISSION,30
$DIVE,316
$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,45
$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
$GPS1,210419,220129,-3301.8809,2813.3762,16,0.9,17,-27.3,2.0,244.5,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.4
$GPS2,210419,220842,-3302.0823,2813.0635,19,0.9,22,-27.3,1.6,227.8,9,8.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3312.882,2813.063
$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,-194.6,72,2014,605,577,0.0,0.0,0,112,0.00,0.00,-87.38,0.000,16386,0.000,0.000,72,2014,3027,3030,3025,0,0,0,0,0,0,15.13,28.83,15.14
$GC,116,-0.82,-194.6,72,2014,3029,3029,3.1,-6.5,16,146,12.48,2.35,-9.82,0.000,18692,0.299,0.087,2208,3408,3608,3676,3541,0,0,0,0,0,0,14.53,13.97,14.72
$GC,209,-0.82,-194.6,2207,3409,3677,3540,26.8,-19.7,33,217,0.08,2.28,0.00,0.000,3078,0.275,0.037,2223,2002,3609,3677,3541,0,0,0,0,0,0,14.61,14.78,14.80
$GC,281,-0.82,-194.6,2223,2002,3677,3536,40.4,-19.8,46,287,0.00,2.42,0.00,0.000,2308,0.000,0.071,2216,3415,3609,3677,3541,0,0,0,0,0,0,15.16,14.82,15.17
$GC,305,-0.82,-194.6,2216,3415,3677,3545,45.2,-18.9,50,311,0.00,2.28,0.00,0.000,3078,0.000,0.037,2216,2014,3608,3677,3540,0,0,0,0,0,0,14.91,14.82,14.92
$GC,375,-0.82,-194.6,2216,2017,3677,3540,58.6,-17.1,63,381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2014,3612,3677,3547,0,0,0,0,0,0,15.17,15.18,15.18
$GC,444,-0.82,-194.6,2216,2012,3677,3541,68.7,-15.2,76,450,0.00,2.33,0.00,0.000,2564,0.000,0.060,2216,614,3609,3677,3541,0,0,0,0,0,0,15.19,14.90,15.19
$STATE,559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,559,begin apogee
$GC,566,-0.19,0.0,2210,1964,3678,3541,83.4,-15.1,98,715,1.02,0.00,141.23,0.902,10246,0.138,0.000,2421,1967,2810,2857,2764,0,0,0,0,0,0,14.66,14.60,13.98
$STATE,717,end apogee,CONTROL_FINISHED_OK
$STATE,717,begin climb
$GC,719,0.82,194.6,2421,1967,2856,2764,89.0,0.0,125,869,1.48,0.00,144.55,0.894,11014,0.086,0.000,2740,1967,2018,2063,1973,0,0,0,0,0,0,14.61,14.49,13.90
$GC,933,1.04,377.3,2740,1967,2058,1969,81.4,3.7,163,1083,0.25,2.40,139.98,0.881,10756,0.073,0.069,2839,567,1274,1335,1213,0,0,0,0,0,0,14.73,14.52,14.02
$GC,1112,1.04,377.3,2839,567,1336,1213,62.7,10.8,195,1119,0.00,2.30,0.00,0.000,5126,0.000,0.040,2839,1981,1274,1335,1213,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1184,1.04,377.3,2839,1981,1335,1213,54.5,10.1,208,1191,0.05,2.40,0.00,0.000,4612,0.321,0.067,2828,567,1273,1335,1212,0,0,0,0,0,0,14.67,14.68,14.85
$GC,1224,1.08,408.5,2828,567,1335,1213,50.9,8.9,215,1259,0.00,2.25,25.38,0.832,11270,0.000,0.037,2828,1972,1146,1209,1084,0,0,0,0,0,0,14.85,14.78,14.06
$GC,1322,1.17,484.5,2828,1972,1211,1084,42.9,7.3,233,1397,0.08,2.45,63.25,0.844,11012,0.177,0.067,2880,561,834,881,788,0,0,0,0,0,0,14.76,14.63,14.04
$GC,1491,1.22,521.1,2879,561,883,780,27.9,8.7,264,1526,0.00,2.28,27.00,0.806,9222,0.000,0.040,2886,1965,685,703,667,0,0,0,0,0,0,14.87,14.79,14.12
$GC,1590,1.22,521.1,2879,1965,703,655,17.9,11.2,282,1597,0.00,2.38,0.00,0.000,260,0.000,0.066,2879,3366,678,703,654,0,0,0,0,0,0,15.04,14.73,15.05
$GC,1624,1.22,521.1,2879,3366,703,652,14.2,12.0,288,1631,0.00,2.28,0.00,0.000,1030,0.000,0.040,2879,1967,678,704,652,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1695,1.24,540.2,2879,1967,704,651,8.0,9.3,301,1714,0.00,2.35,10.48,0.636,10756,0.000,0.070,2880,564,606,615,597,0,0,0,0,0,0,15.11,14.78,14.21
$STATE,1738,end climb,SURFACE_DEPTH_REACHED
$STATE,1739,begin surface coast
$FINISH,2.3,1.023479
$STATE,1746,end surface coast,CONTROL_FINISHED_OK
$STATE,1746,begin surface
$SM_CCo,1831,0.00,0.000,0,0,599,542.59
$SM_GC,0.86,12.62,2.38,0.00,0.056,0.035,0.000,144,2020,599,-7.27,-1.13,542.59,0,0,0,0,0,0,14.90,14.90,14.97
$IRIDIUM_FIX,-3246.76,2813.87,210419,212258
$TT8_MAMPS,0.019474,0.889063
$HUMID,55.19
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,80.1,18.1
$SC_FREEKB,3756448
$24V_AH,13.90,169.528
$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,28.050,37.325,551.850,0.000,0.000,22.393,39.050,175.059,0.750,0.000,23.460,523.487,259.161,557.245,799.464,136.892,0.000,928.944,0.000,478.910,0.000,7.128,0.000
$DEVICE_MAMPS,320.535,87.210,901.935,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1785.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.683,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10160,310
$CAP_FILE_SIZE,60095,0
$CFSIZE,1023623168,977698816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,224040,-3302.821,2811.981,19,0.8,26,-27.3,1.2,211.9,11,9.8