version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 317
start: 4 21 119 22 48 45
data:
$ID,573
$MISSION,30
$DIVE,317
$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,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
$GPS1,210419,224040,-3302.8208,2811.9807,19,0.8,26,-27.3,1.2,211.9,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.5
$GPS2,210419,224819,-3303.0298,2811.6357,22,0.8,32,-27.3,1.4,245.6,11,9.9
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3313.829,2811.636
$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,-194.6,73,2030,610,580,0.0,0.0,0,111,0.00,0.00,-87.10,0.000,16386,0.000,0.000,72,2031,3025,3027,3024,0,0,0,0,0,0,15.14,28.83,15.14
$GC,116,-0.82,-194.6,71,2030,3025,3025,3.2,-7.0,16,146,12.45,2.35,-9.95,0.000,18948,0.298,0.077,2217,611,3609,3677,3541,0,0,0,0,0,0,14.53,13.97,14.71
$GC,230,-0.82,-194.6,2216,611,3678,3540,29.7,-16.4,37,237,0.05,2.28,0.00,0.000,3078,0.353,0.045,2221,2011,3609,3679,3540,0,0,0,0,0,0,14.60,14.79,14.82
$GC,302,-0.82,-194.6,2221,2012,3678,3541,41.6,-17.5,50,309,0.00,2.38,0.00,0.000,2308,0.000,0.071,2214,3413,3609,3678,3540,0,0,0,0,0,0,15.17,14.87,15.17
$GC,356,-0.82,-194.6,2213,3414,3677,3540,51.5,-16.1,60,363,0.00,2.30,0.00,0.000,3078,0.000,0.039,2214,2004,3610,3680,3541,0,0,0,0,0,0,15.04,14.94,15.04
$GC,425,-0.82,-194.6,2212,2004,3679,3540,59.6,-12.0,73,432,0.00,2.33,0.00,0.000,2564,0.000,0.062,2214,611,3610,3679,3541,0,0,0,0,0,0,15.19,14.85,15.19
$GC,540,-0.82,-194.6,2214,611,3678,3540,73.6,-13.2,95,547,0.00,2.30,0.00,0.000,3078,0.000,0.044,2214,2026,3609,3678,3541,0,0,0,0,0,0,14.93,14.84,14.95
$STATE,612,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,612,begin apogee
$GC,618,-0.19,0.0,2214,1930,3678,3541,83.0,-12.2,108,767,1.02,0.00,141.35,0.901,10246,0.151,0.000,2423,1930,2810,2857,2764,0,0,0,0,0,0,14.76,14.54,13.94
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,771,0.82,194.6,2423,1929,2856,2764,91.4,0.0,135,927,1.52,2.33,144.52,0.897,10756,0.132,0.072,2734,578,2016,2062,1971,0,0,0,0,0,0,14.55,14.52,13.92
$GC,1081,0.95,302.0,2733,578,2054,1970,80.1,6.3,192,1173,0.20,2.25,82.47,0.881,11270,0.083,0.041,2815,1971,1580,1634,1527,0,0,0,0,0,0,14.78,14.77,14.04
$GC,1237,0.99,333.9,2818,1971,1629,1524,65.6,8.9,220,1272,0.00,2.40,25.92,0.847,12804,0.000,0.068,2819,588,1450,1505,1395,0,0,0,0,0,0,15.01,14.64,14.03
$GC,1296,1.05,386.8,2818,587,1504,1395,60.6,8.1,230,1347,0.00,2.22,41.47,0.856,11270,0.000,0.040,2818,1959,1236,1297,1175,0,0,0,0,0,0,14.86,14.78,14.06
$GC,1410,1.05,386.8,2818,1960,1297,1179,49.8,10.4,251,1416,0.00,2.35,0.00,0.000,2564,0.000,0.067,2818,581,1236,1297,1175,0,0,0,0,0,0,15.02,14.74,15.02
$GC,1454,1.08,408.5,2818,581,1297,1175,45.2,9.2,259,1478,0.00,2.25,18.20,0.820,11270,0.000,0.038,2818,1977,1146,1208,1084,0,0,0,0,0,0,14.93,14.84,14.08
$GC,1542,1.13,450.7,2818,1978,1209,1085,38.2,8.5,275,1588,0.08,2.40,35.60,0.837,10500,0.178,0.066,2874,3356,974,1032,916,0,0,0,0,0,0,14.83,14.69,14.10
$GC,1681,1.13,450.7,2873,3356,1030,913,24.8,10.3,301,1688,0.08,2.25,0.00,0.000,5126,0.257,0.041,2856,1976,971,1030,913,0,0,0,0,0,0,14.65,14.85,14.78
$GC,1754,1.15,462.1,2856,1976,1031,917,18.4,9.6,314,1767,0.00,2.38,6.62,0.658,8708,0.000,0.070,2856,565,925,980,871,0,0,0,0,0,0,15.11,14.57,14.13
$GC,1795,1.23,530.2,2858,565,979,869,15.2,7.6,321,1845,0.00,2.25,40.90,0.737,11270,0.000,0.036,2855,1975,648,647,650,0,0,0,0,0,0,14.98,14.90,14.14
$GC,1909,1.28,571.0,2856,1976,648,635,4.8,8.5,342,1921,0.08,0.00,6.53,0.570,10502,0.177,0.000,2912,1976,597,589,605,0,0,0,0,0,0,14.73,14.54,14.14
$STATE,1926,end climb,SURFACE_DEPTH_REACHED
$STATE,1926,begin surface coast
$FINISH,0.0,1.011680
$STATE,1959,end surface coast,CONTROL_FINISHED_OK
$STATE,1959,begin surface
$SM_CCo,2041,0.00,0.000,0,0,589,545.29
$SM_GC,0.84,12.62,0.00,0.00,0.041,0.000,0.000,146,1977,589,-7.26,-0.99,545.29,0,0,0,0,0,0,14.85,15.11,14.94
$IRIDIUM_FIX,-3249.33,2811.61,210419,220413
$TT8_MAMPS,0.018725,0.907788
$HUMID,55.90
$INTERNAL_PRESSURE,9.4043
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,80.1,17.9
$SC_FREEKB,3755936
$24V_AH,13.92,169.712
$10V_AH,13.14,0.000
$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,28.100,37.100,543.600,0.000,0.000,24.427,45.528,177.190,0.750,0.000,32.910,620.968,307.219,554.355,888.520,141.117,0.000,951.757,0.000,540.463,0.000,8.371,0.000
$DEVICE_MAMPS,352.665,118.575,901.170,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1997.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.652,0.000,0.000,0.000
$MEM,339604
$DATA_FILE_SIZE,10169,351
$CAP_FILE_SIZE,66128,0
$CFSIZE,1023623168,977584128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,232401,-3303.784,2810.433,21,0.8,38,-27.3,1.2,246.1,11,6.1