version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 327
start: 4 22 119 6 18 52
data:
$ID,573
$MISSION,30
$DIVE,327
$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,250
$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,150
$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,37
$R_STBD_OVSHOOT,50
$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,2
$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
$GPS1,220419,060955,-3312.0662,2758.4714,20,0.8,41,-27.4,2.7,258.1,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.1
$GPS2,220419,061826,-3312.3145,2758.0066,18,0.8,23,-27.4,1.4,221.9,10,9.8
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3321.667,2804.471
$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,177.4,20000,-13.8,-9.950,-17.02,3733
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.81,-243.3,72,2015,597,576,0.0,0.0,0,112,0.00,0.00,-86.72,0.000,16386,0.000,0.000,72,2015,3048,3045,3051,0,0,0,0,0,0,15.11,28.83,15.11
$GC,116,-0.81,-243.3,72,2015,3046,3051,3.7,-9.0,16,147,12.50,2.42,-12.32,0.000,18948,0.295,0.081,2220,604,3805,3930,3681,0,0,0,0,0,0,14.49,13.08,14.69
$GC,154,-0.81,-243.3,2219,604,3931,3680,16.8,-26.3,22,161,0.00,2.28,0.00,0.000,3078,0.000,0.044,2220,2001,3806,3931,3681,0,0,0,0,0,0,14.85,14.77,14.86
$GC,225,-0.81,-243.3,2219,2001,3931,3681,29.9,-19.2,35,231,0.00,2.40,0.00,0.000,2308,0.000,0.073,2219,3411,3805,3931,3680,0,0,0,0,0,0,15.15,14.71,15.15
$GC,264,-0.81,-243.3,2218,3412,3931,3681,37.6,-18.4,42,271,0.00,2.28,0.00,0.000,3078,0.000,0.037,2219,2012,3805,3930,3681,0,0,0,0,0,0,14.90,14.83,14.91
$GC,333,-0.81,-243.3,2219,2012,3931,3681,48.0,-13.8,55,340,0.00,2.38,0.00,0.000,2564,0.000,0.063,2219,600,3806,3931,3681,0,0,0,0,0,0,15.17,14.88,15.17
$GC,419,-0.81,-243.3,2219,600,3931,3681,60.0,-14.1,71,425,0.00,2.30,0.00,0.000,3078,0.000,0.046,2218,2020,3805,3931,3680,0,0,0,0,0,0,15.01,14.92,15.04
$GC,490,-0.81,-243.3,2217,2020,3931,3681,69.9,-15.0,84,496,0.00,2.38,0.00,0.000,2308,0.000,0.074,2216,3412,3806,3931,3681,0,0,0,0,0,0,15.17,14.74,15.18
$GC,509,-0.81,-243.3,2216,3412,3931,3681,72.7,-14.4,87,516,0.00,2.28,0.00,0.000,3078,0.000,0.036,2217,2004,3806,3931,3681,0,0,0,0,0,0,15.04,14.94,15.04
$STATE,571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,572,begin apogee
$GC,577,-0.19,0.0,2216,2002,3931,3680,80.2,-12.0,98,764,1.02,0.00,177.38,0.900,10246,0.151,0.000,2424,2001,2811,2862,2760,0,0,0,0,0,0,14.66,14.37,13.93
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,0.81,243.3,2424,2001,2861,2760,86.7,0.0,132,959,1.50,2.53,180.25,0.890,11012,0.087,0.070,2749,562,1818,1866,1771,0,0,0,0,0,0,14.60,14.55,13.93
$GC,1108,0.96,364.9,2748,561,1859,1770,70.4,6.6,194,1211,0.12,2.28,93.93,0.871,11270,0.118,0.040,2816,1975,1323,1381,1266,0,0,0,0,0,0,14.85,14.84,14.03
$GC,1275,0.99,384.6,2815,1976,1380,1265,54.1,9.4,224,1299,0.00,2.40,16.08,0.811,12804,0.000,0.069,2818,564,1242,1302,1183,0,0,0,0,0,0,14.99,14.64,14.02
$GC,1322,0.99,390.9,2818,564,1303,1183,49.6,9.8,232,1335,0.00,2.28,6.35,0.717,13318,0.000,0.038,2818,1966,1217,1277,1157,0,0,0,0,0,0,14.88,14.78,14.06
$GC,1398,0.99,390.9,2818,1966,1280,1157,42.2,10.5,246,1405,0.00,2.40,0.00,0.000,4612,0.000,0.068,2818,558,1218,1280,1157,0,0,0,0,0,0,15.05,14.77,15.05
$GC,1464,1.03,421.0,2818,558,1280,1157,35.6,9.1,258,1494,0.00,2.28,24.40,0.823,9222,0.000,0.041,2818,1964,1094,1155,1034,0,0,0,0,0,0,14.95,14.87,14.15
$GC,1557,1.20,560.2,2817,1964,1162,1034,29.1,6.1,275,1652,0.12,0.00,88.15,0.825,10502,0.122,0.000,2889,1964,596,576,617,0,0,0,0,0,0,14.73,14.62,14.08
$GC,1714,1.20,560.2,2889,1964,578,602,13.2,11.8,304,1720,0.00,0.00,0.00,0.000,4102,0.000,0.000,2889,1964,590,579,601,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1783,1.20,560.2,2889,1964,579,595,5.3,12.3,317,1789,0.00,2.38,0.00,0.000,4612,0.000,0.070,2890,559,587,580,595,0,0,0,0,0,0,15.06,14.78,15.07
$STATE,1805,end climb,SURFACE_DEPTH_REACHED
$STATE,1805,begin surface coast
$FINISH,2.4,1.023429
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1896,0.00,0.000,0,0,586,546.27
$SM_GC,0.82,12.90,2.42,0.00,0.072,0.050,0.000,138,2007,586,-7.27,-1.33,546.27,0,0,0,0,0,0,14.90,14.85,14.95
$IRIDIUM_FIX,-3257.03,2757.99,220419,052309
$TT8_MAMPS,0.018725,0.8239
$HUMID,56.06
$INTERNAL_PRESSURE,9.39453
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.2
$ALTIM_BOTTOM_PING,80.2,7.0
$SC_FREEKB,3750816
$24V_AH,13.08,171.711
$10V_AH,13.09,0.000
$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,28.175,37.650,586.525,0.000,0.000,23.253,21.052,241.271,0.750,0.000,24.563,536.622,266.513,581.773,884.081,147.097,0.000,968.371,0.000,492.950,0.000,7.093,0.000
$DEVICE_MAMPS,294.525,81.090,899.640,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1860.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.192,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10131,322
$CAP_FILE_SIZE,62362,0
$CFSIZE,1023623168,976617472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,065129,-3313.030,2757.144,17,1.0,25,-27.4,2.4,227.1,8,9.5