version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 338
start: 4 22 119 14 35 37
data:
$ID,573
$MISSION,30
$DIVE,338
$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,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,38
$R_STBD_OVSHOOT,53
$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
$GPS1,220419,142722,-3322.5681,2742.1479,20,0.9,21,-27.5,2.6,251.1,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-60.4
$GPS2,220419,143512,-3322.8457,2741.6685,16,1.0,19,-27.5,1.4,244.4,8,8.5
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-3333.645,2741.668
$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,207.5,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.81,-243.3,72,1958,562,585,0.0,0.0,0,117,0.00,0.00,-92.55,0.000,16386,0.000,0.000,72,1958,3159,3164,3154,0,0,0,0,0,0,15.09,28.83,15.10
$GC,122,-0.81,-243.3,72,1958,3164,3153,3.7,-9.5,17,152,12.52,2.28,-10.12,0.000,18948,0.294,0.079,2218,611,3805,3927,3684,0,0,0,0,0,0,14.46,13.90,14.66
$GC,321,-0.81,-243.3,2218,611,3930,3684,50.0,-13.6,55,328,0.00,2.28,0.00,0.000,3078,0.000,0.044,2217,2000,3806,3929,3684,0,0,0,0,0,0,14.98,14.85,15.00
$GC,392,-0.81,-243.3,2217,2000,3928,3684,58.8,-13.1,68,398,0.00,2.42,0.00,0.000,2308,0.000,0.073,2217,3411,3806,3928,3684,0,0,0,0,0,0,15.14,14.82,15.14
$GC,451,-0.81,-243.3,2217,3411,3928,3684,66.2,-10.9,79,458,0.00,2.30,0.00,0.000,3078,0.000,0.037,2217,2012,3806,3929,3684,0,0,0,0,0,0,14.95,14.87,14.97
$GC,520,-0.81,-243.3,2217,2012,3929,3684,73.8,-10.6,92,526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2012,3806,3929,3684,0,0,0,0,0,0,15.16,15.16,15.16
$GC,592,-0.81,-243.3,2217,2013,3929,3684,81.0,-8.8,105,599,0.00,2.38,0.00,0.000,2564,0.000,0.065,2217,602,3806,3929,3684,0,0,0,0,0,0,15.16,14.87,15.16
$GC,611,-0.81,-243.3,2216,601,3928,3684,83.3,-11.0,108,618,0.00,2.30,0.00,0.000,3078,0.000,0.044,2217,2014,3806,3929,3684,0,0,0,0,0,0,15.02,14.92,15.03
$STATE,653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,653,begin apogee
$GC,659,-0.19,0.0,2217,1937,3929,3684,88.1,-11.1,116,847,1.00,0.00,177.65,0.917,10246,0.141,0.000,2423,1935,2810,2861,2759,0,0,0,0,0,0,14.71,14.38,13.92
$STATE,850,end apogee,CONTROL_FINISHED_OK
$STATE,850,begin climb
$GC,852,0.81,243.3,2423,1935,2861,2759,96.9,0.0,150,1042,1.48,2.50,181.32,0.913,11012,0.093,0.064,2738,3361,1818,1869,1767,0,0,0,0,0,0,14.57,14.47,13.93
$GC,1087,0.89,306.8,2737,3361,1865,1766,84.2,8.2,191,1144,0.08,2.28,50.17,0.890,11270,0.177,0.039,2794,1982,1561,1618,1505,0,0,0,0,0,0,14.67,14.69,13.93
$GC,1209,0.91,323.7,2794,1983,1613,1503,72.5,9.5,213,1232,0.00,2.47,14.77,0.830,12804,0.000,0.071,2797,563,1490,1545,1436,0,0,0,0,0,0,14.97,14.64,14.02
$GC,1291,1.01,400.7,2796,563,1544,1437,65.1,7.8,228,1359,0.00,2.30,61.42,0.887,11270,0.000,0.039,2797,1978,1177,1237,1118,0,0,0,0,0,0,14.88,14.80,14.01
$GC,1423,1.06,446.9,2796,1978,1238,1116,52.5,8.7,252,1468,0.05,0.00,38.47,0.868,10246,0.253,0.000,2846,1979,990,1047,933,0,0,0,0,0,0,14.69,14.47,14.02
$GC,1531,1.06,446.9,2846,1978,1047,929,40.8,10.8,272,1539,0.05,2.42,0.00,0.000,4612,0.309,0.070,2834,567,988,1047,929,0,0,0,0,0,0,14.62,14.71,14.76
$GC,1581,1.07,450.7,2834,566,1047,929,35.7,9.8,281,1594,0.00,2.28,4.53,0.673,9222,0.000,0.037,2833,1979,973,1031,916,0,0,0,0,0,0,14.90,14.83,13.97
$GC,1658,1.11,487.0,2833,1979,1031,913,28.9,9.0,295,1698,0.00,2.38,30.55,0.848,10500,0.000,0.064,2834,3347,824,867,781,0,0,0,0,0,0,15.07,14.67,14.09
$GC,1751,1.16,524.1,2833,3347,868,776,21.1,8.9,312,1781,0.00,2.30,23.88,0.791,11270,0.000,0.041,2834,1956,673,680,666,0,0,0,0,0,0,14.90,14.79,14.11
$GC,1845,1.16,524.1,2833,1956,680,653,12.3,10.2,329,1852,0.08,2.38,0.00,0.000,2564,0.178,0.067,2867,560,666,680,653,0,0,0,0,0,0,14.70,14.75,14.73
$STATE,1923,end climb,SURFACE_DEPTH_REACHED
$STATE,1923,begin surface coast
$FINISH,0.1,1.023555
$STATE,1944,end surface coast,CONTROL_FINISHED_OK
$STATE,1944,begin surface
$SM_CCo,1969,9.05,0.609,0,0,599,542.59
$SM_GC,0.48,12.45,2.42,9.05,0.041,0.047,0.609,136,2001,599,-7.28,-1.27,542.59,0,0,0,0,0,0,14.86,14.85,14.15
$IRIDIUM_FIX,-3307.32,2743.11,220419,134616
$TT8_MAMPS,0.019474,0.911533
$HUMID,57.16
$INTERNAL_PRESSURE,9.32617
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,80.0,22.8
$SC_FREEKB,3745184
$24V_AH,13.90,173.963
$10V_AH,13.06,0.000
$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,27.700,37.750,582.775,9.050,0.000,23.588,51.833,186.588,0.750,0.000,20.295,594.372,237.535,593.577,885.481,151.509,0.000,996.442,0.000,530.263,0.000,7.133,0.000
$DEVICE_MAMPS,309.060,141.525,917.235,608.940,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1988.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.288,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10175,348
$CAP_FILE_SIZE,66183,0
$CFSIZE,1023623168,975519744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,150955,-3323.614,2740.464,19,1.0,40,-27.5,2.8,226.5,9,5.2