version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 344
start: 4 22 119 18 45 39
data:
$ID,573
$MISSION,30
$DIVE,344
$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,280
$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,48
$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
$GPS1,220419,183736,-3329.9233,2732.1362,15,1.0,18,-27.5,2.2,245.5,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-61.4
$GPS2,220419,184514,-3330.2473,2731.6997,15,1.0,26,-27.5,2.8,211.9,9,9.6
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3341.047,2731.700
$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,-13.0,-9.950,-16.26,4178
$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,-272.5,72,2029,592,572,0.0,0.0,0,117,0.00,0.00,-92.35,0.000,16386,0.000,0.000,72,2030,3170,3177,3163,0,0,0,0,0,0,15.09,28.83,15.09
$GC,122,-0.82,-272.5,72,2029,3178,3162,3.7,-9.4,17,153,12.55,2.42,-11.62,0.000,18948,0.295,0.081,2218,611,3933,3993,3873,0,0,0,0,0,0,14.45,13.03,14.64
$GC,302,-0.82,-272.5,2218,611,3988,3879,43.9,-13.1,51,308,0.00,2.28,0.00,0.000,3078,0.000,0.044,2217,2005,3933,3988,3879,0,0,0,0,0,0,14.98,14.88,15.00
$GC,373,-0.82,-272.5,2217,2005,3988,3879,53.6,-15.0,64,380,0.00,2.40,0.00,0.000,2308,0.000,0.073,2217,3410,3933,3988,3879,0,0,0,0,0,0,15.11,14.81,15.12
$GC,448,-0.82,-272.5,2216,3410,3988,3879,62.5,-10.3,78,455,0.00,2.30,0.00,0.000,3078,0.000,0.037,2217,2011,3933,3988,3879,0,0,0,0,0,0,15.00,14.91,15.02
$GC,519,-0.82,-272.5,2217,2011,3988,3879,70.9,-11.7,91,525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3933,3988,3879,0,0,0,0,0,0,15.15,15.15,15.15
$GC,587,-0.82,-272.5,2217,2011,3988,3879,78.8,-10.9,104,594,0.00,2.38,0.00,0.000,2564,0.000,0.067,2217,611,3933,3988,3879,0,0,0,0,0,0,15.16,14.85,15.16
$GC,643,-0.82,-272.5,2217,611,3988,3879,85.4,-10.5,114,650,0.00,2.28,0.00,0.000,3078,0.000,0.042,2215,2019,3933,3988,3879,0,0,0,0,0,0,15.01,14.90,15.02
$STATE,654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,655,begin apogee
$GC,661,-0.19,0.0,2217,1937,3988,3879,86.5,-10.3,116,866,1.00,0.00,198.40,0.924,10246,0.132,0.000,2424,1935,2811,2856,2766,0,0,0,0,0,0,14.61,14.49,13.88
$STATE,868,end apogee,CONTROL_FINISHED_OK
$STATE,868,begin climb
$GC,870,0.82,272.5,2425,1935,2855,2766,99.4,0.0,153,1088,1.45,2.38,204.12,0.923,10756,0.087,0.073,2737,592,1699,1751,1648,0,0,0,0,0,0,14.56,14.48,13.86
$GC,1111,0.88,325.0,2737,593,1748,1646,87.1,8.7,195,1163,0.08,2.25,41.97,0.896,11270,0.174,0.041,2792,1961,1486,1540,1433,0,0,0,0,0,0,14.55,14.59,13.93
$GC,1226,0.88,325.0,2791,1962,1537,1430,74.1,10.9,216,1233,0.08,0.00,0.00,0.000,4102,0.252,0.000,2771,1963,1483,1536,1430,0,0,0,0,0,0,14.62,14.75,14.70
$GC,1297,0.92,353.7,2771,1962,1535,1429,67.8,9.2,229,1327,0.00,2.42,23.88,0.861,10756,0.000,0.071,2772,587,1368,1425,1312,0,0,0,0,0,0,15.03,14.62,14.03
$GC,1344,0.94,372.5,2771,586,1425,1311,63.6,9.5,237,1368,0.00,2.25,16.23,0.855,11270,0.000,0.038,2771,1971,1293,1352,1234,0,0,0,0,0,0,14.85,14.77,13.98
$GC,1431,0.97,400.0,2771,1971,1350,1231,55.7,9.3,253,1461,0.05,2.42,22.88,0.854,10500,0.252,0.067,2811,3352,1180,1240,1121,0,0,0,0,0,0,14.73,14.68,14.02
$GC,1530,0.98,402.1,2810,3352,1239,1120,47.0,9.9,271,1537,0.00,2.25,0.00,0.000,5126,0.000,0.041,2811,1984,1179,1239,1120,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1600,0.98,402.1,2811,1983,1239,1120,39.5,10.3,284,1607,0.00,2.42,0.00,0.000,4612,0.000,0.073,2811,566,1179,1239,1120,0,0,0,0,0,0,15.06,14.77,15.05
$GC,1681,1.18,568.8,2811,564,1238,1119,33.8,5.9,299,1805,0.17,2.25,114.45,0.880,11270,0.095,0.038,2892,1965,599,567,631,0,0,0,0,0,0,14.78,14.74,13.98
$GC,1869,1.18,568.8,2892,1965,564,619,16.7,10.8,333,1876,0.08,2.42,0.00,0.000,4612,0.228,0.069,2866,564,591,564,618,0,0,0,0,0,0,14.57,14.66,14.64
$STATE,1987,end climb,SURFACE_DEPTH_REACHED
$STATE,1987,begin surface coast
$FINISH,1.8,1.023534
$STATE,1998,end surface coast,CONTROL_FINISHED_OK
$STATE,1998,begin surface
$SM_CCo,2083,0.00,0.000,0,0,584,546.52
$SM_GC,0.69,12.57,2.40,0.00,0.042,0.041,0.000,120,2002,584,-7.31,-1.41,546.52,0,0,0,0,0,0,14.88,14.86,14.93
$IRIDIUM_FIX,-3315.05,2731.68,220419,175925
$TT8_MAMPS,0.018725,0.912282
$HUMID,58.30
$INTERNAL_PRESSURE,9.29687
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,80.4,20.8
$SC_FREEKB,3742112
$24V_AH,13.03,175.199
$10V_AH,13.05,0.000
$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,28.025,37.600,621.925,0.000,0.000,22.714,40.391,187.032,0.750,0.000,27.174,599.434,298.296,611.585,891.985,152.038,0.000,1027.800,0.000,549.286,0.000,7.135,0.000
$DEVICE_MAMPS,294.525,140.760,924.120,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.522,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,13466,358
$CAP_FILE_SIZE,65853,0
$CFSIZE,1023623168,974929920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,192120,-3331.312,2730.499,17,1.1,21,-27.6,2.2,222.7,9,9.8