version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 350
start: 4 22 119 23 31 12
data:
$ID,573
$MISSION,30
$DIVE,350
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,220419,232250,-3339.6235,2721.8201,20,0.8,25,-27.7,3.4,212.6,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-57.9
$GPS2,220419,233046,-3340.0105,2721.3936,21,0.8,44,-27.7,1.6,199.9,11,10.0
$SPEED_LIMITS,0.172,0.341
$TGT_NAME,HEADING
$TGT_LATLONG,-3350.810,2721.394
$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,207.7,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.82,-272.5,72,2021,573,586,0.0,0.0,0,111,0.00,0.00,-86.68,0.000,16386,0.000,0.000,71,2021,2988,3001,2975,0,0,0,0,0,0,15.08,28.83,15.09
$GC,116,-0.82,-272.5,71,2021,3001,2976,3.4,-7.6,16,152,12.68,2.42,-14.98,0.000,18948,0.302,0.083,2218,597,3927,3983,3871,0,0,0,0,0,0,14.40,13.87,14.62
$GC,240,-0.82,-272.5,2217,597,3980,3875,32.7,-17.0,39,247,0.00,2.35,0.00,0.000,3078,0.000,0.047,2212,2021,3927,3979,3875,0,0,0,0,0,0,14.88,14.77,14.90
$GC,311,-0.82,-272.5,2212,2022,3979,3875,45.8,-17.6,52,318,0.00,2.45,0.00,0.000,2564,0.000,0.066,2212,597,3927,3979,3875,0,0,0,0,0,0,15.12,14.79,15.12
$GC,355,-0.82,-272.5,2212,598,3979,3875,52.0,-12.5,60,362,0.00,2.33,0.00,0.000,3078,0.000,0.044,2212,2012,3927,3979,3875,0,0,0,0,0,0,14.90,14.80,14.92
$GC,425,-0.82,-272.5,2212,2012,3979,3875,60.4,-12.3,73,431,0.00,2.40,0.00,0.000,2308,0.000,0.073,2210,3408,3926,3978,3875,0,0,0,0,0,0,15.13,14.65,15.14
$GC,464,-0.82,-272.5,2210,3408,3979,3875,65.2,-11.7,80,471,0.05,2.30,0.00,0.000,3078,0.310,0.038,2223,2007,3927,3979,3875,0,0,0,0,0,0,14.69,14.88,14.88
$GC,536,-0.82,-272.5,2223,2007,3978,3875,73.1,-11.2,93,542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2007,3927,3979,3875,0,0,0,0,0,0,15.14,15.14,15.14
$GC,607,-0.82,-272.5,2223,2007,3979,3875,81.2,-11.6,106,614,0.00,2.45,0.00,0.000,2308,0.000,0.071,2224,3409,3927,3979,3875,0,0,0,0,0,0,15.12,14.81,15.13
$GC,647,-0.82,-272.5,2223,3410,3979,3875,85.6,-10.1,113,654,0.00,2.33,0.00,0.000,3078,0.000,0.037,2224,2010,3927,3978,3876,0,0,0,0,0,0,14.99,14.88,15.00
$GC,718,-0.82,-272.5,2223,2008,3979,3876,92.4,-10.4,126,724,0.00,2.38,0.00,0.000,2564,0.000,0.064,2224,605,3927,3979,3876,0,0,0,0,0,0,15.12,14.83,15.12
$STATE,760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,760,begin apogee
$GC,768,-0.19,0.0,2223,1970,3979,3876,97.3,-10.9,134,974,0.98,0.00,197.50,0.943,10246,0.138,0.000,2423,1970,2811,2858,2765,0,0,0,0,0,0,14.67,14.52,13.88
$STATE,975,end apogee,CONTROL_FINISHED_OK
$STATE,975,begin climb
$GC,978,0.82,272.5,2423,1970,2858,2765,104.7,0.0,171,1197,1.48,2.50,203.88,0.933,10756,0.089,0.069,2739,560,1701,1756,1646,0,0,0,0,0,0,14.53,14.46,13.85
$GC,1240,1.15,544.8,2737,558,1747,1644,85.8,3.3,217,1469,0.45,2.33,216.65,0.907,11270,0.056,0.038,2869,1976,598,595,602,0,0,0,0,0,0,14.72,14.69,13.90
$GC,1533,1.15,544.8,2869,1976,595,590,47.4,10.6,270,1540,0.00,2.47,0.00,0.000,4612,0.000,0.074,2869,560,592,595,590,0,0,0,0,0,0,14.92,14.55,14.92
$GC,1567,1.15,544.8,2869,560,595,587,43.7,10.1,276,1574,0.00,2.30,0.00,0.000,5126,0.000,0.036,2869,1971,590,595,586,0,0,0,0,0,0,14.85,14.76,14.85
$GC,1638,1.15,544.8,2869,1971,595,584,37.0,10.2,289,1645,0.00,2.38,0.00,0.000,4356,0.000,0.063,2869,3357,589,595,583,0,0,0,0,0,0,15.02,14.64,15.02
$GC,1702,1.15,544.8,2869,3358,595,582,29.4,11.8,301,1709,0.00,2.30,0.00,0.000,5126,0.000,0.040,2870,1964,588,595,582,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1773,1.15,544.8,2869,1964,596,581,22.0,11.2,314,1780,0.00,2.42,0.00,0.000,4612,0.000,0.073,2869,551,588,595,581,0,0,0,0,0,0,15.08,14.66,15.09
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,0.4,1.023590
$STATE,1943,end surface coast,CONTROL_FINISHED_OK
$STATE,1943,begin surface
$SM_CCo,2028,0.00,0.000,0,0,586,546.03
$SM_GC,0.78,12.52,2.40,0.00,0.045,0.037,0.000,149,2020,586,-7.27,-1.39,546.03,0,0,0,0,0,0,14.85,14.92,14.95
$IRIDIUM_FIX,-3325.38,2758.41,220419,223925
$TT8_MAMPS,0.018725,0.892059
$HUMID,58.58
$INTERNAL_PRESSURE,9.28711
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,80.5,31.4
$SC_FREEKB,3739040
$24V_AH,13.85,176.514
$10V_AH,13.00,0.000
$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,28.150,42.775,618.025,0.000,0.000,23.736,19.403,198.232,0.750,0.000,45.167,570.095,288.839,612.240,888.260,154.129,0.000,1024.060,0.000,528.594,0.000,7.160,0.000
$DEVICE_MAMPS,309.825,83.385,943.245,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1989.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.721,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,10140,347
$CAP_FILE_SIZE,63271,0
$CFSIZE,1023623168,974356480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,000606,-3341.330,2720.233,25,0.9,29,-27.7,3.4,239.3,9,8.3