version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 394
start: 4 25 119 2 37 12
data:
$ID,573
$MISSION,30
$DIVE,394
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,6
$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,167
$T_MISSION,177
$T_ABORT,245
$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,350
$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,320
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,2
$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,34
$R_STBD_OVSHOOT,61
$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
$GPS1,250419,022934,-3422.0107,2545.1799,17,0.9,18,-27.7,0.0,334.4,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-64.2
$GPS2,250419,023645,-3422.0032,2545.1521,19,0.9,19,-27.7,0.0,0.0,8,8.9
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.730,2536.756
$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,347.7,20000,-20.9,-19.960,-22.72,2620
$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,23,-1.19,-340.6,111,2032,573,594,0.0,0.0,0,146,0.00,0.00,-119.28,0.000,16386,0.000,0.000,102,2032,3708,3777,3640,0,0,0,0,0,0,15.00,28.83,15.01
$GC,150,-1.19,-340.6,103,2032,3778,3640,6.4,-22.1,22,175,11.98,2.47,-3.60,0.000,18948,0.314,0.086,2094,611,3966,4003,3929,0,0,0,0,0,0,14.18,12.95,14.40
$GC,253,-1.19,-340.6,2094,611,4003,3930,41.0,-20.3,41,260,0.00,2.30,0.00,0.000,3078,0.000,0.045,2093,1998,3965,4003,3927,0,0,0,0,0,0,14.88,14.76,14.89
$GC,324,-1.19,-340.6,2092,1998,4003,3930,54.6,-21.0,54,331,0.00,2.47,0.00,0.000,2308,0.000,0.076,2092,3416,3966,4003,3930,0,0,0,0,0,0,15.04,14.54,15.04
$GC,396,-1.19,-340.6,2092,3416,4003,3930,68.8,-18.7,67,403,0.00,2.33,0.00,0.000,3078,0.000,0.037,2092,2013,3966,4003,3930,0,0,0,0,0,0,14.83,14.73,14.87
$GC,469,-1.19,-340.6,2091,2013,4004,3930,82.3,-19.5,80,476,0.00,2.42,0.00,0.000,2308,0.000,0.071,2092,3412,3967,4004,3930,0,0,0,0,0,0,15.07,14.57,15.07
$GC,524,-1.19,-340.6,2091,3412,4003,3927,91.7,-16.1,90,531,0.00,2.30,0.00,0.000,3078,0.000,0.037,2092,2014,3966,4003,3930,0,0,0,0,0,0,14.75,14.67,14.76
$STATE,586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,588,begin apogee
$GC,595,-0.19,0.0,2092,1923,4003,3930,102.5,-17.4,102,816,1.70,0.00,210.45,1.041,10246,0.170,0.000,2419,1921,2811,2859,2763,0,0,0,0,0,0,14.47,14.36,13.66
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,821,1.19,340.6,2419,1921,2857,2762,116.4,0.0,142,1094,2.10,2.60,262.98,1.024,11012,0.093,0.063,2860,3372,1423,1478,1368,0,0,0,0,0,0,14.42,14.33,13.66
$GC,1114,1.22,360.2,2859,3372,1475,1368,84.4,19.2,193,1138,0.00,2.35,17.02,0.937,11270,0.000,0.044,2866,1993,1342,1398,1286,0,0,0,0,0,0,14.59,14.49,13.67
$GC,1202,1.36,474.4,2865,1993,1397,1285,69.9,15.5,209,1309,0.17,2.58,94.88,0.973,10756,0.101,0.080,2939,560,876,926,827,0,0,0,0,0,0,14.62,14.37,13.73
$GC,1327,1.36,474.4,2939,559,926,825,44.8,22.9,231,1334,0.05,2.35,0.00,0.000,5126,0.326,0.037,2930,1969,875,926,824,0,0,0,0,0,0,14.31,14.47,14.50
$GC,1399,1.40,507.5,2930,1971,926,821,31.1,18.7,244,1434,0.00,2.45,28.80,0.917,10500,0.000,0.063,2930,3361,740,772,708,0,0,0,0,0,0,14.85,14.45,13.78
$GC,1452,1.44,542.9,2930,3361,774,705,20.9,18.6,253,1483,0.00,2.38,23.95,0.849,11270,0.000,0.045,2930,1961,598,590,606,0,0,0,0,0,0,14.64,14.53,13.80
$GC,1546,1.56,643.0,2930,1960,589,597,5.5,16.0,270,1553,0.15,2.45,0.00,0.000,2564,0.107,0.077,2998,561,593,589,597,0,0,0,0,0,0,14.64,14.47,14.67
$STATE,1558,end climb,SURFACE_DEPTH_REACHED
$STATE,1558,begin surface coast
$FINISH,1.8,1.025621
$STATE,1564,end surface coast,CONTROL_FINISHED_OK
$STATE,1565,begin surface
$SM_CCo,1651,0.00,0.000,0,0,591,544.80
$SM_GC,0.45,13.38,2.42,0.00,0.046,0.033,0.000,145,2019,591,-7.27,-1.10,544.80,0,0,0,0,0,0,14.69,14.70,14.76
$IRIDIUM_FIX,-3409.50,2544.86,250419,015523
$TT8_MAMPS,0.019474,0.889812
$HUMID,57.91
$INTERNAL_PRESSURE,8.99413
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,80.7,36.8
$SC_FREEKB,3716448
$24V_AH,12.95,189.018
$10V_AH,12.53,0.000
$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,29.525,33.950,638.075,0.000,0.000,22.883,44.063,73.296,0.750,0.000,21.142,396.910,193.032,625.544,648.780,229.232,0.000,992.099,0.000,419.459,0.000,7.193,0.000
$DEVICE_MAMPS,325.890,155.295,1041.165,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1605.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.778,0.000,0.000,0.000
$MEM,339500
$DATA_FILE_SIZE,10186,273
$CAP_FILE_SIZE,53143,0
$CFSIZE,1023623168,968294400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,030540,-3421.754,2545.098,19,0.8,20,-27.7,0.0,0.0,11,8.5