version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 397
start: 4 25 119 4 25 13
data:
$ID,573
$MISSION,30
$DIVE,397
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,250419,041728,-3421.2798,2545.0037,20,1.0,21,-27.7,0.0,0.0,8,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-64.1
$GPS2,250419,042446,-3421.2722,2545.0166,14,1.2,15,-27.7,0.0,0.0,8,9.5
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.000,2536.622
$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,22,-1.19,-340.6,116,1981,587,583,0.0,0.0,0,150,0.00,0.00,-124.75,0.000,16390,0.000,0.000,112,1981,3963,3996,3930,0,0,0,0,0,0,15.02,12.99,15.00
$GC,154,-1.19,-340.6,112,1981,3989,3937,8.0,-27.4,23,171,11.93,0.00,0.00,0.000,2566,0.312,0.000,2098,1981,3963,3989,3938,0,0,0,0,0,0,14.31,14.64,14.53
$GC,236,-1.19,-340.6,2098,1981,3991,3938,38.3,-21.8,38,242,0.00,2.50,0.00,0.000,2308,0.000,0.076,2094,3408,3964,3991,3938,0,0,0,0,0,0,15.04,14.68,15.04
$GC,290,-1.19,-340.6,2093,3408,3991,3938,48.5,-17.4,48,297,0.00,2.30,0.00,0.000,3078,0.000,0.041,2094,2025,3964,3991,3938,0,0,0,0,0,0,14.76,14.66,14.78
$GC,361,-1.19,-340.6,2094,2025,3991,3938,61.9,-19.2,61,368,0.00,2.45,0.00,0.000,2564,0.000,0.071,2094,605,3964,3991,3938,0,0,0,0,0,0,15.05,14.71,15.05
$GC,391,-1.19,-340.6,2093,604,3991,3938,67.8,-17.6,66,398,0.00,2.33,0.00,0.000,3078,0.000,0.047,2092,2003,3964,3990,3938,0,0,0,0,0,0,14.90,14.78,14.91
$GC,465,-1.19,-340.6,2098,2003,3991,3938,81.8,-19.4,79,472,0.00,2.45,0.00,0.000,2308,0.000,0.076,2092,3414,3964,3991,3938,0,0,0,0,0,0,15.06,14.66,15.07
$STATE,534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,535,begin apogee
$GC,543,-0.19,0.0,2092,1950,3991,3938,95.6,-17.0,92,765,1.70,0.00,209.48,1.031,10246,0.166,0.000,2421,1947,2812,2859,2765,0,0,0,0,0,0,14.57,14.11,13.60
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,1.19,340.6,2421,1948,2858,2765,109.8,0.0,132,1044,2.05,2.50,261.52,1.016,10500,0.073,0.062,2867,3374,1423,1477,1369,0,0,0,0,0,0,14.47,14.19,13.68
$GC,1098,1.39,500.0,2867,3374,1472,1368,75.2,13.7,190,1238,0.20,2.38,130.32,0.977,11270,0.095,0.044,2938,1971,771,809,734,0,0,0,0,0,0,14.60,14.57,13.69
$GC,1302,1.49,585.5,2938,1971,810,728,40.4,16.6,227,1347,0.00,2.50,37.90,0.929,10756,0.000,0.080,2939,560,599,593,606,0,0,0,0,0,0,14.82,14.28,13.76
$GC,1396,1.69,749.9,2939,560,592,600,26.3,13.5,244,1404,0.35,2.35,0.00,0.000,3078,0.070,0.035,3039,1979,596,593,599,0,0,0,0,0,0,14.64,14.63,14.71
$GC,1468,1.69,749.9,3038,1979,593,595,11.1,24.9,257,1474,0.00,2.33,0.00,0.000,4356,0.000,0.058,3039,3355,594,593,595,0,0,0,0,0,0,14.91,14.64,14.92
$GC,1482,1.69,749.9,3038,3355,593,594,7.0,27.4,259,1489,0.00,2.35,0.00,0.000,5126,0.000,0.050,3044,1968,594,593,595,0,0,0,0,0,0,14.78,14.66,14.81
$STATE,1499,end climb,SURFACE_DEPTH_REACHED
$STATE,1499,begin surface coast
$FINISH,-0.1,1.025700
$STATE,1510,end surface coast,CONTROL_FINISHED_OK
$STATE,1511,begin surface
$SM_CCo,1595,0.00,0.000,0,0,592,544.56
$SM_GC,0.48,13.68,0.00,0.00,0.053,0.000,0.000,133,1967,592,-7.30,-1.30,544.56,0,0,0,0,0,0,14.72,14.97,14.80
$IRIDIUM_FIX,-3406.89,2544.86,250419,034657
$TT8_MAMPS,0.019474,0.818657
$HUMID,57.95
$INTERNAL_PRESSURE,9.01366
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,80.1,30.4
$SC_FREEKB,3714912
$24V_AH,12.99,189.678
$10V_AH,12.54,0.000
$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,29.900,28.875,639.225,0.000,0.000,25.511,41.032,63.795,0.750,0.000,15.690,371.097,183.699,622.875,624.356,243.414,0.000,983.463,0.000,404.058,0.000,7.152,0.000
$DEVICE_MAMPS,312.120,79.560,1031.220,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1546.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.701,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,10131,264
$CAP_FILE_SIZE,49668,0
$CFSIZE,1023623168,967802880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,045249,-3421.068,2545.036,20,1.0,24,-27.7,0.3,134.5,9,9.3