version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 400
start: 4 25 119 6 11 31
data:
$ID,573
$MISSION,30
$DIVE,400
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,250419,060312,-3420.5479,2545.1897,30,0.8,34,-27.7,0.5,90.5,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-62.1
$GPS2,250419,061104,-3420.5269,2545.2539,33,0.8,35,-27.7,0.5,123.1,10,8.8
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.254,2536.861
$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,-340.6,132,2037,584,585,0.0,0.0,0,151,0.00,0.00,-125.00,0.000,16390,0.000,0.000,129,2037,3962,3994,3930,0,0,0,0,0,0,15.02,13.02,15.00
$GC,155,-1.19,-340.6,128,2037,3989,3937,7.6,-25.3,23,172,11.75,0.00,0.00,0.000,2566,0.311,0.000,2096,2037,3964,3989,3939,0,0,0,0,0,0,14.33,14.66,14.54
$GC,237,-1.19,-340.6,2096,2036,3989,3939,37.9,-22.7,38,243,0.00,2.42,0.00,0.000,2308,0.000,0.076,2095,3417,3964,3990,3939,0,0,0,0,0,0,15.04,14.70,15.05
$GC,291,-1.19,-340.6,2095,3417,3989,3939,48.9,-17.5,48,298,0.00,2.35,0.00,0.000,3078,0.000,0.040,2095,2005,3964,3990,3939,0,0,0,0,0,0,14.83,14.73,14.85
$GC,362,-1.19,-340.6,2095,2005,3990,3939,61.8,-17.9,61,369,0.00,2.40,0.00,0.000,2564,0.000,0.071,2095,609,3964,3990,3939,0,0,0,0,0,0,15.04,14.73,15.05
$GC,397,-1.19,-340.6,2095,609,3990,3939,68.7,-19.1,67,404,0.00,2.33,0.00,0.000,3078,0.000,0.047,2095,2011,3964,3990,3939,0,0,0,0,0,0,14.90,14.79,14.92
$GC,472,-1.19,-340.6,2094,2010,3990,3941,80.4,-17.2,80,478,0.00,2.42,0.00,0.000,2308,0.000,0.076,2095,3411,3964,3990,3939,0,0,0,0,0,0,15.07,14.73,15.09
$STATE,523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,523,begin apogee
$GC,532,-0.19,0.0,2095,1947,3990,3939,89.2,-14.2,90,754,1.70,0.00,209.75,1.018,10246,0.165,0.000,2422,1945,2810,2857,2763,0,0,0,0,0,0,14.57,14.17,13.66
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,759,1.19,340.6,2422,1945,2857,2763,101.9,0.0,130,1032,2.05,2.53,261.67,1.002,11012,0.085,0.063,2860,3364,1421,1478,1365,0,0,0,0,0,0,14.46,14.36,13.71
$GC,1076,1.41,516.8,2860,3364,1474,1368,69.5,13.1,186,1233,0.25,2.35,145.32,0.959,11270,0.084,0.043,2942,1964,703,729,678,0,0,0,0,0,0,14.59,14.55,13.73
$GC,1296,1.46,560.9,2941,1966,729,672,29.3,18.2,226,1325,0.00,2.50,22.80,0.891,10756,0.000,0.081,2946,567,599,602,596,0,0,0,0,0,0,14.83,14.42,13.81
$GC,1365,1.50,593.0,2946,568,601,593,17.0,18.7,238,1372,0.00,2.33,0.00,0.000,3078,0.000,0.035,2947,1974,597,602,592,0,0,0,0,0,0,14.63,14.54,14.64
$GC,1437,1.52,604.6,2946,1975,602,587,4.1,19.5,251,1442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2946,1975,594,602,587,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,1447,end climb,SURFACE_DEPTH_REACHED
$STATE,1447,begin surface coast
$FINISH,-0.2,1.021522
$STATE,1464,end surface coast,CONTROL_FINISHED_OK
$STATE,1464,begin surface
$SM_CCo,1548,0.00,0.000,0,0,593,544.31
$SM_GC,0.54,13.15,0.00,0.00,0.051,0.000,0.000,147,1977,593,-7.26,-1.02,544.31,0,0,0,0,0,0,14.73,14.97,14.81
$IRIDIUM_FIX,-3406.89,2543.73,250419,053256
$TT8_MAMPS,0.019474,0.79394
$HUMID,58.26
$INTERNAL_PRESSURE,9.02343
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,80.4,23.4
$SC_FREEKB,3713376
$24V_AH,13.02,190.328
$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,28.900,24.075,639.550,0.000,0.000,24.438,40.288,62.987,0.750,0.000,36.183,350.756,177.475,618.769,624.106,261.328,0.000,970.837,0.000,391.925,0.000,10.332,0.000
$DEVICE_MAMPS,310.590,81.090,1018.215,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.286,0.000,0.000,0.000
$MEM,339476
$DATA_FILE_SIZE,6834,256
$CAP_FILE_SIZE,47505,0
$CFSIZE,1023623168,967376896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,063816,-3420.319,2545.316,19,1.0,20,-27.7,0.0,0.0,9,9.2