version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 402
start: 4 25 119 7 21 9
data:
$ID,573
$MISSION,30
$DIVE,402
$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,60
$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,32
$R_STBD_OVSHOOT,64
$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
$GPS1,250419,071253,-3420.0969,2545.4575,16,0.9,17,-27.7,0.0,54.2,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-61.6
$GPS2,250419,072041,-3420.0771,2545.5369,16,0.9,18,-27.7,0.3,325.9,9,8.4
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.677,2556.851
$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,87.7,20000,-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,-340.6,131,2036,566,599,0.0,0.0,0,151,0.00,0.00,-125.25,0.000,16390,0.000,0.000,125,2037,3962,3994,3930,0,0,0,0,0,0,15.02,13.03,15.01
$GC,155,-1.19,-340.6,125,2037,3990,3935,7.4,-23.5,23,173,11.80,2.42,0.00,0.000,2564,0.312,0.054,2095,601,3963,3989,3938,0,0,0,0,0,0,14.23,14.55,14.44
$GC,257,-1.19,-340.6,2095,601,3990,3938,41.6,-20.9,42,264,0.00,2.30,0.00,0.000,3078,0.000,0.045,2094,1987,3963,3990,3937,0,0,0,0,0,0,14.90,14.79,14.91
$GC,328,-1.19,-340.6,2094,1987,3990,3938,55.8,-20.9,55,334,0.00,0.00,0.00,0.000,2054,0.000,0.000,2094,1987,3964,3990,3938,0,0,0,0,0,0,15.04,15.04,15.04
$GC,397,-1.19,-340.6,2094,1987,3991,3938,71.4,-22.6,68,403,0.00,2.47,0.00,0.000,2308,0.000,0.075,2093,3418,3964,3990,3938,0,0,0,0,0,0,15.06,14.72,15.06
$GC,489,-1.19,-340.6,2092,3418,3990,3938,89.4,-16.6,85,496,0.00,2.33,0.00,0.000,3078,0.000,0.037,2093,2004,3964,3990,3938,0,0,0,0,0,0,14.88,14.81,14.87
$STATE,501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,501,begin apogee
$GC,507,-0.19,0.0,2094,2004,3990,3938,91.7,-16.0,87,729,1.67,0.00,210.32,1.017,10246,0.168,0.000,2423,2002,2810,2857,2764,0,0,0,0,0,0,14.55,14.13,13.63
$STATE,731,end apogee,CONTROL_FINISHED_OK
$STATE,731,begin climb
$GC,733,1.19,340.6,2424,2002,2856,2764,105.9,0.0,127,1011,2.08,2.42,263.20,1.001,10500,0.099,0.064,2857,3363,1423,1477,1369,0,0,0,0,0,0,14.44,14.35,13.69
$GC,1060,1.34,462.2,2856,3367,1474,1368,70.8,15.2,185,1168,0.20,2.40,99.07,0.959,11270,0.091,0.044,2925,1955,926,979,874,0,0,0,0,0,0,14.57,14.54,13.74
$GC,1233,1.42,527.1,2924,1955,979,870,40.5,17.4,216,1296,0.00,2.53,56.15,0.917,10756,0.000,0.081,2926,555,662,671,653,0,0,0,0,0,0,14.83,14.45,13.79
$GC,1314,1.51,602.0,2925,557,672,649,25.9,17.0,230,1333,0.12,2.35,11.57,0.834,11270,0.119,0.036,2978,1976,600,595,606,0,0,0,0,0,0,14.50,14.50,13.82
$GC,1397,1.51,602.0,2978,1976,595,598,8.9,22.4,245,1403,0.00,2.35,0.00,0.000,4356,0.000,0.060,2979,3356,596,595,598,0,0,0,0,0,0,14.88,14.61,14.88
$GC,1416,1.51,602.0,2978,3357,594,597,4.4,22.8,248,1423,0.00,2.38,0.00,0.000,5126,0.000,0.048,2984,1962,595,594,597,0,0,0,0,0,0,14.76,14.65,14.78
$STATE,1428,end climb,SURFACE_DEPTH_REACHED
$STATE,1428,begin surface coast
$FINISH,-0.2,1.025707
$STATE,1440,end surface coast,CONTROL_FINISHED_OK
$STATE,1440,begin surface
$SM_CCo,1524,0.00,0.000,0,0,593,544.31
$SM_GC,0.48,13.48,0.00,0.00,0.055,0.000,0.000,134,1961,593,-7.30,-1.47,544.31,0,0,0,0,0,0,14.69,14.95,14.78
$IRIDIUM_FIX,-3406.89,2543.73,250419,064323
$TT8_MAMPS,0.018725,0.878577
$HUMID,57.52
$INTERNAL_PRESSURE,9.03319
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,80.5,25.4
$SC_FREEKB,3712352
$24V_AH,13.03,190.758
$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,29.350,24.000,640.325,0.000,0.000,22.935,41.221,62.791,0.750,0.000,19.527,343.050,168.484,618.615,600.510,275.476,0.000,968.216,0.000,385.869,0.000,7.139,0.000
$DEVICE_MAMPS,312.120,188.190,1016.685,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1475.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.556,0.000,0.000,0.000
$MEM,339476
$DATA_FILE_SIZE,6835,252
$CAP_FILE_SIZE,47348,0
$CFSIZE,1023623168,967081984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,074728,-3419.935,2545.762,17,0.8,18,-27.7,0.0,0.0,10,8.2