version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 403
start: 4 25 119 7 55 56
data:
$ID,573
$MISSION,30
$DIVE,403
$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,34
$R_STBD_OVSHOOT,57
$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
$GPS1,250419,074728,-3419.9353,2545.7625,17,0.8,18,-27.7,0.0,0.0,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-59.3
$GPS2,250419,075528,-3419.9143,2545.8379,19,0.8,20,-27.7,0.7,45.2,10,8.3
$SPEED_LIMITS,0.346,0.477
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.515,2557.151
$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,-340.6,108,2027,591,584,0.0,0.0,0,147,0.00,0.00,-119.00,0.000,16386,0.000,0.000,105,2029,3723,3797,3650,0,0,0,0,0,0,15.02,28.83,15.04
$GC,150,-1.19,-340.6,105,2029,3798,3650,6.1,-20.2,22,175,11.88,2.45,-3.47,0.000,18948,0.310,0.079,2095,604,3965,4003,3928,0,0,0,0,0,0,14.23,12.99,14.45
$GC,243,-1.19,-340.6,2094,603,4003,3929,37.3,-21.1,39,250,0.00,2.30,0.00,0.000,3078,0.000,0.044,2094,1988,3966,4003,3929,0,0,0,0,0,0,14.90,14.79,14.91
$GC,314,-1.19,-340.6,2094,1991,4003,3929,50.8,-19.3,52,321,0.00,2.47,0.00,0.000,2308,0.000,0.075,2090,3422,3965,4002,3929,0,0,0,0,0,0,15.05,14.57,15.05
$GC,396,-1.19,-340.6,2090,3422,4002,3930,66.0,-17.8,67,403,0.05,2.35,0.00,0.000,3078,0.340,0.038,2100,1997,3965,4001,3929,0,0,0,0,0,0,14.52,14.72,14.75
$GC,468,-1.19,-340.6,2099,1996,4002,3930,78.9,-18.0,80,478,0.00,2.50,0.00,0.000,2308,0.000,0.073,2100,3428,3965,4002,3929,0,0,0,0,0,0,15.07,14.73,15.07
$GC,506,-1.19,-340.6,2099,3428,3996,3930,85.3,-16.4,86,513,0.00,2.33,0.00,0.000,3078,0.000,0.037,2099,2023,3965,4002,3929,0,0,0,0,0,0,14.85,14.76,14.87
$STATE,528,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,528,begin apogee
$GC,534,-0.19,0.0,2100,1927,4001,3930,89.1,-16.1,90,757,1.65,0.03,210.23,1.011,10246,0.168,0.129,2421,1979,2811,2857,2765,0,0,0,0,0,0,14.58,14.17,13.67
$STATE,759,end apogee,CONTROL_FINISHED_OK
$STATE,759,begin climb
$GC,762,1.19,340.6,2421,1979,2857,2765,103.1,0.0,130,1035,2.08,2.42,261.27,0.998,11012,0.089,0.062,2863,3359,1423,1477,1369,0,0,0,0,0,0,14.47,14.20,13.70
$GC,1049,1.30,430.8,2862,3359,1476,1370,74.8,16.4,180,1135,0.10,2.33,73.18,0.957,11270,0.145,0.044,2908,1992,1055,1113,998,0,0,0,0,0,0,14.49,14.46,13.71
$GC,1198,1.43,538.1,2908,1992,1113,997,50.4,15.8,207,1300,0.08,2.53,92.20,0.933,10756,0.181,0.079,2965,561,618,612,624,0,0,0,0,0,0,14.61,14.23,13.75
$GC,1328,1.44,545.0,2964,564,611,619,24.1,19.7,230,1336,0.00,2.33,2.88,0.529,13318,0.000,0.036,2965,1964,598,590,607,0,0,0,0,0,0,14.62,14.54,13.78
$GC,1400,1.48,571.8,2965,1965,590,601,10.2,18.9,243,1407,0.00,2.38,0.00,0.000,4356,0.000,0.063,2965,3357,595,590,601,0,0,0,0,0,0,14.89,14.62,14.89
$GC,1425,1.48,571.8,2964,3358,590,600,5.3,20.8,247,1432,0.00,2.35,0.00,0.000,5126,0.000,0.044,2967,1964,595,590,600,0,0,0,0,0,0,14.78,14.67,14.80
$STATE,1436,end climb,SURFACE_DEPTH_REACHED
$STATE,1436,begin surface coast
$FINISH,-0.1,1.025707
$STATE,1453,end surface coast,CONTROL_FINISHED_OK
$STATE,1453,begin surface
$SM_CCo,1537,0.00,0.000,0,0,593,544.56
$SM_GC,0.49,13.32,0.00,0.00,0.056,0.000,0.000,149,1964,593,-7.26,-1.39,544.56,0,0,0,0,0,0,14.69,14.96,14.78
$IRIDIUM_FIX,-3406.89,2544.86,250419,071805
$TT8_MAMPS,0.019474,0.886816
$HUMID,57.56
$INTERNAL_PRESSURE,9.03319
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.7
$ALTIM_BOTTOM_PING,80.3,23.7
$SC_FREEKB,3711840
$24V_AH,12.99,190.972
$10V_AH,12.51,0.000
$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,29.150,28.850,639.750,0.000,0.000,22.247,40.463,65.695,0.750,0.000,21.481,349.296,169.838,622.851,605.712,283.114,0.000,976.884,0.000,383.539,0.000,7.120,0.000
$DEVICE_MAMPS,340.425,287.640,1010.565,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.561,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,6846,252
$CAP_FILE_SIZE,49630,0
$CFSIZE,1023623168,966918144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,082229,-3419.765,2546.118,16,0.8,18,-27.7,0.3,2.5,9,9.9