version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 466
start: 9 23 121 0 54 40
data:
$ID,626
$MISSION,3
$DIVE,466
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$D_NO_BLEED,150
$D_BOOST,20
$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,66
$T_MISSION,180
$T_ABORT,550
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2710
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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,-177.91942
$PRESSURE_SLOPE,0.00014088588
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,230921,004355,2244.8813,-15800.6445,7,0.8,46,9.8,0.5,127.5,11,5.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.2
$GPS2,230921,005349,2244.8506,-15800.7812,7,0.8,16,9.8,0.0,25.6,11,9.7
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1300.000
$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,50.9,1362,-18.0,-10.101,-24.02,1992
$D_GRID,200
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.55,-116.8,123,2293,1050,921,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,16386,0.000,0.000,123,2294,3074,3042,3107,0,0,0,0,0,0,15.14,28.83,15.16
$GC,86,-0.55,-116.8,123,2294,3043,3107,3.5,-6.8,9,108,8.27,2.28,-3.30,0.000,18692,0.438,0.074,2518,3653,3279,3252,3307,0,0,0,0,0,0,14.26,13.36,14.55
$GC,138,-0.55,-116.8,2518,3653,3253,3306,24.7,-32.6,17,145,0.00,2.35,0.00,0.000,3078,0.000,0.049,2518,2269,3280,3256,3304,0,0,0,0,0,0,14.88,14.82,14.97
$GC,401,-0.55,-116.8,2518,2265,3261,3299,95.7,-22.7,66,408,0.00,2.40,0.00,0.000,2564,0.000,0.050,2518,829,3280,3261,3299,0,0,0,0,0,0,15.19,14.88,15.20
$GC,425,-0.55,-116.8,2518,829,3262,3298,101.2,-22.8,70,433,0.08,2.40,0.00,0.000,3078,0.350,0.050,2533,2256,3279,3262,3297,0,0,0,0,0,0,14.65,14.88,14.90
$GC,687,-0.55,-116.8,2533,2258,3262,3297,149.4,-16.4,119,694,0.00,2.33,0.00,0.000,516,0.000,0.050,2533,841,3279,3262,3297,0,0,0,0,0,0,15.21,14.93,15.22
$GC,733,-0.55,-116.8,2533,839,3263,3296,157.0,-16.4,124,738,0.00,2.35,0.00,0.000,3078,0.000,0.051,2524,2264,3279,3262,3297,0,0,0,0,0,0,15.05,14.93,15.07
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,990,-0.13,0.0,2524,2063,3264,3295,200.4,-17.5,149,1087,0.38,0.12,91.60,1.085,10246,0.280,0.110,2661,2164,2798,2862,2735,0,0,0,0,0,0,14.59,14.64,14.03
$STATE,1088,end apogee,CONTROL_FINISHED_OK
$STATE,1088,begin climb
$GC,1090,0.55,116.8,2662,2164,2862,2736,207.7,0.0,159,1196,0.52,2.45,94.60,1.067,10756,0.193,0.046,2880,712,2321,2407,2236,0,0,0,0,0,0,14.52,14.39,13.95
$GC,1294,0.58,171.9,2879,712,2396,2237,197.9,7.3,179,1344,0.00,2.33,44.30,1.050,11270,0.000,0.047,2880,2104,2098,2190,2007,0,0,0,0,0,0,14.87,14.76,14.01
$GC,1583,0.60,198.7,2879,2105,2188,2001,172.0,8.7,208,1613,0.00,2.42,21.75,1.016,10500,0.000,0.063,2880,3538,1988,2076,1901,0,0,0,0,0,0,15.16,14.57,14.11
$GC,1636,0.60,198.7,2879,3536,2076,1901,166.7,10.1,213,1646,0.00,2.35,0.00,0.000,3078,0.000,0.044,2891,2114,1988,2076,1901,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1888,0.60,203.5,2891,2113,2076,1898,141.5,9.9,246,1896,0.00,0.00,5.30,0.847,10502,0.000,0.000,2891,2113,1968,2056,1881,0,0,0,0,0,0,15.19,14.84,14.15
$GC,2149,0.61,211.5,2891,2113,2055,1879,116.0,9.7,295,2163,0.00,0.00,7.55,0.903,10246,0.000,0.000,2891,2113,1936,2022,1851,0,0,0,0,0,0,15.21,14.61,14.13
$GC,2413,0.62,235.8,2891,2113,2022,1848,91.0,8.8,345,2440,0.00,2.35,20.30,0.957,10756,0.000,0.055,2902,707,1836,1923,1749,0,0,0,0,0,0,15.21,14.65,14.21
$GC,2488,0.65,275.7,2902,706,1917,1751,84.4,8.0,358,2529,0.00,2.40,31.88,0.953,11270,0.000,0.052,2902,2124,1675,1768,1582,0,0,0,0,0,0,14.97,14.85,14.17
$GC,2781,0.68,327.6,2902,2125,1766,1574,60.1,7.4,412,2824,0.00,0.00,40.08,0.931,10246,0.000,0.000,2902,2124,1462,1557,1368,0,0,0,0,0,0,15.14,14.73,14.19
$GC,3080,0.71,386.2,2902,2125,1556,1362,38.8,7.1,466,3132,0.05,2.45,44.78,0.901,10756,0.258,0.057,3018,718,1223,1317,1129,0,0,0,0,0,0,14.83,14.73,14.19
$GC,3156,0.71,386.2,3018,717,1314,1129,27.4,18.6,477,3164,0.20,2.42,0.00,0.000,5126,0.237,0.049,2944,2129,1221,1313,1129,0,0,0,0,0,0,14.54,14.72,14.67
$STATE,3345,end climb,SURFACE_DEPTH_REACHED
$STATE,3345,begin surface coast
$FINISH,0.3,1.022834
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3369,begin surface
$SM_CCo,3384,5.07,0.217,0,0,1167,400.08
$SM_GC,1.95,6.35,0.22,5.07,0.047,0.081,0.217,142,2303,1167,-7.81,-0.74,400.08,0,0,0,0,0,0,14.92,14.90,14.69
$IRIDIUM_FIX,2234.68,-15800.20,230921,005006
$TT8_MAMPS,0.02247,0.309337
$HUMID,48.03
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.36,120.513
$10V_AH,12.75,0.000
$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,15.850,33.875,402.125,5.075,0.000,77.559,131.008,123.567,0.250,0.000,17.584,1242.725,694.741,401.683,1532.383,144.880,0.000,915.712,0.000,1191.416,0.000,0.556,0.000
$DEVICE_MAMPS,438.345,110.160,1084.770,217.260,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,341.594,372.580,794.697,679.060,793.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339160
$DATA_FILE_SIZE,44025,516
$CAP_FILE_SIZE,113317,0
$CFSIZE,1023623168,974159872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.148,264.55,1
$GPS,230921,015201,2244.993,-15800.697,6,0.8,17,9.8,0.0,5.2,11,9.2