version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 469
start: 9 23 121 3 58 33
data:
$ID,626
$MISSION,3
$DIVE,469
$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,2740
$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,69
$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,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
$GPS1,230921,035241,2245.1287,-15800.3184,6,0.9,15,9.8,0.0,25.8,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.1
$GPS2,230921,035743,2245.1465,-15800.3604,7,1.0,14,9.8,0.0,302.4,8,9.9
$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,124.7,673,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,123,2216,1225,1105,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,16386,0.000,0.000,123,2214,3192,3152,3232,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2215,3152,3233,3.9,-7.7,9,100,8.30,2.20,-1.33,0.000,18948,0.434,0.057,2567,861,3280,3247,3313,0,0,0,0,0,0,14.28,13.44,14.59
$GC,134,-0.55,-116.8,2566,857,3261,3302,27.1,-34.8,17,142,0.00,2.33,0.00,0.000,3078,0.000,0.050,2558,2225,3280,3262,3298,0,0,0,0,0,0,14.90,14.85,14.94
$GC,396,-0.55,-116.8,2558,2226,3262,3298,93.3,-24.0,66,403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2226,3280,3262,3298,0,0,0,0,0,0,15.22,15.23,15.23
$GC,658,-0.55,-116.8,2557,2226,3262,3298,143.3,-17.4,115,666,0.00,2.40,0.00,0.000,2308,0.000,0.063,2547,3672,3280,3262,3299,0,0,0,0,0,0,15.24,14.94,15.25
$GC,707,-0.55,-116.8,2547,3672,3262,3299,152.1,-16.4,122,714,0.00,2.22,0.00,0.000,3078,0.000,0.043,2547,2295,3280,3261,3299,0,0,0,0,0,0,15.08,14.98,15.10
$GC,955,-0.55,-116.8,2547,2291,3263,3298,193.3,-14.1,147,965,0.05,2.33,0.00,0.000,2564,0.433,0.050,2564,852,3281,3266,3297,0,0,0,0,0,0,14.79,14.81,15.00
$STATE,1006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1006,begin apogee
$GC,1014,-0.13,0.0,2555,2129,3267,3296,200.5,-13.0,152,1111,0.35,0.00,92.30,1.074,10246,0.252,0.000,2690,2129,2798,2862,2735,0,0,0,0,0,0,14.66,14.66,14.06
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1114,0.55,116.8,2690,2129,2863,2734,204.5,0.0,162,1219,0.52,2.35,95.15,1.060,10500,0.169,0.063,2903,3531,2322,2407,2238,0,0,0,0,0,0,14.47,14.57,14.00
$GC,1257,0.58,169.5,2903,3531,2406,2238,198.3,7.4,176,1306,0.00,2.30,42.45,1.042,11270,0.000,0.040,2914,2120,2109,2196,2022,0,0,0,0,0,0,14.81,14.71,14.00
$GC,1545,0.58,172.3,2914,2120,2195,2017,167.5,10.0,205,1551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2914,2119,2106,2195,2017,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1797,0.60,203.7,2914,2119,2195,2015,145.5,8.5,235,1832,0.00,2.42,27.67,1.006,10500,0.000,0.063,2914,3538,1967,2051,1883,0,0,0,0,0,0,15.24,14.85,14.26
$GC,1850,0.60,203.7,2914,3538,2050,1883,140.2,10.8,243,1858,0.00,2.33,0.00,0.000,3078,0.000,0.047,2926,2126,1967,2051,1883,0,0,0,0,0,0,14.97,14.87,14.99
$GC,2109,0.60,203.7,2926,2125,2051,1880,111.7,12.1,292,2117,0.00,2.40,0.00,0.000,2308,0.000,0.063,2925,3538,1965,2050,1880,0,0,0,0,0,0,15.21,14.89,15.21
$GC,2151,0.60,203.7,2926,3538,2051,1880,106.6,12.4,299,2159,0.00,2.30,0.00,0.000,5126,0.000,0.044,2937,2121,1965,2050,1880,0,0,0,0,0,0,15.06,14.96,15.07
$GC,2409,0.63,255.0,2937,2121,2050,1877,82.0,7.5,348,2457,0.00,2.33,40.00,0.958,10756,0.000,0.054,2948,718,1758,1845,1671,0,0,0,0,0,0,15.24,14.62,14.23
$GC,2607,0.64,261.4,2948,717,1835,1672,64.5,9.8,383,2623,0.00,2.40,5.55,0.794,13318,0.000,0.050,2948,2128,1733,1819,1648,0,0,0,0,0,0,14.88,14.83,14.12
$GC,2877,0.64,261.4,2948,2128,1820,1646,37.2,10.6,433,2884,0.00,2.40,0.00,0.000,4356,0.000,0.066,2948,3548,1732,1820,1645,0,0,0,0,0,0,15.20,14.88,15.20
$GC,2898,0.64,261.4,2948,3548,1819,1645,34.9,10.6,436,2906,0.00,2.40,0.00,0.000,5126,0.000,0.047,2959,2125,1732,1819,1645,0,0,0,0,0,0,14.88,14.83,14.91
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3158,begin surface coast
$FINISH,0.2,1.022790
$STATE,3180,end surface coast,CONTROL_FINISHED_OK
$STATE,3181,begin surface
$SM_CCo,3197,57.15,0.189,0,0,1168,400.08
$SM_GC,1.11,6.45,0.25,57.15,0.067,0.063,0.189,168,2333,1168,-7.86,-0.82,400.08,0,0,0,0,0,0,15.01,15.02,14.73
$IRIDIUM_FIX,2234.68,-15802.37,230921,035401
$TT8_MAMPS,0.023219,0.343042
$HUMID,48.34
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,13.44,121.030
$10V_AH,12.76,0.000
$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,15.675,37.550,303.125,57.150,0.000,26.679,44.961,120.318,0.250,0.000,15.287,1199.960,554.272,399.752,1296.152,139.852,0.000,865.688,0.000,1116.416,0.000,0.556,0.000
$DEVICE_MAMPS,433.755,133.110,1074.060,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,324.003,359.520,753.618,636.165,753.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339168
$DATA_FILE_SIZE,40798,488
$CAP_FILE_SIZE,110296,0
$CFSIZE,1023623168,973930496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.069,1.05,1
$GPS,230921,045346,2244.990,-15800.092,5,1.0,23,9.8,0.0,353.2,8,9.4