version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 472
start: 9 23 121 7 8 2
data:
$ID,626
$MISSION,3
$DIVE,472
$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,71
$R_STBD_OVSHOOT,66
$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
$GPS1,230921,070207,2244.9363,-15800.1045,5,0.9,13,9.8,0.0,63.4,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.8
$GPS2,230921,070711,2244.9370,-15800.1318,4,1.0,12,9.8,0.5,72.1,8,9.5
$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,60.6,254,-19.1,-10.101,-25.00,1808
$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,15,-0.58,-116.8,123,2225,1196,1119,0.0,0.0,0,76,0.00,0.00,-57.95,0.000,16386,0.000,0.000,123,2223,3007,2980,3034,0,0,0,0,0,0,15.19,28.83,15.20
$GC,79,-0.58,-116.8,123,2224,2981,3034,3.4,-6.4,8,102,8.25,2.38,-4.57,0.000,18692,0.432,0.068,2534,3641,3280,3255,3306,0,0,0,0,0,0,14.31,13.41,14.60
$GC,115,-0.58,-116.8,2534,3643,3255,3306,19.0,-41.8,13,124,0.05,2.28,0.00,0.000,3078,0.375,0.047,2549,2292,3280,3257,3304,0,0,0,0,0,0,14.53,14.82,14.71
$GC,375,-0.58,-116.8,2548,2287,3261,3300,87.4,-20.8,62,384,0.00,2.40,0.00,0.000,2564,0.000,0.050,2551,843,3281,3264,3298,0,0,0,0,0,0,15.23,14.91,15.23
$GC,397,-0.58,-116.8,2550,842,3265,3298,91.6,-19.6,65,404,0.00,2.30,0.00,0.000,3078,0.000,0.051,2542,2230,3280,3265,3296,0,0,0,0,0,0,15.06,14.94,15.07
$GC,662,-0.58,-116.8,2542,2230,3266,3297,142.9,-18.2,114,672,0.00,2.45,0.00,0.000,2308,0.000,0.060,2532,3676,3281,3266,3297,0,0,0,0,0,0,15.26,14.85,15.26
$GC,706,-0.58,-116.8,2530,3676,3266,3297,149.6,-13.5,121,714,0.08,2.30,0.00,0.000,3078,0.308,0.042,2558,2255,3281,3266,3297,0,0,0,0,0,0,14.76,14.99,14.98
$GC,952,-0.58,-116.8,2557,2250,3266,3297,181.1,-14.4,146,957,0.00,2.25,0.00,0.000,516,0.000,0.051,2558,855,3282,3267,3297,0,0,0,0,0,0,15.30,15.00,15.30
$GC,1066,-0.58,-116.8,2557,853,3267,3296,195.6,-11.3,157,1075,0.00,2.30,0.00,0.000,3078,0.000,0.050,2549,2261,3281,3267,3295,0,0,0,0,0,0,14.94,14.93,14.95
$STATE,1103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1103,begin apogee
$GC,1109,-0.13,0.0,2549,2072,3268,3295,200.7,-12.6,161,1207,0.38,0.10,92.40,1.080,10246,0.263,0.128,2690,2159,2798,2863,2734,0,0,0,0,0,0,14.64,14.66,14.07
$STATE,1208,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1210,0.58,116.8,2690,2159,2863,2734,205.7,0.0,171,1317,0.55,2.40,95.10,1.064,10756,0.163,0.047,2928,716,2319,2401,2237,0,0,0,0,0,0,14.59,14.54,14.00
$GC,1323,0.66,254.1,2928,716,2398,2237,204.6,2.3,182,1441,0.00,2.30,107.72,1.067,11270,0.000,0.047,2928,2097,1761,1841,1682,0,0,0,0,0,0,14.74,14.64,13.97
$GC,1681,0.66,254.1,2928,2097,1841,1676,156.9,15.3,218,1691,0.00,2.30,0.00,0.000,2564,0.000,0.054,2939,719,1758,1841,1676,0,0,0,0,0,0,15.18,14.90,15.19
$GC,1704,0.66,254.1,2938,719,1838,1676,153.4,15.8,220,1714,0.00,2.30,0.00,0.000,3078,0.000,0.047,2939,2119,1756,1837,1676,0,0,0,0,0,0,14.88,14.83,14.90
$GC,1968,0.66,254.1,2938,2121,1837,1676,111.7,13.9,267,1975,0.00,2.33,0.00,0.000,2564,0.000,0.054,2950,718,1756,1837,1676,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1983,0.66,254.1,2949,717,1837,1676,109.7,14.6,269,1990,0.00,2.33,0.00,0.000,1030,0.000,0.047,2949,2130,1756,1837,1675,0,0,0,0,0,0,15.06,14.96,15.08
$GC,2247,0.66,254.1,2949,2130,1837,1674,75.5,10.1,318,2255,0.00,2.38,0.00,0.000,260,0.000,0.067,2950,3526,1755,1837,1674,0,0,0,0,0,0,15.24,14.88,15.25
$GC,2352,0.67,260.1,2949,3526,1837,1674,65.8,9.8,337,2367,0.00,2.35,5.57,0.806,13318,0.000,0.046,2960,2130,1738,1824,1653,0,0,0,0,0,0,14.95,14.90,14.14
$GC,2620,0.67,260.1,2960,2129,1824,1652,36.8,12.7,387,2628,0.00,2.40,0.00,0.000,4612,0.000,0.054,2971,713,1738,1824,1652,0,0,0,0,0,0,15.23,14.88,15.23
$GC,2657,0.67,260.1,2971,713,1820,1652,31.9,14.0,393,2665,0.05,2.40,0.00,0.000,5126,0.353,0.050,2952,2143,1736,1820,1652,0,0,0,0,0,0,14.74,14.92,14.96
$GC,2922,0.67,260.1,2952,2145,1820,1651,3.3,12.8,442,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2145,1735,1820,1651,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,2936,end climb,SURFACE_DEPTH_REACHED
$STATE,2936,begin surface coast
$FINISH,0.4,1.023137
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,2975,57.72,0.192,0,0,1165,400.08
$SM_GC,1.43,6.40,0.20,57.72,0.062,0.085,0.192,171,2293,1165,-7.89,-0.74,400.08,0,0,0,0,0,0,15.03,15.01,14.73
$IRIDIUM_FIX,2234.68,-15802.37,230921,070324
$TT8_MAMPS,0.023219,0.289114
$HUMID,49.29
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,13.41,121.510
$10V_AH,13.10,0.000
$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,15.750,42.700,300.800,57.725,0.000,24.881,43.527,122.379,0.000,0.000,14.165,1113.473,488.973,404.389,1231.136,133.289,0.000,863.357,0.000,1054.578,0.000,0.556,0.000
$DEVICE_MAMPS,432.225,187.425,1080.180,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,296.976,320.932,690.104,605.300,708.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,40524,448
$CAP_FILE_SIZE,103386,0
$CFSIZE,1023623168,973717504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,164.12,1
$GPS,230921,075957,2245.061,-15759.781,5,1.2,46,9.8,0.2,205.8,7,5.4