version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 473
start: 9 23 121 8 6 11
data:
$ID,626
$MISSION,3
$DIVE,473
$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,34
$R_STBD_OVSHOOT,50
$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
$GPS1,230921,075957,2245.0613,-15759.7812,5,1.2,46,9.8,0.2,205.8,7,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.1
$GPS2,230921,080519,2245.0579,-15759.8125,6,0.8,39,9.8,0.4,130.0,10,5.6
$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,248.0,338,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-116.8,123,2302,1200,1112,0.0,0.0,0,76,0.00,0.00,-57.22,0.000,16386,0.000,0.000,124,2302,2982,2956,3009,0,0,0,0,0,0,15.21,28.83,15.22
$GC,79,-0.58,-116.8,124,2302,2958,3007,3.4,-6.3,8,101,8.27,2.22,-5.05,0.000,19204,0.435,0.066,2535,3666,3279,3254,3304,0,0,0,0,0,0,14.32,14.00,14.59
$GC,268,-0.58,-116.8,2534,3666,3256,3303,48.0,-18.2,42,278,0.05,2.35,0.00,0.000,3078,0.324,0.044,2552,2260,3279,3259,3300,0,0,0,0,0,0,14.57,14.83,14.75
$GC,537,-0.58,-116.8,2552,2257,3261,3298,105.5,-17.8,91,544,0.00,2.30,0.00,0.000,2564,0.000,0.051,2554,851,3279,3261,3297,0,0,0,0,0,0,15.26,14.96,15.26
$GC,630,-0.58,-116.8,2554,850,3265,3296,120.3,-13.3,108,639,0.00,2.38,0.00,0.000,3078,0.000,0.050,2545,2250,3280,3266,3295,0,0,0,0,0,0,14.91,14.85,14.93
$GC,893,-0.58,-116.8,2545,2250,3266,3295,162.9,-15.4,149,903,0.00,2.33,0.00,0.000,2308,0.000,0.060,2534,3675,3280,3266,3295,0,0,0,0,0,0,15.29,14.97,15.29
$GC,960,-0.58,-116.8,2534,3675,3266,3295,171.7,-12.9,155,969,0.05,2.28,0.00,0.000,3078,0.358,0.042,2553,2260,3280,3266,3295,0,0,0,0,0,0,14.78,15.00,15.00
$STATE,1188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1194,-0.13,0.0,2553,2062,3266,3295,200.9,-12.2,178,1290,0.35,0.12,92.35,1.084,10246,0.252,0.109,2689,2139,2799,2862,2736,0,0,0,0,0,0,14.65,14.67,14.07
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1293,0.58,116.8,2689,2166,2862,2734,204.2,0.0,188,1400,0.55,2.33,94.90,1.065,10500,0.166,0.060,2915,3527,2322,2406,2238,0,0,0,0,0,0,14.58,14.51,14.00
$GC,1484,0.58,116.8,2914,3527,2407,2238,191.1,11.3,207,1495,0.00,2.30,0.00,0.000,1030,0.000,0.041,2927,2118,2321,2406,2236,0,0,0,0,0,0,14.89,14.81,14.90
$GC,1739,0.60,155.1,2927,2116,2406,2233,168.7,7.9,232,1777,0.00,2.35,31.45,1.037,10756,0.000,0.052,2938,714,2164,2254,2075,0,0,0,0,0,0,15.22,14.83,14.23
$GC,1798,0.62,187.5,2937,713,2248,2075,163.7,8.3,238,1830,0.00,2.33,26.38,1.016,9222,0.000,0.049,2938,2122,2033,2118,1949,0,0,0,0,0,0,14.94,14.85,14.12
$GC,2085,0.62,187.5,2938,2123,2116,1943,129.8,13.1,281,2092,0.00,2.35,0.00,0.000,260,0.000,0.065,2938,3531,2029,2116,1943,0,0,0,0,0,0,15.19,14.90,15.19
$GC,2166,0.62,187.5,2938,3531,2116,1943,119.0,12.7,296,2175,0.00,2.35,0.00,0.000,5126,0.000,0.044,2949,2130,2030,2116,1944,0,0,0,0,0,0,14.94,14.88,14.95
$GC,2437,0.63,193.8,2949,2129,2116,1942,87.2,9.7,345,2450,0.00,0.00,5.95,0.853,12294,0.000,0.000,2949,2129,2007,2093,1921,0,0,0,0,0,0,15.25,14.61,14.13
$GC,2705,0.67,262.6,2949,2128,2093,1919,64.7,6.2,395,2769,0.00,2.38,53.38,0.949,10756,0.000,0.054,2960,717,1727,1814,1640,0,0,0,0,0,0,15.23,14.66,14.23
$GC,2814,0.69,301.2,2960,716,1806,1640,56.3,7.9,412,2852,0.00,2.40,30.52,0.920,9222,0.000,0.051,2960,2136,1568,1657,1480,0,0,0,0,0,0,14.90,14.80,14.15
$GC,3111,0.69,301.2,2960,2138,1657,1475,16.1,14.4,465,3119,0.00,2.40,0.00,0.000,516,0.000,0.054,2971,709,1566,1657,1475,0,0,0,0,0,0,15.16,14.87,15.17
$GC,3137,0.69,301.2,2971,709,1656,1475,12.3,13.9,469,3145,0.00,2.40,0.00,0.000,5126,0.000,0.048,2971,2140,1565,1655,1475,0,0,0,0,0,0,15.00,14.88,15.02
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.4,1.023062
$STATE,3220,end surface coast,CONTROL_FINISHED_OK
$STATE,3221,begin surface
$SM_CCo,3237,40.08,0.194,0,0,1167,400.08
$SM_GC,0.99,6.43,0.17,40.08,0.055,0.077,0.194,177,2350,1167,-7.88,-1.07,400.08,0,0,0,0,0,0,14.97,15.00,14.71
$IRIDIUM_FIX,2234.68,-15802.37,230921,070337
$TT8_MAMPS,0.02247,0.28462
$HUMID,49.92
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,14.00,121.677
$10V_AH,12.93,0.000
$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,15.700,37.925,334.925,40.075,0.000,32.894,49.245,100.515,0.250,0.000,40.922,1190.913,579.544,403.269,1328.267,134.642,0.000,883.188,0.000,1127.506,0.000,0.555,0.000
$DEVICE_MAMPS,435.285,108.630,1084.005,193.545,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.865,347.347,736.383,635.335,748.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,43779,484
$CAP_FILE_SIZE,103606,0
$CFSIZE,1023623168,973651968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.146,213.98,1
$GPS,230921,090145,2244.723,-15800.264,7,1.0,21,9.8,0.0,239.5,8,9.1