version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 478
start: 9 23 121 13 35 26
data:
$ID,626
$MISSION,3
$DIVE,478
$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,2750
$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,39
$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
$GPS1,230921,132908,2244.7314,-15800.8467,6,0.9,23,9.8,0.0,168.2,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.0
$GPS2,230921,133437,2244.7158,-15800.9160,6,0.9,22,9.8,0.6,250.2,9,9.8
$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,47.9,1651,-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,-116.8,124,2286,1203,1112,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,16386,0.000,0.000,124,2286,3141,3107,3176,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,124,2286,3105,3176,3.5,-6.1,9,98,8.40,0.00,-2.17,0.000,18694,0.438,0.000,2565,2286,3280,3249,3312,0,0,0,0,0,0,14.28,13.49,14.57
$GC,354,-0.55,-116.8,2564,2286,3262,3300,82.1,-20.9,59,362,0.00,2.30,0.00,0.000,2308,0.000,0.060,2555,3667,3280,3262,3299,0,0,0,0,0,0,15.21,14.90,15.21
$GC,415,-0.55,-116.8,2555,3666,3262,3299,92.4,-15.2,70,423,0.03,2.35,0.00,0.000,3078,0.222,0.043,2580,2259,3280,3262,3299,0,0,0,0,0,0,14.66,14.88,14.92
$GC,677,-0.55,-116.8,2580,2256,3265,3298,131.2,-14.3,119,684,0.00,2.30,0.00,0.000,4612,0.000,0.051,2581,857,3281,3266,3297,0,0,0,0,0,0,15.24,14.95,15.25
$GC,765,-0.55,-116.8,2580,855,3267,3296,142.8,-11.3,135,773,0.00,2.33,0.00,0.000,1030,0.000,0.050,2572,2260,3281,3268,3295,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1017,-0.55,-116.8,2571,2261,3268,3295,174.4,-12.2,165,1026,0.00,2.35,0.00,0.000,260,0.000,0.064,2560,3681,3281,3268,3295,0,0,0,0,0,0,15.29,14.95,15.30
$GC,1039,-0.55,-116.8,2560,3681,3267,3295,177.0,-12.0,167,1048,0.00,2.28,0.00,0.000,3078,0.000,0.040,2560,2268,3282,3268,3296,0,0,0,0,0,0,15.11,15.01,15.12
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1233,-0.13,0.0,2560,2077,3267,3295,200.1,-12.5,186,1331,0.38,0.10,93.03,1.087,10246,0.239,0.128,2704,2159,2798,2863,2734,0,0,0,0,0,0,14.52,14.66,14.06
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1334,0.55,116.8,2704,2160,2863,2734,204.5,0.0,196,1440,0.50,2.28,95.38,1.072,10500,0.149,0.061,2918,3515,2322,2406,2239,0,0,0,0,0,0,14.59,14.57,13.99
$GC,1538,0.55,116.8,2918,3515,2405,2239,192.8,11.0,216,1546,0.00,2.25,0.00,0.000,5126,0.000,0.041,2928,2177,2321,2404,2238,0,0,0,0,0,0,14.71,14.69,14.74
$GC,1788,0.56,142.2,2928,2174,2405,2234,169.3,8.8,241,1818,0.00,2.33,20.98,1.026,8708,0.000,0.049,2940,763,2219,2305,2133,0,0,0,0,0,0,15.20,14.64,14.19
$GC,1932,0.57,158.1,2939,763,2295,2133,155.9,9.3,255,1952,0.00,2.22,13.90,0.995,13318,0.000,0.049,2940,2107,2154,2241,2068,0,0,0,0,0,0,15.02,14.91,14.22
$GC,2205,0.57,160.2,2939,2107,2241,2063,130.1,10.0,301,2212,0.00,2.40,0.00,0.000,4356,0.000,0.067,2940,3539,2152,2241,2063,0,0,0,0,0,0,15.21,14.90,15.21
$GC,2400,0.57,160.2,2939,3539,2240,2064,109.3,10.4,337,2408,0.05,2.22,0.00,0.000,5126,0.402,0.042,2934,2172,2152,2240,2064,0,0,0,0,0,0,14.70,14.97,14.95
$GC,2668,0.60,199.5,2934,2170,2240,2062,85.9,8.1,386,2708,0.00,2.30,33.12,0.978,10500,0.000,0.060,2933,3542,1984,2067,1901,0,0,0,0,0,0,15.24,14.69,14.26
$GC,2732,0.60,199.5,2934,3542,2067,1901,79.6,11.6,396,2740,0.00,2.40,0.00,0.000,1030,0.000,0.044,2943,2107,1984,2067,1901,0,0,0,0,0,0,14.95,14.85,14.96
$GC,2996,0.65,278.1,2943,2105,2067,1896,53.9,6.0,445,3068,0.00,2.45,60.35,0.939,10500,0.000,0.061,2943,3526,1664,1754,1575,0,0,0,0,0,0,15.20,14.62,14.19
$GC,3128,0.65,278.1,2943,3526,1754,1575,42.2,10.5,466,3136,0.00,2.38,0.00,0.000,1030,0.000,0.044,2954,2129,1664,1754,1575,0,0,0,0,0,0,14.89,14.76,14.90
$GC,3388,0.65,278.1,2954,2127,1754,1571,9.5,13.1,515,3395,0.00,2.35,0.00,0.000,516,0.000,0.056,2965,717,1662,1754,1571,0,0,0,0,0,0,15.17,14.85,15.18
$GC,3424,0.65,278.1,2965,717,1747,1571,4.3,13.8,521,3431,0.00,2.40,0.00,0.000,5126,0.000,0.050,2965,2141,1659,1748,1571,0,0,0,0,0,0,15.00,14.88,15.02
$STATE,3438,end climb,SURFACE_DEPTH_REACHED
$STATE,3438,begin surface coast
$FINISH,0.2,0.999623
$STATE,3460,end surface coast,CONTROL_FINISHED_OK
$STATE,3461,begin surface
$SM_CCo,3476,49.75,0.192,0,0,1167,400.08
$SM_GC,1.25,6.47,0.17,49.75,0.060,0.080,0.192,150,2292,1167,-7.95,-1.16,400.08,0,0,0,0,0,0,14.96,14.98,14.69
$IRIDIUM_FIX,2234.68,-15802.37,230921,133027
$TT8_MAMPS,0.023219,0.341544
$HUMID,51.49
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,13.49,122.531
$10V_AH,12.73,0.000
$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,15.825,42.350,316.750,49.750,0.000,25.660,42.361,128.131,1.000,0.000,23.941,1293.585,631.627,403.909,1409.785,147.411,0.000,916.847,0.000,1209.662,0.000,0.554,0.000
$DEVICE_MAMPS,437.580,127.755,1087.065,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,349.984,379.804,801.964,665.028,775.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,47355,527
$CAP_FILE_SIZE,114362,0
$CFSIZE,1023623168,973258752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.142,258.13,1
$GPS,230921,143530,2244.873,-15800.950,38,0.9,43,9.8,1.0,301.8,9,9.3