version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 480
start: 9 23 121 15 46 22
data:
$ID,626
$MISSION,3
$DIVE,480
$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,33
$R_STBD_OVSHOOT,67
$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
$GPS1,230921,154007,2245.0984,-15800.8535,5,1.0,14,9.8,0.6,334.8,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.5
$GPS2,230921,154532,2245.1506,-15800.8916,5,1.0,14,9.8,0.8,14.1,8,9.5
$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,100.9,1548,-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,-116.8,123,2210,1199,1115,0.0,0.0,0,80,0.00,0.00,-62.08,0.000,16386,0.000,0.000,123,2209,3165,3128,3203,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,122,2209,3129,3203,3.7,-7.3,9,99,8.38,2.38,-1.77,0.000,19204,0.438,0.063,2549,3652,3278,3247,3310,0,0,0,0,0,0,14.27,13.45,14.57
$GC,112,-0.55,-116.8,2548,3652,3251,3308,18.7,-45.0,13,121,0.05,2.35,0.00,0.000,3078,0.399,0.047,2564,2260,3280,3255,3305,0,0,0,0,0,0,14.48,14.79,14.68
$GC,376,-0.55,-116.8,2563,2256,3261,3297,85.1,-20.6,62,382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2256,3280,3262,3298,0,0,0,0,0,0,15.21,15.21,15.21
$GC,632,-0.55,-116.8,2563,2256,3262,3298,128.6,-15.2,111,640,0.00,2.30,0.00,0.000,2564,0.000,0.051,2564,855,3280,3264,3297,0,0,0,0,0,0,15.25,14.94,15.25
$GC,699,-0.55,-116.8,2564,855,3265,3296,138.4,-13.2,123,708,0.05,2.28,0.00,0.000,3078,0.393,0.051,2573,2230,3281,3266,3296,0,0,0,0,0,0,14.71,14.95,14.95
$GC,957,-0.55,-116.8,2572,2233,3266,3295,172.4,-12.2,156,967,0.00,2.38,0.00,0.000,260,0.000,0.064,2563,3669,3280,3266,3295,0,0,0,0,0,0,15.29,14.74,15.29
$GC,993,-0.55,-116.8,2562,3669,3266,3295,176.4,-12.2,159,1002,0.00,2.35,0.00,0.000,3078,0.000,0.043,2562,2262,3280,3266,3295,0,0,0,0,0,0,14.97,14.92,15.00
$STATE,1178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1179,begin apogee
$GC,1184,-0.13,0.0,2563,2070,3267,3295,201.1,-13.2,178,1282,0.38,0.10,92.60,1.092,10246,0.237,0.127,2708,2153,2798,2862,2734,0,0,0,0,0,0,14.63,14.66,14.07
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1285,0.55,116.8,2707,2153,2862,2734,205.9,0.0,188,1391,0.50,2.33,95.28,1.080,10500,0.148,0.061,2920,3508,2323,2406,2240,0,0,0,0,0,0,14.59,14.50,13.99
$GC,1429,0.59,184.7,2919,3507,2406,2240,203.3,6.6,202,1491,0.00,2.28,54.95,1.071,11270,0.000,0.039,2931,2122,2044,2128,1960,0,0,0,0,0,0,14.81,14.72,13.97
$GC,1738,0.59,184.7,2930,2122,2127,1955,164.5,13.2,233,1748,0.00,2.33,0.00,0.000,2564,0.000,0.054,2943,715,2040,2125,1955,0,0,0,0,0,0,15.19,14.89,15.19
$GC,1785,0.59,184.7,2942,714,2118,1956,158.5,13.6,237,1794,0.00,2.35,0.00,0.000,5126,0.000,0.050,2942,2094,2037,2118,1956,0,0,0,0,0,0,14.81,14.76,14.85
$GC,2037,0.59,184.7,2942,2094,2118,1956,126.6,12.4,280,2045,0.00,2.42,0.00,0.000,4356,0.000,0.063,2942,3536,2037,2118,1957,0,0,0,0,0,0,15.22,14.90,15.23
$GC,2085,0.59,184.7,2942,3537,2118,1957,120.1,14.2,288,2094,0.03,2.38,0.00,0.000,5126,0.422,0.044,2945,2125,2037,2118,1957,0,0,0,0,0,0,14.62,14.84,14.76
$GC,2347,0.59,184.7,2944,2122,2118,1957,88.5,10.9,337,2355,0.00,2.33,0.00,0.000,4612,0.000,0.054,2955,711,2037,2118,1956,0,0,0,0,0,0,15.25,14.94,15.25
$GC,2395,0.60,198.2,2954,711,2115,1956,84.1,9.4,345,2415,0.00,2.35,10.90,0.931,13318,0.000,0.047,2954,2136,1989,2070,1909,0,0,0,0,0,0,15.07,14.96,14.21
$GC,2670,0.64,269.3,2954,2136,2070,1907,63.6,6.4,396,2735,0.00,2.38,55.58,0.948,8452,0.000,0.065,2954,3542,1699,1787,1612,0,0,0,0,0,0,15.21,14.74,14.22
$GC,2826,0.64,269.3,2954,3542,1788,1612,47.3,12.2,422,2835,0.00,2.40,0.00,0.000,5126,0.000,0.047,2966,2133,1700,1788,1612,0,0,0,0,0,0,14.79,14.74,14.81
$GC,3092,0.64,269.3,2966,2130,1788,1608,10.8,14.7,471,3099,0.00,2.40,0.00,0.000,4612,0.000,0.057,2977,706,1697,1787,1608,0,0,0,0,0,0,15.19,14.86,15.19
$GC,3145,0.64,269.3,2976,703,1782,1610,4.6,10.7,480,3154,0.08,2.40,0.00,0.000,5126,0.312,0.056,2949,2121,1694,1780,1609,0,0,0,0,0,0,14.69,14.88,14.92
$STATE,3160,end climb,SURFACE_DEPTH_REACHED
$STATE,3160,begin surface coast
$FINISH,0.3,1.023109
$STATE,3188,end surface coast,CONTROL_FINISHED_OK
$STATE,3189,begin surface
$SM_CCo,3204,53.40,0.190,0,0,1167,400.08
$SM_GC,1.25,6.43,0.22,53.40,0.068,0.070,0.190,172,2296,1167,-7.89,-0.93,400.08,0,0,0,0,0,0,14.97,14.98,14.69
$IRIDIUM_FIX,2234.68,-15800.20,230921,154127
$TT8_MAMPS,0.02247,0.342293
$HUMID,50.00
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.45,122.866
$10V_AH,13.01,0.000
$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,15.875,42.925,309.300,53.400,0.000,30.630,50.557,122.480,0.000,0.000,17.005,1197.181,547.873,404.712,1321.384,144.383,0.000,890.859,0.000,1129.000,0.000,0.555,0.000
$DEVICE_MAMPS,438.345,183.600,1092.420,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,322.867,350.992,750.242,642.646,756.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,43927,487
$CAP_FILE_SIZE,109946,0
$CFSIZE,1023623168,973094912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113,319.90,1
$GPS,230921,164155,2245.244,-15800.657,6,0.9,40,9.8,0.7,276.7,9,6.3