version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 483
start: 9 23 121 18 56 0
data:
$ID,626
$MISSION,3
$DIVE,483
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,230921,184956,2245.1392,-15800.1260,5,1.0,13,9.8,0.0,305.4,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.5
$GPS2,230921,185507,2245.1663,-15800.1299,6,1.0,15,9.8,0.0,251.8,8,9.8
$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,146.5,380,-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,-116.8,115,2257,1201,1112,0.0,0.0,0,72,0.00,0.00,-54.92,0.000,16386,0.000,0.000,115,2255,2908,2889,2927,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.58,-116.8,115,2255,2889,2927,3.2,-6.5,8,99,8.38,2.28,-6.43,0.000,18948,0.437,0.064,2566,855,3277,3258,3296,0,0,0,0,0,0,14.29,13.98,14.57
$GC,133,-0.58,-116.8,2565,855,3264,3295,22.7,-27.3,17,140,0.00,2.40,0.00,0.000,3078,0.000,0.048,2557,2283,3279,3265,3294,0,0,0,0,0,0,15.01,14.88,15.02
$GC,392,-0.58,-116.8,2556,2286,3266,3293,87.9,-21.5,66,400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2557,2286,3279,3266,3293,0,0,0,0,0,0,15.23,15.23,15.23
$GC,659,-0.58,-116.8,2556,2286,3266,3294,136.7,-15.9,115,665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2557,2286,3280,3266,3294,0,0,0,0,0,0,15.26,15.26,15.26
$GC,917,-0.58,-116.8,2556,2286,3266,3294,177.8,-14.8,148,926,0.00,2.33,0.00,0.000,2564,0.000,0.048,2557,862,3280,3267,3294,0,0,0,0,0,0,15.28,14.86,15.29
$GC,938,-0.58,-116.8,2556,862,3267,3294,181.2,-15.0,150,949,0.05,2.33,0.00,0.000,3078,0.402,0.051,2563,2274,3279,3267,3292,0,0,0,0,0,0,14.73,14.98,14.97
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1092,-0.13,0.0,2563,2066,3267,3292,200.3,-11.9,165,1190,0.38,0.10,92.43,1.086,10246,0.251,0.129,2705,2158,2799,2864,2734,0,0,0,0,0,0,14.50,14.66,14.08
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1193,0.58,116.8,2706,2158,2864,2734,204.4,0.0,175,1298,0.52,0.00,95.88,1.074,10502,0.148,0.000,2927,2158,2322,2407,2237,0,0,0,0,0,0,14.60,14.57,14.00
$GC,1540,0.58,116.8,2927,2158,2405,2231,180.4,10.2,210,1550,0.00,2.38,0.00,0.000,2564,0.000,0.048,2939,716,2316,2400,2232,0,0,0,0,0,0,15.19,14.69,15.19
$GC,1605,0.58,118.7,2939,716,2396,2232,174.2,10.0,216,1614,0.00,2.33,0.00,0.000,5126,0.000,0.047,2939,2091,2314,2395,2233,0,0,0,0,0,0,14.84,14.78,14.88
$GC,1857,0.59,136.0,2939,2090,2396,2233,151.4,9.1,241,1881,0.00,2.40,15.95,1.001,8452,0.000,0.060,2939,3541,2243,2330,2157,0,0,0,0,0,0,15.26,14.75,14.27
$GC,1900,0.61,162.8,2938,3541,2330,2158,147.6,8.6,247,1932,0.00,2.30,22.83,1.011,13318,0.000,0.040,2950,2124,2133,2222,2045,0,0,0,0,0,0,15.04,14.95,14.19
$GC,2187,0.61,170.4,2949,2124,2222,2041,119.2,9.7,300,2201,0.00,2.38,6.80,0.895,12548,0.000,0.060,2950,3541,2105,2194,2016,0,0,0,0,0,0,15.21,14.68,14.19
$GC,2231,0.61,170.4,2949,3541,2194,2016,115.0,10.3,307,2239,0.05,2.33,0.00,0.000,5126,0.397,0.043,2945,2122,2104,2193,2016,0,0,0,0,0,0,14.69,14.93,14.93
$GC,2495,0.61,173.6,2945,2119,2194,2013,89.9,9.9,356,2503,0.00,0.00,4.00,0.763,8198,0.000,0.000,2943,2119,2091,2182,2001,0,0,0,0,0,0,15.23,14.89,14.19
$GC,2756,0.65,232.6,2944,2119,2183,1999,69.5,6.8,405,2813,0.00,2.42,46.20,0.957,10500,0.000,0.061,2945,3531,1849,1932,1767,0,0,0,0,0,0,15.23,14.70,14.26
$GC,2853,0.65,232.6,2944,3531,1932,1766,60.9,11.0,420,2862,0.00,2.38,0.00,0.000,3078,0.000,0.044,2954,2129,1850,1933,1767,0,0,0,0,0,0,14.80,14.74,14.81
$GC,3116,0.65,232.6,2954,2128,1933,1762,34.3,10.3,469,3124,0.00,2.40,0.00,0.000,2564,0.000,0.054,2965,696,1846,1931,1762,0,0,0,0,0,0,15.19,14.87,15.19
$GC,3158,0.65,232.6,2965,696,1924,1763,30.0,10.1,476,3166,0.00,2.40,0.00,0.000,5126,0.000,0.047,2965,2128,1843,1924,1762,0,0,0,0,0,0,15.02,14.90,15.04
$STATE,3413,end climb,SURFACE_DEPTH_REACHED
$STATE,3413,begin surface coast
$FINISH,0.4,1.023079
$STATE,3442,end surface coast,CONTROL_FINISHED_OK
$STATE,3442,begin surface
$SM_CCo,3457,68.43,0.194,0,0,1167,400.08
$SM_GC,1.30,6.43,0.20,68.43,0.054,0.079,0.194,145,2300,1167,-7.94,-1.13,400.08,0,0,0,0,0,0,15.02,15.00,14.69
$IRIDIUM_FIX,2234.68,-15759.32,230921,185115
$TT8_MAMPS,0.02247,0.342293
$HUMID,50.70
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.98,123.360
$10V_AH,12.70,0.000
$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,15.800,33.625,284.075,68.425,0.000,25.113,45.079,125.845,0.750,0.000,16.757,1303.809,643.330,409.286,1366.028,150.496,0.000,889.937,0.000,1190.921,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,130.815,1085.535,193.545,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,351.528,381.127,816.567,690.910,806.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,47325,529
$CAP_FILE_SIZE,116464,0
$CFSIZE,1023623168,972849152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,89.11,1
$GPS,230921,195601,2244.832,-15759.893,6,0.9,39,9.8,0.3,258.9,9,6.5