version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 485
start: 9 23 121 21 2 0
data:
$ID,626
$MISSION,3
$DIVE,485
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,230921,205549,2245.0015,-15800.1357,6,0.8,16,9.8,0.0,244.2,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.4
$GPS2,230921,210109,2244.9773,-15800.1543,6,1.0,15,9.8,0.0,193.0,8,9.5
$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,56.2,268,-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,-116.8,124,2288,1199,1116,0.0,0.0,0,80,0.00,0.00,-62.85,0.000,16386,0.000,0.000,124,2288,3152,3116,3189,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.58,-116.8,124,2288,3117,3189,3.3,-5.7,9,100,8.38,2.30,-2.03,0.000,18692,0.440,0.065,2546,3682,3280,3250,3310,0,0,0,0,0,0,14.28,13.44,14.56
$GC,118,-0.58,-116.8,2546,3683,3254,3308,20.3,-47.1,14,127,0.05,2.40,0.00,0.000,3078,0.415,0.051,2560,2251,3280,3257,3304,0,0,0,0,0,0,14.62,14.88,14.88
$GC,380,-0.58,-116.8,2560,2247,3262,3299,82.1,-21.3,63,388,0.00,2.30,0.00,0.000,2564,0.000,0.054,2561,852,3280,3264,3297,0,0,0,0,0,0,15.22,14.91,15.22
$GC,462,-0.58,-116.8,2561,851,3266,3297,97.3,-17.0,78,469,0.00,2.40,0.00,0.000,3078,0.000,0.050,2551,2279,3281,3267,3296,0,0,0,0,0,0,15.04,14.90,15.05
$GC,722,-0.58,-116.8,2551,2280,3266,3296,144.6,-16.4,127,729,0.00,2.38,0.00,0.000,2564,0.000,0.049,2551,845,3281,3267,3296,0,0,0,0,0,0,15.26,14.95,15.26
$GC,757,-0.58,-116.8,2551,845,3267,3295,150.3,-15.9,133,767,0.08,2.35,0.00,0.000,3078,0.366,0.050,2565,2269,3281,3267,3296,0,0,0,0,0,0,14.67,14.95,14.94
$GC,1010,-0.58,-116.8,2565,2271,3267,3295,184.5,-12.4,158,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2271,3281,3268,3295,0,0,0,0,0,0,15.29,15.30,15.30
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1151,-0.13,0.0,2565,2054,3268,3295,201.1,-11.3,172,1248,0.35,0.12,92.72,1.086,10246,0.244,0.107,2702,2160,2798,2863,2734,0,0,0,0,0,0,14.63,14.67,14.08
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1252,0.58,116.8,2702,2161,2863,2734,205.0,0.0,182,1361,0.52,2.28,95.50,1.075,10500,0.148,0.061,2923,3494,2323,2406,2240,0,0,0,0,0,0,14.54,14.48,14.00
$GC,1384,0.62,180.8,2923,3494,2406,2240,201.5,6.5,195,1444,0.00,2.28,52.03,1.063,11270,0.000,0.040,2934,2116,2060,2145,1976,0,0,0,0,0,0,14.79,14.71,13.97
$GC,1684,0.62,180.8,2934,2116,2143,1971,164.6,11.7,225,1689,0.00,2.30,0.00,0.000,2564,0.000,0.054,2945,720,2057,2143,1971,0,0,0,0,0,0,15.18,14.89,15.19
$GC,1710,0.62,180.8,2945,719,2137,1971,161.8,12.4,227,1716,0.00,2.28,0.00,0.000,1030,0.000,0.048,2946,2096,2054,2137,1971,0,0,0,0,0,0,15.00,14.90,15.02
$GC,1967,0.62,180.8,2945,2097,2137,1970,130.4,11.8,267,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2097,2053,2136,1970,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2229,0.62,180.8,2945,2097,2137,1970,98.2,11.2,316,2236,0.00,2.42,0.00,0.000,260,0.000,0.065,2945,3535,2053,2137,1970,0,0,0,0,0,0,15.25,14.91,15.25
$GC,2286,0.62,180.8,2945,3535,2137,1970,91.3,12.1,326,2295,0.00,2.38,0.00,0.000,5126,0.000,0.045,2956,2127,2053,2137,1970,0,0,0,0,0,0,15.07,14.90,15.08
$GC,2552,0.63,204.6,2956,2126,2137,1970,64.6,8.7,375,2573,0.00,0.00,18.70,0.946,12550,0.000,0.000,2957,2126,1963,2043,1883,0,0,0,0,0,0,15.25,14.89,14.30
$GC,2825,0.66,241.6,2956,2126,2042,1880,39.9,8.0,426,2863,0.00,2.35,29.55,0.920,10756,0.000,0.053,2967,714,1812,1894,1730,0,0,0,0,0,0,15.21,14.68,14.26
$GC,2922,0.66,241.6,2967,713,1886,1730,30.7,10.7,442,2931,0.00,2.40,0.00,0.000,5126,0.000,0.049,2967,2137,1807,1886,1728,0,0,0,0,0,0,14.96,14.84,14.97
$STATE,3171,end climb,SURFACE_DEPTH_REACHED
$STATE,3171,begin surface coast
$FINISH,0.2,1.017314
$STATE,3199,end surface coast,CONTROL_FINISHED_OK
$STATE,3199,begin surface
$SM_CCo,3214,65.07,0.192,0,0,1165,400.08
$SM_GC,1.17,6.43,0.20,65.07,0.051,0.083,0.192,155,2282,1165,-7.95,-0.93,400.08,0,0,0,0,0,0,14.95,14.95,14.69
$IRIDIUM_FIX,2237.01,-15759.32,230921,205710
$TT8_MAMPS,0.02247,0.283871
$HUMID,50.43
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.44,123.675
$10V_AH,12.56,0.000
$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,15.800,33.375,288.500,65.075,0.000,26.164,53.982,122.953,0.750,0.000,16.701,1220.274,566.434,397.718,1308.113,141.020,0.000,856.077,0.000,1125.606,0.000,0.556,0.000
$DEVICE_MAMPS,439.875,107.100,1085.535,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,328.481,355.194,764.728,664.022,771.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,43783,494
$CAP_FILE_SIZE,109741,0
$CFSIZE,1023623168,972701696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1350.87,0x236098,1,24
$CURRENT,0.100,217.82,1
$GPS,230921,215735,2245.021,-15759.938,7,1.0,19,9.8,0.0,225.7,8,9.6