version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 486
start: 9 23 121 22 4 7
data:
$ID,626
$MISSION,3
$DIVE,486
$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,37
$R_STBD_OVSHOOT,46
$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
$GPS1,230921,215735,2245.0208,-15759.9385,7,1.0,19,9.8,0.0,225.7,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.0
$GPS2,230921,220316,2244.9900,-15759.9854,6,1.0,25,9.8,0.7,237.6,8,9.5
$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,324.0,31,-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,16,-0.58,-116.8,125,2291,1194,1120,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,16390,0.000,0.000,124,2292,3279,3240,3318,0,0,0,0,0,0,15.19,13.25,15.16
$GC,86,-0.58,-116.8,124,2292,3241,3317,4.5,-9.2,9,101,8.35,2.22,0.00,0.000,2308,0.438,0.037,2544,3680,3280,3247,3313,0,0,0,0,0,0,14.28,14.70,14.55
$GC,235,-0.58,-116.8,2543,3681,3254,3306,47.4,-18.7,36,243,0.05,2.38,0.00,0.000,3078,0.383,0.046,2560,2271,3280,3257,3303,0,0,0,0,0,0,14.66,14.85,14.90
$GC,497,-0.58,-116.8,2560,2266,3261,3299,99.9,-16.8,85,503,0.00,2.33,0.00,0.000,2564,0.000,0.050,2560,849,3280,3262,3298,0,0,0,0,0,0,15.23,14.92,15.23
$GC,557,-0.58,-116.8,2561,848,3264,3297,109.5,-13.7,96,565,0.00,2.40,0.00,0.000,3078,0.000,0.051,2552,2275,3280,3265,3296,0,0,0,0,0,0,15.04,14.90,15.05
$GC,823,-0.58,-116.8,2551,2276,3266,3296,152.5,-15.9,145,829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2276,3281,3266,3296,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1071,-0.58,-116.8,2552,2276,3266,3296,191.6,-16.4,170,1081,0.00,2.35,0.00,0.000,2564,0.000,0.049,2552,850,3280,3264,3296,0,0,0,0,0,0,15.30,14.99,15.30
$GC,1125,-0.58,-116.8,2550,850,3266,3295,199.8,-15.3,175,1134,0.05,2.33,0.00,0.000,3078,0.327,0.050,2559,2268,3281,3267,3296,0,0,0,0,0,0,14.57,14.85,14.74
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1147,-0.13,0.0,2560,2055,3267,3295,202.5,-14.0,177,1246,0.38,0.12,92.93,1.094,10246,0.248,0.107,2702,2160,2797,2862,2733,0,0,0,0,0,0,14.49,14.67,14.07
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1249,0.58,116.8,2701,2160,2862,2734,208.1,0.0,187,1354,0.52,2.45,95.07,1.084,10756,0.151,0.047,2935,698,2320,2401,2240,0,0,0,0,0,0,14.59,14.59,14.00
$GC,1480,0.58,116.8,2935,697,2389,2239,195.7,10.3,210,1491,0.00,2.33,0.00,0.000,1030,0.000,0.047,2935,2096,2313,2389,2238,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1733,0.59,142.0,2935,2096,2390,2238,172.2,8.7,235,1761,0.00,0.00,20.58,1.034,10502,0.000,0.000,2935,2096,2220,2305,2135,0,0,0,0,0,0,15.22,14.66,14.21
$GC,2002,0.61,165.6,2934,2096,2305,2132,147.4,8.8,264,2028,0.00,0.00,20.08,1.017,10246,0.000,0.000,2935,2095,2122,2211,2034,0,0,0,0,0,0,15.23,14.68,14.26
$GC,2279,0.61,175.2,2934,2096,2210,2032,118.2,9.6,316,2294,0.00,2.42,8.75,0.929,10500,0.000,0.063,2935,3531,2084,2173,1995,0,0,0,0,0,0,15.22,14.91,14.26
$GC,2333,0.61,175.2,2934,3530,2173,1996,112.5,11.7,325,2341,0.00,2.33,0.00,0.000,1030,0.000,0.044,2946,2113,2084,2173,1996,0,0,0,0,0,0,15.02,14.93,15.04
$GC,2591,0.63,193.6,2946,2112,2172,1995,86.4,9.1,374,2611,0.00,0.00,15.88,0.957,10246,0.000,0.000,2946,2112,2008,2094,1923,0,0,0,0,0,0,15.23,14.90,14.31
$GC,2864,0.63,197.4,2946,2112,2093,1919,61.9,9.9,425,2874,0.00,2.35,3.80,0.741,10756,0.000,0.055,2957,716,1994,2080,1909,0,0,0,0,0,0,15.21,14.90,14.18
$GC,2903,0.63,197.4,2957,715,2073,1910,58.0,10.4,431,2911,0.00,2.40,0.00,0.000,5126,0.000,0.049,2957,2142,1991,2073,1909,0,0,0,0,0,0,15.02,14.90,15.04
$GC,3164,0.65,234.5,2957,2142,2073,1909,38.9,8.0,480,3200,0.00,2.38,29.75,0.918,8452,0.000,0.063,2957,3538,1841,1923,1760,0,0,0,0,0,0,15.21,14.84,14.31
$GC,3250,0.65,234.5,2956,3538,1922,1760,30.3,11.1,494,3258,0.00,2.40,0.00,0.000,5126,0.000,0.045,2968,2102,1841,1922,1760,0,0,0,0,0,0,14.96,14.85,14.97
$STATE,3497,end climb,SURFACE_DEPTH_REACHED
$STATE,3497,begin surface coast
$FINISH,0.3,1.023051
$STATE,3524,end surface coast,CONTROL_FINISHED_OK
$STATE,3524,begin surface
$SM_CCo,3539,67.85,0.194,0,0,1168,400.08
$SM_GC,1.00,6.43,0.28,67.85,0.059,0.071,0.194,172,2285,1168,-7.89,-1.13,400.08,0,0,0,0,0,0,14.95,14.96,14.69
$IRIDIUM_FIX,2237.01,-15749.78,230921,215909
$TT8_MAMPS,0.02247,0.283871
$HUMID,50.11
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.25,123.838
$10V_AH,12.86,0.000
$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,15.775,33.700,286.825,67.850,0.000,32.897,61.415,117.803,0.500,0.000,26.247,1351.249,615.219,397.371,1467.342,151.584,0.000,900.349,0.000,1266.542,0.000,0.556,0.000
$DEVICE_MAMPS,438.345,107.100,1093.950,194.310,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,362.703,394.105,845.086,721.196,851.076,0.000,0.000,0.000,0.000,0.000
$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,47278,545
$CAP_FILE_SIZE,119347,0
$CFSIZE,1023623168,972603392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.164,218.88,1
$GPS,230921,230531,2245.026,-15800.410,7,0.9,41,9.8,0.6,265.7,10,7.9