version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 501
start: 9 24 121 13 58 28
data:
$ID,626
$MISSION,3
$DIVE,501
$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,31
$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
$GPS1,240921,135231,2245.0249,-15800.3408,6,1.0,41,9.8,0.5,235.4,8,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.8
$GPS2,240921,135739,2245.0071,-15800.3984,6,1.0,16,9.8,0.6,280.2,8,9.7
$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,63.8,680,-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,-116.8,123,2277,1195,1119,0.0,0.0,0,80,0.00,0.00,-62.15,0.000,16386,0.000,0.000,123,2277,3190,3156,3225,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,123,2277,3156,3227,4.0,-8.2,9,99,8.45,2.33,-1.33,0.000,19204,0.441,0.066,2556,3686,3279,3250,3308,0,0,0,0,0,0,14.28,13.47,14.57
$GC,154,-0.55,-116.8,2556,3687,3255,3304,31.7,-21.5,21,162,0.05,2.40,0.00,0.000,3078,0.374,0.044,2574,2243,3281,3261,3301,0,0,0,0,0,0,14.65,14.87,14.88
$GC,416,-0.55,-116.8,2573,2239,3264,3296,85.6,-17.1,70,424,0.00,2.33,0.00,0.000,516,0.000,0.051,2574,852,3280,3266,3295,0,0,0,0,0,0,15.22,14.83,15.23
$GC,467,-0.55,-116.8,2574,852,3267,3295,93.2,-13.4,79,475,0.00,2.35,0.00,0.000,3078,0.000,0.051,2565,2266,3281,3267,3295,0,0,0,0,0,0,15.04,14.91,15.05
$GC,726,-0.55,-116.8,2565,2266,3267,3295,135.7,-16.6,128,734,0.00,2.40,0.00,0.000,2308,0.000,0.063,2555,3670,3281,3267,3295,0,0,0,0,0,0,15.25,14.85,15.25
$GC,747,-0.55,-116.8,2554,3670,3267,3295,139.1,-16.5,131,756,0.05,2.30,0.00,0.000,3078,0.355,0.042,2573,2263,3281,3267,3295,0,0,0,0,0,0,14.72,14.96,14.95
$GC,1001,-0.55,-116.8,2573,2259,3268,3295,175.0,-13.4,163,1005,0.00,2.28,0.00,0.000,516,0.000,0.048,2573,852,3281,3268,3295,0,0,0,0,0,0,15.28,14.96,15.29
$GC,1056,-0.55,-116.8,2573,851,3268,3295,181.6,-12.1,168,1064,0.00,2.40,0.00,0.000,3078,0.000,0.051,2564,2261,3281,3269,3294,0,0,0,0,0,0,14.93,14.87,14.97
$STATE,1201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1207,-0.13,0.0,2564,2069,3269,3294,200.1,-12.5,183,1305,0.35,0.12,92.80,1.085,10246,0.243,0.109,2698,2170,2798,2862,2734,0,0,0,0,0,0,14.47,14.67,14.08
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1309,0.55,116.8,2698,2170,2862,2734,204.0,0.0,193,1414,0.52,2.45,95.47,1.076,10756,0.156,0.047,2929,706,2320,2400,2241,0,0,0,0,0,0,14.57,14.59,14.00
$GC,1490,0.55,116.8,2929,706,2389,2241,193.5,10.8,211,1499,0.00,2.30,0.00,0.000,5126,0.000,0.047,2930,2098,2314,2389,2240,0,0,0,0,0,0,14.72,14.68,14.75
$GC,1742,0.59,185.1,2929,2098,2389,2239,172.4,6.6,236,1802,0.00,2.45,53.85,1.057,10500,0.000,0.063,2930,3534,2044,2128,1960,0,0,0,0,0,0,15.21,14.71,14.16
$GC,1978,0.59,185.1,2929,3534,2127,1960,146.4,12.7,262,1986,0.00,2.38,0.00,0.000,1030,0.000,0.047,2940,2133,2044,2128,1960,0,0,0,0,0,0,14.97,14.85,15.00
$GC,2247,0.59,188.4,2940,2134,2127,1956,115.5,9.9,311,2262,0.00,2.38,4.10,0.782,8708,0.000,0.055,2952,712,2028,2111,1946,0,0,0,0,0,0,15.21,14.78,14.18
$GC,2292,0.60,201.2,2951,712,2106,1946,111.3,9.4,318,2313,0.00,2.40,11.43,0.948,13318,0.000,0.049,2952,2140,1977,2058,1896,0,0,0,0,0,0,15.03,14.91,14.22
$GC,2577,0.62,231.3,2952,2140,2058,1893,84.0,8.5,369,2609,0.00,2.33,24.27,0.969,12548,0.000,0.065,2952,3541,1854,1934,1775,0,0,0,0,0,0,15.23,14.86,14.29
$GC,2760,0.63,248.1,2951,3541,1934,1774,64.6,9.2,402,2782,0.00,2.40,14.40,0.919,13318,0.000,0.045,2962,2101,1785,1868,1703,0,0,0,0,0,0,15.00,14.88,14.26
$GC,3038,0.63,248.1,2962,2101,1868,1700,35.4,11.9,453,3044,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2101,1784,1868,1700,0,0,0,0,0,0,15.19,15.19,15.19
$STATE,3299,end climb,SURFACE_DEPTH_REACHED
$STATE,3299,begin surface coast
$FINISH,0.3,1.023064
$STATE,3322,end surface coast,CONTROL_FINISHED_OK
$STATE,3322,begin surface
$SM_CCo,3337,62.72,0.190,0,0,1167,400.08
$SM_GC,1.14,6.22,0.28,62.72,0.024,0.076,0.190,149,2275,1167,-7.90,-1.16,400.08,0,0,0,0,0,0,15.00,14.96,14.69
$IRIDIUM_FIX,2237.01,-15802.37,240921,135353
$TT8_MAMPS,0.02247,0.339297
$HUMID,50.90
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,13.47,126.310
$10V_AH,12.05,0.000
$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,15.650,38.475,296.325,62.725,0.000,26.687,44.715,116.546,0.000,0.000,17.607,1255.958,588.852,390.770,1356.467,148.309,0.000,884.416,0.000,1183.780,0.000,0.555,0.000
$DEVICE_MAMPS,440.640,109.395,1084.770,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,336.368,363.451,784.070,661.041,772.360,0.000,0.000,0.000,0.000,0.000
$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,43865,506
$CAP_FILE_SIZE,112705,0
$CFSIZE,1023623168,971423744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155,273.68,1
$GPS,240921,145600,2245.165,-15800.382,6,1.0,17,9.8,0.0,207.9,8,9.9