version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 504
start: 9 24 121 17 14 0
data:
$ID,626
$MISSION,3
$DIVE,504
$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,64
$R_STBD_OVSHOOT,33
$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
$GPS1,240921,170800,2245.3240,-15800.2549,6,0.9,20,9.8,0.0,67.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.4
$GPS2,240921,171310,2245.3477,-15800.3066,6,0.9,21,9.8,0.0,295.6,9,9.8
$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,136.0,830,-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,15,-0.55,-116.8,123,2232,1197,1118,0.0,0.0,0,73,0.00,0.00,-54.80,0.000,16386,0.000,0.000,124,2229,2906,2886,2926,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.55,-116.8,123,2230,2888,2925,3.3,-7.0,8,99,8.38,2.20,-6.38,0.000,18948,0.436,0.064,2570,877,3279,3260,3299,0,0,0,0,0,0,14.28,13.97,14.57
$GC,148,-0.55,-116.8,2570,876,3265,3296,26.9,-23.1,20,156,0.00,2.38,0.00,0.000,3078,0.000,0.048,2562,2269,3280,3266,3295,0,0,0,0,0,0,14.88,14.82,14.90
$GC,414,-0.55,-116.8,2561,2272,3267,3294,85.1,-17.4,69,421,0.00,2.30,0.00,0.000,2564,0.000,0.050,2562,883,3280,3266,3294,0,0,0,0,0,0,15.22,14.92,15.23
$GC,462,-0.55,-116.8,2561,880,3267,3294,93.0,-15.1,77,471,0.05,2.35,0.00,0.000,3078,0.337,0.050,2569,2269,3280,3268,3293,0,0,0,0,0,0,14.59,14.88,14.78
$GC,730,-0.55,-116.8,2569,2271,3266,3293,132.7,-13.0,126,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2569,2270,3280,3268,3293,0,0,0,0,0,0,15.26,15.26,15.26
$GC,991,-0.55,-116.8,2569,2271,3268,3293,171.0,-14.8,162,995,0.00,2.30,0.00,0.000,2564,0.000,0.048,2570,874,3280,3268,3293,0,0,0,0,0,0,15.29,14.97,15.30
$GC,1034,-0.55,-116.8,2570,874,3268,3293,176.9,-14.1,166,1039,0.00,2.30,0.00,0.000,3078,0.000,0.051,2561,2265,3280,3268,3293,0,0,0,0,0,0,15.09,14.97,15.10
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1221,-0.13,0.0,2561,2094,3269,3291,201.2,-13.0,184,1317,0.38,0.00,92.53,1.082,10246,0.246,0.000,2704,2090,2799,2864,2734,0,0,0,0,0,0,14.57,14.67,14.08
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1320,0.55,116.8,2703,2090,2864,2734,204.9,0.0,194,1428,0.50,2.25,95.47,1.069,10756,0.157,0.048,2924,765,2319,2400,2239,0,0,0,0,0,0,14.58,14.50,14.01
$GC,1464,0.61,211.6,2925,765,2394,2239,202.1,5.2,208,1546,0.00,2.30,75.88,1.061,11270,0.000,0.047,2924,2142,1936,2014,1858,0,0,0,0,0,0,14.69,14.66,13.97
$GC,1794,0.61,211.6,2924,2143,2013,1852,163.1,12.4,241,1803,0.00,2.30,0.00,0.000,2308,0.000,0.063,2924,3531,1932,2012,1852,0,0,0,0,0,0,15.18,14.77,15.18
$GC,1903,0.61,211.6,2924,3529,2013,1852,148.8,12.4,252,1911,0.00,2.28,0.00,0.000,3078,0.000,0.045,2935,2184,1932,2012,1852,0,0,0,0,0,0,14.91,14.84,14.95
$GC,2173,0.61,211.6,2935,2184,2012,1850,114.4,10.8,301,2179,0.00,2.35,0.00,0.000,2564,0.000,0.057,2946,769,1931,2012,1851,0,0,0,0,0,0,15.24,14.92,15.24
$GC,2244,0.61,211.6,2946,769,2006,1851,106.6,10.7,314,2252,0.00,2.33,0.00,0.000,1030,0.000,0.050,2946,2128,1928,2006,1851,0,0,0,0,0,0,14.93,14.88,14.95
$GC,2512,0.61,213.5,2946,2128,2005,1851,81.7,10.0,363,2519,0.00,2.33,0.00,0.000,260,0.000,0.067,2945,3531,1928,2006,1851,0,0,0,0,0,0,15.24,14.91,15.25
$GC,2665,0.61,213.5,2946,3531,2006,1851,67.8,10.3,391,2672,0.00,2.28,0.00,0.000,5126,0.000,0.045,2956,2185,1928,2005,1851,0,0,0,0,0,0,14.91,14.85,14.94
$GC,2925,0.61,213.5,2956,2183,2006,1851,46.8,10.2,440,2933,0.00,2.40,0.00,0.000,4612,0.000,0.057,2968,763,1928,2006,1851,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2962,0.61,213.5,2967,762,2004,1851,42.9,11.1,446,2970,0.05,2.33,0.00,0.000,5126,0.288,0.051,2934,2125,1927,2004,1851,0,0,0,0,0,0,14.65,14.84,14.90
$GC,3224,0.63,245.6,2933,2126,2004,1850,20.6,8.4,495,3246,0.00,0.00,14.55,0.823,10246,0.000,0.000,2933,2126,1794,1877,1711,0,0,0,0,0,0,15.23,14.64,14.23
$STATE,3389,end climb,SURFACE_DEPTH_REACHED
$STATE,3389,begin surface coast
$FINISH,0.3,1.023130
$STATE,3416,end surface coast,CONTROL_FINISHED_OK
$STATE,3416,begin surface
$SM_CCo,3432,63.45,0.184,0,0,1167,400.08
$SM_GC,1.05,6.38,0.20,63.45,0.057,0.073,0.184,156,2315,1167,-7.95,-1.24,400.08,0,0,0,0,0,0,14.95,15.00,14.69
$IRIDIUM_FIX,2237.01,-15759.32,240921,170921
$TT8_MAMPS,0.02247,0.283122
$HUMID,49.88
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,13.97,126.799
$10V_AH,12.45,0.000
$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,15.725,37.450,278.425,63.450,0.000,24.938,41.729,119.713,0.750,0.000,22.256,1319.563,574.176,377.455,1414.241,152.028,0.000,879.267,0.000,1231.385,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,88.740,1082.475,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,353.120,439.308,824.454,716.277,827.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,47374,530
$CAP_FILE_SIZE,118587,0
$CFSIZE,1023623168,971161600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,5
$CURRENT,0.154,339.38,1
$GPS,240921,181331,2245.351,-15800.158,6,0.9,39,9.8,1.2,255.5,9,7.0