version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 512
start: 9 25 121 1 40 52
data:
$ID,626
$MISSION,3
$DIVE,512
$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,55
$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
$GPS1,250921,013447,2244.9856,-15800.2275,6,0.8,19,9.8,0.0,155.6,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.1
$GPS2,250921,014002,2244.9758,-15800.3076,7,0.8,18,9.8,0.0,167.9,10,9.5
$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,51.9,527,-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,-116.8,125,2296,1193,1120,0.0,0.0,0,73,0.00,0.00,-54.33,0.000,16386,0.000,0.000,124,2297,2875,2864,2887,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.55,-116.8,124,2297,2864,2888,3.1,-6.4,8,99,8.35,2.28,-7.03,0.000,18692,0.431,0.076,2556,3655,3280,3261,3299,0,0,0,0,0,0,14.29,13.42,14.57
$GC,145,-0.55,-116.8,2555,3655,3262,3298,23.7,-20.5,19,153,0.03,2.35,0.00,0.000,3078,0.248,0.044,2579,2257,3280,3264,3297,0,0,0,0,0,0,14.59,14.83,14.86
$GC,406,-0.55,-116.8,2579,2253,3267,3295,80.7,-18.0,68,414,0.00,2.35,0.00,0.000,4612,0.000,0.051,2579,864,3281,3268,3294,0,0,0,0,0,0,15.21,14.83,15.21
$GC,454,-0.55,-116.8,2579,864,3269,3294,88.2,-14.6,76,462,0.00,2.35,0.00,0.000,3078,0.000,0.049,2570,2241,3281,3269,3294,0,0,0,0,0,0,14.90,14.84,15.00
$GC,719,-0.55,-116.8,2570,2242,3270,3294,127.6,-13.6,125,725,0.00,2.30,0.00,0.000,2564,0.000,0.047,2570,848,3282,3270,3294,0,0,0,0,0,0,15.25,14.94,15.25
$GC,745,-0.55,-116.8,2570,848,3271,3294,131.4,-14.0,129,752,0.00,2.38,0.00,0.000,3078,0.000,0.050,2560,2280,3282,3271,3293,0,0,0,0,0,0,15.05,14.93,15.07
$GC,1004,-0.55,-116.8,2559,2280,3272,3293,166.1,-14.2,167,1010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2559,2280,3282,3271,3293,0,0,0,0,0,0,15.28,15.28,15.27
$GC,1252,-0.55,-116.8,2559,2280,3271,3293,198.5,-13.5,192,1263,0.00,2.35,0.00,0.000,2564,0.000,0.048,2559,857,3282,3272,3293,0,0,0,0,0,0,15.30,14.96,15.30
$STATE,1274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1274,begin apogee
$GC,1281,-0.13,0.0,2550,2127,3272,3293,201.8,-14.0,194,1378,0.40,0.00,93.00,1.102,10246,0.236,0.000,2704,2128,2798,2863,2734,0,0,0,0,0,0,14.57,14.66,14.07
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,0.55,116.8,2703,2128,2863,2734,206.6,0.0,204,1487,0.50,2.33,95.70,1.085,10500,0.149,0.063,2917,3532,2323,2405,2242,0,0,0,0,0,0,14.56,14.43,13.99
$GC,1542,0.57,151.9,2916,3533,2404,2242,201.1,8.3,220,1582,0.00,2.30,29.60,1.053,11270,0.000,0.042,2927,2125,2179,2265,2093,0,0,0,0,0,0,14.69,14.66,14.02
$GC,1822,0.57,153.7,2928,2125,2264,2088,170.6,10.0,248,1830,0.00,2.30,0.00,0.000,2564,0.000,0.052,2939,719,2174,2261,2087,0,0,0,0,0,0,15.19,14.78,15.19
$GC,1926,0.57,153.7,2939,721,2256,2087,159.4,10.4,258,1937,0.00,2.33,0.00,0.000,5126,0.000,0.049,2939,2126,2171,2255,2087,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2184,0.57,153.7,2938,2127,2255,2087,133.0,10.4,298,2192,0.00,2.40,0.00,0.000,4356,0.000,0.067,2939,3538,2172,2255,2089,0,0,0,0,0,0,15.24,14.88,15.25
$GC,2282,0.58,166.0,2938,3538,2255,2089,123.7,9.5,315,2303,0.05,2.33,11.75,0.971,13318,0.400,0.044,2935,2117,2121,2209,2034,0,0,0,0,0,0,14.68,14.96,14.26
$GC,2559,0.60,198.2,2935,2118,2209,2032,99.9,8.4,366,2592,0.00,0.00,26.15,0.994,10502,0.000,0.000,2935,2118,1990,2073,1908,0,0,0,0,0,0,15.23,14.66,14.23
$GC,2849,0.64,270.7,2935,2118,2073,1903,73.7,6.4,419,2913,0.00,2.35,57.03,0.968,10756,0.000,0.053,2944,721,1693,1782,1605,0,0,0,0,0,0,15.20,14.59,14.19
$GC,2955,0.66,300.5,2944,721,1774,1605,64.5,8.6,435,2984,0.00,2.40,24.08,0.926,11270,0.000,0.047,2945,2138,1572,1663,1482,0,0,0,0,0,0,14.88,14.76,14.14
$GC,3238,0.66,300.5,2944,2139,1661,1475,34.3,11.9,487,3246,0.00,2.40,0.00,0.000,2308,0.000,0.060,2945,3554,1568,1661,1476,0,0,0,0,0,0,15.16,14.82,15.16
$GC,3280,0.66,300.5,2944,3554,1661,1476,29.4,11.3,494,3288,0.00,2.40,0.00,0.000,3078,0.000,0.047,2955,2125,1568,1661,1476,0,0,0,0,0,0,14.98,14.85,15.00
$STATE,3483,end climb,SURFACE_DEPTH_REACHED
$STATE,3484,begin surface coast
$FINISH,0.3,1.021450
$STATE,3506,end surface coast,CONTROL_FINISHED_OK
$STATE,3506,begin surface
$SM_CCo,3522,40.72,0.193,0,0,1166,400.08
$SM_GC,0.91,6.40,0.25,40.72,0.055,0.076,0.193,180,2288,1166,-7.91,-0.90,400.08,0,0,0,0,0,0,14.92,14.96,14.68
$IRIDIUM_FIX,2234.68,-15800.20,250921,013609
$TT8_MAMPS,0.023219,0.283871
$HUMID,51.49
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,13.42,128.092
$10V_AH,13.06,0.000
$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,15.725,42.250,337.300,40.725,0.000,30.890,43.161,121.425,0.750,0.000,20.109,1304.060,635.162,404.326,1411.323,156.406,0.000,926.644,0.000,1236.297,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,76.500,1101.600,192.780,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,355.922,386.526,825.114,695.399,813.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,47322,536
$CAP_FILE_SIZE,116277,0
$CFSIZE,1023623168,970522624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183,258.11,1
$GPS,250921,024131,2245.133,-15800.336,10,0.7,40,9.8,1.2,145.2,11,6.2