version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 516
start: 9 25 121 5 53 0
data:
$ID,626
$MISSION,3
$DIVE,516
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,250921,054647,2245.0139,-15800.0137,6,0.9,16,9.8,0.0,344.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.5
$GPS2,250921,055210,2245.0466,-15800.0381,6,0.9,15,9.8,0.0,251.3,9,10.0
$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,125.5,108,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-116.8,123,2290,1193,1119,0.0,0.0,0,82,0.00,0.00,-63.25,0.000,16386,0.000,0.000,123,2290,3183,3147,3219,0,0,0,0,0,0,15.19,28.83,15.19
$GC,85,-0.58,-116.8,123,2290,3150,3219,3.6,-6.2,9,102,8.32,2.40,-1.50,0.000,18948,0.431,0.060,2567,837,3280,3253,3308,0,0,0,0,0,0,14.29,13.46,14.57
$GC,110,-0.58,-116.8,2567,836,3257,3304,17.2,-39.1,12,117,0.00,2.40,0.00,0.000,3078,0.000,0.044,2558,2275,3281,3261,3302,0,0,0,0,0,0,15.00,14.87,15.01
$GC,370,-0.58,-116.8,2557,2276,3265,3297,82.7,-23.7,61,377,0.00,2.33,0.00,0.000,2308,0.000,0.065,2547,3668,3281,3265,3297,0,0,0,0,0,0,15.21,14.88,15.22
$GC,439,-0.58,-116.8,2547,3668,3265,3297,96.2,-15.4,73,446,0.05,2.30,0.00,0.000,3078,0.369,0.044,2564,2259,3281,3265,3297,0,0,0,0,0,0,14.69,14.93,14.92
$GC,705,-0.58,-116.8,2564,2256,3267,3295,136.5,-15.2,122,713,0.00,2.38,0.00,0.000,516,0.000,0.054,2565,858,3281,3267,3295,0,0,0,0,0,0,15.25,14.85,15.26
$GC,753,-0.58,-116.8,2565,858,3268,3295,143.2,-12.8,130,762,0.00,2.40,0.00,0.000,3078,0.000,0.050,2555,2286,3281,3268,3295,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1006,-0.58,-116.8,2555,2285,3269,3295,179.3,-14.0,159,1016,0.00,2.28,0.00,0.000,2308,0.000,0.064,2545,3671,3282,3269,3295,0,0,0,0,0,0,15.29,14.71,15.30
$GC,1031,-0.58,-116.8,2545,3671,3268,3295,182.6,-14.6,161,1039,0.05,2.28,0.00,0.000,3078,0.346,0.044,2564,2268,3281,3268,3295,0,0,0,0,0,0,14.75,14.97,14.97
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1183,-0.13,0.0,2564,2065,3269,3294,200.6,-12.0,176,1280,0.35,0.10,92.75,1.089,10246,0.236,0.125,2701,2157,2798,2863,2734,0,0,0,0,0,0,14.59,14.67,14.08
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1283,0.58,116.8,2702,2157,2863,2734,205.3,0.0,186,1391,0.52,2.22,95.62,1.076,10500,0.153,0.061,2922,3500,2322,2404,2240,0,0,0,0,0,0,14.59,14.52,14.00
$GC,1499,0.58,117.4,2922,3500,2403,2240,194.9,10.1,207,1507,0.00,2.33,0.00,0.000,1030,0.000,0.043,2932,2118,2321,2403,2239,0,0,0,0,0,0,14.76,14.71,14.78
$GC,1751,0.60,159.7,2933,2115,2404,2235,174.3,7.7,232,1788,0.00,0.00,34.67,1.050,10246,0.000,0.000,2933,2115,2149,2237,2061,0,0,0,0,0,0,15.21,14.81,14.22
$GC,2026,0.60,159.7,2933,2115,2235,2056,146.2,11.4,263,2033,0.00,0.00,0.00,0.000,2054,0.000,0.000,2933,2115,2145,2235,2056,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2286,0.61,168.2,2933,2115,2235,2054,118.1,9.6,312,2300,0.00,2.33,7.72,0.907,10500,0.000,0.061,2933,3509,2113,2202,2024,0,0,0,0,0,0,15.24,14.73,14.25
$GC,2379,0.61,168.2,2933,3509,2202,2024,108.1,11.1,329,2386,0.00,2.28,0.00,0.000,1030,0.000,0.047,2944,2122,2113,2202,2025,0,0,0,0,0,0,15.04,14.95,15.05
$GC,2635,0.63,203.0,2944,2121,2202,2022,83.4,8.1,378,2669,0.00,2.38,27.95,0.966,10756,0.000,0.056,2955,712,1971,2055,1887,0,0,0,0,0,0,15.24,14.88,14.30
$GC,2693,0.66,244.6,2955,712,2047,1888,79.1,7.7,387,2738,0.00,2.35,33.35,0.954,11270,0.000,0.048,2956,2092,1799,1881,1718,0,0,0,0,0,0,14.88,14.83,14.13
$GC,2998,0.66,244.6,2955,2092,1881,1710,51.1,11.6,441,3005,0.00,2.45,0.00,0.000,2308,0.000,0.069,2955,3530,1796,1881,1711,0,0,0,0,0,0,15.17,14.83,15.17
$GC,3103,0.66,244.6,2955,3530,1881,1711,38.3,12.9,460,3110,0.00,2.38,0.00,0.000,5126,0.000,0.048,2966,2131,1796,1881,1711,0,0,0,0,0,0,15.00,14.84,15.02
$GC,3365,0.66,244.6,2966,2129,1881,1710,8.7,11.7,509,3372,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2128,1795,1881,1710,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3411,end climb,SURFACE_DEPTH_REACHED
$STATE,3411,begin surface coast
$FINISH,0.4,1.023192
$STATE,3435,end surface coast,CONTROL_FINISHED_OK
$STATE,3435,begin surface
$SM_CCo,3451,63.70,0.189,0,0,1168,400.08
$SM_GC,1.33,6.45,0.22,63.70,0.058,0.068,0.189,152,2297,1168,-7.93,-1.07,400.08,0,0,0,0,0,0,15.00,15.00,14.69
$IRIDIUM_FIX,2237.01,-15811.92,250921,054823
$TT8_MAMPS,0.023219,0.313831
$HUMID,51.10
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.46,128.743
$10V_AH,12.98,0.000
$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,15.750,37.975,292.075,63.700,0.000,32.896,53.890,120.440,0.500,0.000,16.349,1289.699,652.831,405.595,1369.101,153.210,0.000,893.429,0.000,1185.250,0.000,0.556,0.000
$DEVICE_MAMPS,431.460,124.695,1088.595,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,346.587,386.456,806.870,673.597,785.136,0.000,0.000,0.000,0.000,0.000
$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,47377,521
$CAP_FILE_SIZE,114150,0
$CFSIZE,1023623168,970211328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078,328.57,1
$GPS,250921,065249,2244.940,-15759.790,7,0.8,38,9.8,0.7,348.7,10,6.4