version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 517
start: 9 25 121 7 2 59
data:
$ID,626
$MISSION,3
$DIVE,517
$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,33
$R_STBD_OVSHOOT,66
$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
$GPS1,250921,065249,2244.9402,-15759.7900,7,0.8,38,9.8,0.7,348.7,10,6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.2
$GPS2,250921,070209,2244.9756,-15759.8066,6,0.9,15,9.8,0.0,299.2,9,9.4
$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,251.8,333,-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,-116.8,123,2304,1192,1120,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,16386,0.000,0.000,122,2304,3184,3149,3220,0,0,0,0,0,0,15.19,28.83,15.21
$GC,84,-0.58,-116.8,123,2304,3150,3221,3.8,-7.4,9,100,8.38,2.40,-1.45,0.000,18948,0.435,0.058,2562,836,3279,3250,3309,0,0,0,0,0,0,14.27,13.44,14.56
$GC,245,-0.58,-116.8,2562,832,3263,3297,51.2,-19.9,38,253,0.00,2.38,0.00,0.000,3078,0.000,0.048,2554,2229,3280,3264,3297,0,0,0,0,0,0,15.01,14.83,15.02
$GC,506,-0.58,-116.8,2553,2232,3266,3295,108.4,-21.4,87,513,0.00,2.40,0.00,0.000,2308,0.000,0.063,2542,3674,3281,3266,3296,0,0,0,0,0,0,15.23,14.90,15.24
$GC,531,-0.58,-116.8,2542,3674,3266,3295,113.2,-18.2,91,540,0.05,2.33,0.00,0.000,3078,0.366,0.045,2560,2254,3281,3266,3296,0,0,0,0,0,0,14.70,14.93,14.92
$GC,791,-0.58,-116.8,2560,2250,3267,3296,152.0,-14.5,139,795,0.00,2.30,0.00,0.000,2564,0.000,0.052,2561,849,3281,3267,3295,0,0,0,0,0,0,15.26,14.93,15.27
$GC,863,-0.58,-116.8,2560,849,3268,3295,162.3,-13.5,146,872,0.00,2.35,0.00,0.000,3078,0.000,0.050,2551,2272,3281,3268,3295,0,0,0,0,0,0,15.07,14.95,15.09
$GC,1114,-0.58,-116.8,2551,2272,3268,3294,197.6,-13.9,171,1119,0.00,2.33,0.00,0.000,2308,0.000,0.066,2540,3674,3281,3268,3294,0,0,0,0,0,0,15.29,14.94,15.30
$STATE,1134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1134,begin apogee
$GC,1142,-0.13,0.0,2540,2116,3268,3294,200.8,-13.7,173,1239,0.43,0.00,92.68,1.088,10246,0.237,0.000,2702,2112,2798,2864,2733,0,0,0,0,0,0,14.55,14.67,14.07
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1242,0.58,116.8,2702,2112,2864,2733,205.3,0.0,183,1348,0.52,0.00,95.75,1.076,10246,0.153,0.000,2924,2111,2321,2405,2238,0,0,0,0,0,0,14.50,14.56,14.00
$GC,1587,0.62,180.0,2923,2111,2405,2233,186.3,6.5,218,1648,0.00,2.40,50.47,1.060,10500,0.000,0.063,2924,3534,2064,2151,1978,0,0,0,0,0,0,15.18,14.71,14.14
$GC,1783,0.62,180.0,2923,3534,2152,1977,166.0,11.1,237,1794,0.00,2.33,0.00,0.000,3078,0.000,0.047,2934,2125,2064,2151,1977,0,0,0,0,0,0,14.98,14.87,14.99
$GC,2037,0.62,180.0,2934,2124,2151,1972,138.6,11.1,272,2044,0.00,2.40,0.00,0.000,2564,0.000,0.058,2946,700,2061,2151,1972,0,0,0,0,0,0,15.22,14.88,15.22
$GC,2141,0.62,181.1,2946,700,2142,1972,127.7,10.0,291,2148,0.00,2.38,0.00,0.000,1030,0.000,0.050,2946,2132,2057,2142,1972,0,0,0,0,0,0,15.03,14.93,15.05
$GC,2397,0.62,188.1,2946,2132,2142,1972,100.2,9.7,340,2412,0.00,2.33,7.05,0.891,8452,0.000,0.064,2946,3535,2032,2116,1948,0,0,0,0,0,0,15.24,14.71,14.22
$GC,2471,0.62,188.1,2946,3535,2116,1948,92.3,10.2,353,2479,0.00,2.33,0.00,0.000,5126,0.000,0.047,2957,2118,2031,2116,1947,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2733,0.63,205.1,2956,2115,2115,1948,69.1,9.1,402,2755,0.00,2.40,14.45,0.935,12548,0.000,0.062,2957,3535,1963,2046,1880,0,0,0,0,0,0,15.23,14.72,14.26
$GC,2869,0.64,223.0,2957,3536,2046,1880,57.1,9.1,426,2891,0.00,2.38,15.48,0.916,13318,0.000,0.046,2968,2127,1889,1970,1808,0,0,0,0,0,0,14.90,14.85,14.28
$GC,3148,0.64,223.0,2968,2126,1969,1803,27.4,11.3,477,3157,0.00,2.40,0.00,0.000,4612,0.000,0.060,2979,711,1885,1968,1802,0,0,0,0,0,0,15.19,14.85,15.20
$GC,3198,0.64,223.0,2979,710,1962,1805,21.6,11.4,485,3207,0.08,2.40,0.00,0.000,5126,0.328,0.050,2953,2133,1883,1962,1804,0,0,0,0,0,0,14.66,14.88,14.92
$STATE,3411,end climb,SURFACE_DEPTH_REACHED
$STATE,3411,begin surface coast
$FINISH,0.2,1.023155
$STATE,3455,end surface coast,CONTROL_FINISHED_OK
$STATE,3455,begin surface
$SM_CCo,3471,72.90,0.187,0,0,1166,400.08
$SM_GC,1.02,6.38,0.20,72.90,0.055,0.085,0.187,149,2285,1166,-7.90,-1.05,400.08,0,0,0,0,0,0,14.98,14.97,14.69
$IRIDIUM_FIX,2234.68,-15759.32,250921,065947
$TT8_MAMPS,0.02247,0.342293
$HUMID,50.66
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,13.44,128.911
$10V_AH,12.90,0.000
$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,15.825,42.975,275.875,72.900,0.000,57.882,113.790,174.349,0.000,0.000,16.573,1330.146,649.409,412.663,1582.040,162.519,0.000,895.416,0.000,1231.121,0.000,0.556,0.000
$DEVICE_MAMPS,435.285,84.915,1087.830,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,355.035,385.289,827.955,708.707,827.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339112
$DATA_FILE_SIZE,47428,533
$CAP_FILE_SIZE,120390,0
$CFSIZE,1023623168,970113024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,352.11,1
$GPS,250921,080259,2244.973,-15800.202,7,0.8,20,9.8,0.0,288.9,10,10.0