version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 526
start: 9 25 121 16 48 25
data:
$ID,626
$MISSION,3
$DIVE,526
$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,67
$R_STBD_OVSHOOT,76
$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
$GPS1,250921,164231,2245.3096,-15800.8691,6,0.9,34,9.8,0.6,251.7,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.6
$GPS2,250921,164735,2245.3232,-15800.9082,7,0.9,18,9.8,0.0,281.4,9,10.0
$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,120.2,1663,-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,-116.8,123,2228,1198,1119,0.0,0.0,0,82,0.00,0.00,-64.35,0.000,16386,0.000,0.000,123,2228,3261,3222,3300,0,0,0,0,0,0,15.18,28.83,15.19
$GC,85,-0.55,-116.8,123,2229,3223,3300,3.8,-7.3,9,101,8.40,2.20,-0.20,0.000,18948,0.435,0.062,2574,870,3276,3245,3308,0,0,0,0,0,0,14.28,13.93,14.57
$GC,109,-0.55,-116.8,2573,869,3250,3303,18.3,-42.3,12,117,0.00,2.30,0.00,0.000,3078,0.000,0.044,2566,2226,3277,3254,3300,0,0,0,0,0,0,14.88,14.82,14.91
$GC,373,-0.55,-116.8,2565,2229,3259,3296,87.4,-21.3,61,379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2229,3277,3259,3296,0,0,0,0,0,0,15.21,15.22,15.21
$GC,634,-0.55,-116.8,2566,2228,3260,3296,136.5,-18.9,110,641,0.00,2.30,0.00,0.000,2564,0.000,0.051,2566,886,3278,3261,3295,0,0,0,0,0,0,15.24,14.83,15.25
$GC,665,-0.55,-116.8,2566,886,3262,3295,141.8,-17.0,115,673,0.05,2.30,0.00,0.000,3078,0.399,0.051,2574,2268,3277,3262,3293,0,0,0,0,0,0,14.66,14.92,14.92
$GC,926,-0.55,-116.8,2573,2271,3262,3292,176.2,-12.2,145,934,0.00,2.25,0.00,0.000,516,0.000,0.050,2574,884,3277,3262,3293,0,0,0,0,0,0,15.28,14.83,15.28
$GC,957,-0.55,-116.8,2573,883,3263,3293,180.3,-12.4,148,968,0.00,2.28,0.00,0.000,3078,0.000,0.053,2565,2261,3276,3263,3290,0,0,0,0,0,0,14.88,14.81,14.90
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1142,-0.13,0.0,2564,2100,3263,3290,201.3,-12.4,166,1238,0.38,0.00,92.28,1.086,10246,0.244,0.000,2707,2098,2798,2862,2734,0,0,0,0,0,0,14.55,14.67,14.07
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,0.55,116.8,2707,2097,2862,2734,206.3,0.0,176,1341,0.50,0.00,95.35,1.077,10758,0.150,0.000,2919,2097,2322,2405,2239,0,0,0,0,0,0,14.59,14.56,14.00
$GC,1579,0.56,141.1,2919,2098,2402,2233,186.2,8.8,210,1608,0.00,2.45,20.38,1.034,10500,0.000,0.063,2919,3531,2223,2309,2137,0,0,0,0,0,0,15.17,14.77,14.21
$GC,1765,0.57,152.7,2919,3531,2309,2138,168.0,9.5,228,1783,0.00,2.28,11.10,0.973,9222,0.000,0.044,2930,2173,2175,2262,2089,0,0,0,0,0,0,14.85,14.80,14.22
$GC,2027,0.58,174.9,2930,2173,2262,2083,143.7,9.0,260,2054,0.00,2.42,18.42,1.008,10756,0.000,0.056,2942,727,2085,2172,1998,0,0,0,0,0,0,15.23,14.83,14.27
$GC,2078,0.60,204.5,2942,727,2167,1997,139.4,8.6,268,2113,0.00,2.40,24.15,1.007,9222,0.000,0.049,2942,2152,1965,2044,1887,0,0,0,0,0,0,14.97,14.87,14.16
$GC,2371,0.60,204.5,2941,2152,2043,1881,105.5,11.7,321,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2152,1962,2043,1881,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2635,0.61,213.7,2941,2152,2043,1880,79.1,9.6,370,2650,0.00,2.30,8.40,0.894,8452,0.000,0.065,2942,3531,1927,2007,1847,0,0,0,0,0,0,15.23,14.71,14.24
$GC,2689,0.62,241.9,2941,3531,2005,1846,74.4,8.6,379,2720,0.00,2.35,23.52,0.947,9222,0.000,0.044,2953,2137,1811,1893,1730,0,0,0,0,0,0,14.86,14.82,14.27
$GC,2976,0.62,241.9,2952,2137,1893,1725,45.0,11.7,431,2984,0.00,2.42,0.00,0.000,516,0.000,0.057,2963,712,1808,1891,1725,0,0,0,0,0,0,15.18,14.82,15.19
$GC,3013,0.63,252.0,2964,711,1887,1726,41.5,9.6,437,3029,0.00,2.40,8.73,0.855,13318,0.000,0.050,2964,2132,1769,1852,1687,0,0,0,0,0,0,15.00,14.88,14.27
$GC,3285,0.63,252.0,2964,2133,1852,1686,12.9,11.6,487,3292,0.00,2.40,0.00,0.000,4356,0.000,0.063,2964,3548,1769,1852,1686,0,0,0,0,0,0,15.20,14.85,15.21
$GC,3315,0.63,252.0,2964,3548,1852,1686,8.8,14.0,492,3325,0.08,2.40,0.00,0.000,5126,0.332,0.049,2948,2118,1769,1852,1686,0,0,0,0,0,0,14.66,14.89,14.90
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$FINISH,0.5,1.023064
$STATE,3392,end surface coast,CONTROL_FINISHED_OK
$STATE,3392,begin surface
$SM_CCo,3408,61.28,0.190,0,0,1164,400.08
$SM_GC,1.06,6.25,0.25,61.28,0.029,0.063,0.190,142,2300,1164,-7.94,-1.05,400.08,0,0,0,0,0,0,14.99,15.00,14.69
$IRIDIUM_FIX,2237.01,-15802.37,250921,164352
$TT8_MAMPS,0.02247,0.312333
$HUMID,50.86
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.93,130.418
$10V_AH,12.92,0.000
$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,15.650,37.950,302.325,61.275,0.000,24.649,42.654,115.302,0.750,0.000,19.101,1250.282,674.029,405.901,1323.093,152.586,0.000,892.964,0.000,1159.331,0.000,0.554,0.000
$DEVICE_MAMPS,434.520,134.640,1085.535,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,335.201,363.878,779.218,651.575,760.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,44020,505
$CAP_FILE_SIZE,112048,0
$CFSIZE,1023623168,969408512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.138,317.91,1
$GPS,250921,174731,2245.287,-15800.755,6,0.9,40,9.8,0.4,324.2,9,5.2