version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 528
start: 9 25 121 18 56 32
data:
$ID,626
$MISSION,3
$DIVE,528
$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,75
$R_STBD_OVSHOOT,58
$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
$GPS1,250921,185036,2245.3115,-15800.5049,7,0.9,15,9.8,0.0,133.1,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.8
$GPS2,250921,185543,2245.3347,-15800.5381,7,0.9,15,9.8,0.0,90.6,8,9.8
$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,137.4,1109,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,123,2217,1197,1116,0.0,0.0,0,80,0.00,0.00,-61.78,0.000,16386,0.000,0.000,123,2217,3155,3118,3193,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2217,3121,3191,3.7,-6.9,9,100,8.40,2.20,-1.90,0.000,18948,0.435,0.063,2573,881,3279,3250,3308,0,0,0,0,0,0,14.28,13.45,14.57
$GC,155,-0.55,-116.8,2573,880,3261,3297,31.5,-22.8,21,163,0.00,2.33,0.00,0.000,3078,0.000,0.052,2565,2233,3279,3263,3296,0,0,0,0,0,0,14.88,14.81,14.90
$GC,415,-0.55,-116.8,2564,2234,3264,3296,93.1,-18.4,70,422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2234,3280,3264,3296,0,0,0,0,0,0,15.22,15.23,15.22
$GC,672,-0.55,-116.8,2565,2234,3266,3295,137.6,-17.9,119,679,0.00,2.22,0.00,0.000,2564,0.000,0.051,2565,893,3280,3266,3295,0,0,0,0,0,0,15.24,14.93,15.25
$GC,702,-0.55,-116.8,2564,893,3267,3295,143.3,-17.7,124,711,0.03,2.35,0.00,0.000,3078,0.240,0.051,2579,2267,3280,3266,3294,0,0,0,0,0,0,14.61,14.84,14.89
$GC,959,-0.55,-116.8,2579,2268,3267,3295,177.2,-12.5,153,969,0.00,2.28,0.00,0.000,4612,0.000,0.051,2579,891,3281,3268,3295,0,0,0,0,0,0,15.30,14.97,15.30
$GC,1011,-0.55,-116.8,2578,891,3267,3294,183.3,-11.5,158,1016,0.00,2.28,0.00,0.000,3078,0.000,0.051,2570,2265,3280,3267,3293,0,0,0,0,0,0,15.09,14.96,15.10
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1168,-0.13,0.0,2569,2104,3267,3293,201.0,-11.7,173,1264,0.35,0.00,92.68,1.084,10246,0.238,0.000,2704,2100,2798,2864,2733,0,0,0,0,0,0,14.59,14.67,14.08
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1265,begin climb
$GC,1268,0.55,116.8,2704,2101,2864,2733,204.0,0.0,183,1370,0.50,2.22,95.28,1.073,10756,0.155,0.048,2926,759,2322,2406,2238,0,0,0,0,0,0,14.58,14.59,14.00
$GC,1410,0.58,171.1,2926,759,2394,2239,199.2,7.3,197,1461,0.00,2.28,44.42,1.050,11270,0.000,0.047,2926,2128,2100,2187,2013,0,0,0,0,0,0,14.68,14.63,14.00
$GC,1700,0.58,171.1,2926,2128,2187,2009,166.1,10.6,226,1710,0.00,2.33,0.00,0.000,2308,0.000,0.063,2926,3528,2097,2186,2008,0,0,0,0,0,0,15.18,14.76,15.19
$GC,1775,0.58,171.1,2925,3528,2186,2009,157.4,11.4,233,1783,0.00,2.22,0.00,0.000,1030,0.000,0.044,2936,2167,2097,2186,2009,0,0,0,0,0,0,15.02,14.92,15.03
$GC,2032,0.58,171.1,2936,2166,2186,2009,127.5,11.2,276,2040,0.00,2.42,0.00,0.000,516,0.000,0.057,2948,716,2097,2186,2008,0,0,0,0,0,0,15.23,14.90,15.24
$GC,2063,0.58,171.1,2948,716,2181,2008,124.0,11.2,281,2070,0.00,2.35,0.00,0.000,5126,0.000,0.049,2949,2131,2094,2180,2008,0,0,0,0,0,0,15.05,14.94,15.07
$GC,2320,0.60,205.2,2948,2132,2180,2008,99.5,8.3,330,2354,0.00,2.35,27.08,0.980,12548,0.000,0.063,2949,3539,1960,2044,1876,0,0,0,0,0,0,15.24,14.73,14.29
$GC,2459,0.60,205.2,2948,3540,2044,1878,84.3,11.0,355,2467,0.05,2.33,0.00,0.000,5126,0.379,0.047,2941,2129,1961,2044,1878,0,0,0,0,0,0,14.66,14.90,14.90
$GC,2719,0.63,247.4,2941,2126,2044,1874,63.4,7.9,404,2762,0.00,2.40,33.47,0.943,10756,0.000,0.058,2951,720,1788,1872,1705,0,0,0,0,0,0,15.21,14.77,14.27
$GC,2827,0.63,247.4,2951,720,1865,1705,53.5,10.3,422,2835,0.00,2.40,0.00,0.000,1030,0.000,0.050,2951,2137,1784,1865,1704,0,0,0,0,0,0,14.93,14.82,14.95
$GC,3088,0.63,247.4,2951,2138,1865,1702,27.2,10.8,471,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2138,1783,1865,1702,0,0,0,0,0,0,15.19,15.20,15.19
$STATE,3320,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FINISH,0.4,1.023073
$STATE,3348,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3365,62.70,0.187,0,0,1168,400.08
$SM_GC,1.05,6.38,0.20,62.70,0.055,0.077,0.187,140,2290,1168,-7.89,-0.88,400.08,0,0,0,0,0,0,15.00,14.98,14.69
$IRIDIUM_FIX,2237.01,-15802.37,250921,185159
$TT8_MAMPS,0.021721,0.283122
$HUMID,49.96
$INTERNAL_PRESSURE,9.33591
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.45,130.744
$10V_AH,12.70,0.000
$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,15.700,37.375,292.925,62.700,0.000,26.048,46.871,118.136,0.750,0.000,16.345,1288.107,566.971,391.338,1363.026,155.772,0.000,883.996,0.000,1199.029,0.000,0.556,0.000
$DEVICE_MAMPS,435.285,183.600,1084.005,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,345.792,380.325,809.573,693.797,798.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,44036,520
$CAP_FILE_SIZE,118047,0
$CFSIZE,1023623168,969228288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110,335.83,1
$GPS,250921,195455,2245.206,-15800.399,6,0.8,39,9.8,0.3,250.6,10,4.9