version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 530
start: 9 25 121 21 8 57
data:
$ID,626
$MISSION,3
$DIVE,530
$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
$GPS1,250921,210052,2245.0747,-15800.2393,7,1.0,17,9.8,0.0,343.5,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.5
$GPS2,250921,210805,2245.0918,-15800.3018,6,1.0,16,9.8,1.5,297.8,8,10.0
$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,107.6,543,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-116.8,123,2305,1200,1114,0.0,0.0,0,73,0.00,0.00,-55.47,0.000,16386,0.000,0.000,123,2305,2918,2900,2936,0,0,0,0,0,0,15.16,28.83,15.17
$GC,76,-0.58,-116.8,123,2306,2901,2936,3.2,-6.4,8,100,8.38,2.40,-6.20,0.000,18948,0.434,0.065,2567,851,3278,3259,3297,0,0,0,0,0,0,14.26,13.95,14.54
$GC,129,-0.58,-116.8,2566,850,3263,3295,21.1,-27.3,16,137,0.00,2.40,0.00,0.000,3078,0.000,0.050,2558,2267,3279,3264,3294,0,0,0,0,0,0,14.97,14.84,15.00
$GC,393,-0.58,-116.8,2557,2269,3266,3293,84.4,-21.2,65,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2269,3279,3265,3293,0,0,0,0,0,0,15.21,15.21,15.21
$GC,658,-0.58,-116.8,2557,2270,3266,3294,131.1,-16.3,114,666,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2270,3280,3266,3294,0,0,0,0,0,0,15.24,15.25,15.24
$GC,922,-0.58,-116.8,2557,2269,3266,3294,168.5,-13.8,151,931,0.00,2.33,0.00,0.000,2564,0.000,0.050,2557,855,3280,3266,3294,0,0,0,0,0,0,15.29,14.81,15.28
$GC,1015,-0.58,-116.8,2557,854,3267,3293,180.4,-11.6,160,1025,0.03,2.33,0.00,0.000,3078,0.418,0.052,2557,2267,3279,3268,3291,0,0,0,0,0,0,14.62,14.84,14.73
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1178,-0.13,0.0,2557,2070,3268,3290,201.4,-14.1,176,1276,0.40,0.10,92.53,1.094,10246,0.251,0.129,2708,2155,2799,2864,2734,0,0,0,0,0,0,14.55,14.66,14.07
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1279,0.58,116.8,2708,2155,2864,2734,207.2,0.0,186,1385,0.52,2.45,95.43,1.086,10756,0.142,0.047,2942,700,2320,2401,2239,0,0,0,0,0,0,14.60,14.58,14.00
$GC,1491,0.58,118.8,2942,701,2389,2239,198.3,10.0,207,1501,0.00,2.33,0.00,0.000,5126,0.000,0.047,2942,2099,2314,2389,2239,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1745,0.59,132.9,2942,2098,2389,2237,174.3,9.3,232,1763,0.00,2.42,13.25,1.010,12548,0.000,0.063,2942,3531,2257,2340,2174,0,0,0,0,0,0,15.21,14.90,14.26
$GC,1899,0.59,132.9,2942,3531,2340,2176,157.4,11.3,247,1909,0.03,2.28,0.00,0.000,5126,0.442,0.043,2945,2121,2258,2340,2176,0,0,0,0,0,0,14.61,14.83,14.73
$GC,2154,0.63,196.7,2945,2121,2340,2173,136.2,6.5,288,2214,0.00,2.38,51.42,1.032,10756,0.000,0.056,2954,727,1993,2075,1912,0,0,0,0,0,0,15.24,14.76,14.21
$GC,2300,0.63,196.7,2954,726,2066,1912,121.3,11.7,313,2307,0.00,2.35,0.00,0.000,5126,0.000,0.049,2954,2132,1989,2066,1912,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2556,0.63,196.7,2954,2132,2066,1911,91.4,10.7,362,2564,0.00,2.38,0.00,0.000,4356,0.000,0.065,2955,3537,1987,2065,1910,0,0,0,0,0,0,15.20,14.85,15.21
$GC,2704,0.63,196.7,2954,3537,2065,1910,75.0,10.3,389,2713,0.05,2.38,0.00,0.000,5126,0.318,0.047,2949,2135,1987,2065,1910,0,0,0,0,0,0,14.54,14.80,14.71
$GC,2972,0.66,253.1,2949,2133,2065,1909,54.0,6.9,438,3022,0.00,2.42,43.17,0.940,10756,0.000,0.057,2959,709,1766,1850,1683,0,0,0,0,0,0,15.22,14.81,14.27
$GC,3077,0.66,253.1,2958,708,1842,1683,44.9,10.2,455,3085,0.00,2.40,0.00,0.000,3078,0.000,0.049,2959,2125,1762,1841,1683,0,0,0,0,0,0,14.92,14.81,14.95
$GC,3341,0.66,253.1,2958,2125,1841,1680,16.0,12.3,504,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2125,1759,1841,1677,0,0,0,0,0,0,15.19,15.19,15.19
$STATE,3454,end climb,SURFACE_DEPTH_REACHED
$STATE,3454,begin surface coast
$FINISH,0.2,1.011093
$STATE,3482,end surface coast,CONTROL_FINISHED_OK
$STATE,3482,begin surface
$SM_CCo,3498,60.45,0.185,0,0,1166,400.08
$SM_GC,1.07,6.43,0.22,60.45,0.050,0.081,0.185,137,2286,1166,-7.96,-0.88,400.08,0,0,0,0,0,0,15.00,14.94,14.68
$IRIDIUM_FIX,2234.68,-15802.37,250921,210220
$TT8_MAMPS,0.02247,0.28462
$HUMID,50.98
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,13.95,131.096
$10V_AH,12.91,0.000
$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,15.825,33.775,295.800,60.450,0.000,31.093,48.945,237.791,0.250,0.000,17.341,1307.659,622.954,395.167,1510.458,190.267,0.000,902.767,0.000,1246.090,0.000,0.555,0.000
$DEVICE_MAMPS,442.170,129.285,1093.950,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,352.657,383.156,814.198,698.095,819.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339192
$DATA_FILE_SIZE,47180,530
$CAP_FILE_SIZE,113496,0
$CFSIZE,1023623168,969080832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,279.75,1
$GPS,250921,220931,2244.932,-15800.040,7,0.9,39,9.8,0.5,237.2,10,5.9