version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 535
start: 9 26 121 2 37 51
data:
$ID,626
$MISSION,3
$DIVE,535
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,260921,022909,2244.7886,-15800.7363,6,1.1,46,9.8,0.0,157.0,7,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.7
$GPS2,260921,023701,2244.7788,-15800.8359,7,0.9,39,9.8,0.9,285.4,9,7.0
$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,65.1,1485,-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,-116.8,123,2261,1192,1120,0.0,0.0,0,73,0.00,0.00,-54.33,0.000,16386,0.000,0.000,123,2261,2872,2862,2882,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,123,2261,2862,2883,3.0,-5.5,8,99,8.43,2.40,-7.10,0.000,18692,0.434,0.076,2557,3685,3279,3261,3298,0,0,0,0,0,0,14.26,13.38,14.54
$GC,133,-0.55,-116.8,2557,3685,3261,3299,21.1,-24.2,17,142,0.05,2.40,0.00,0.000,3078,0.380,0.050,2574,2255,3280,3263,3297,0,0,0,0,0,0,14.62,14.85,14.86
$GC,393,-0.55,-116.8,2571,2252,3267,3294,75.8,-18.6,66,403,0.00,2.38,0.00,0.000,516,0.000,0.055,2574,849,3281,3267,3295,0,0,0,0,0,0,15.20,14.74,15.21
$GC,470,-0.55,-116.8,2574,849,3268,3295,88.8,-16.2,79,477,0.00,2.38,0.00,0.000,3078,0.000,0.052,2565,2271,3281,3269,3293,0,0,0,0,0,0,15.02,14.89,15.04
$GC,734,-0.55,-116.8,2565,2272,3270,3293,135.5,-16.4,128,743,0.00,2.40,0.00,0.000,2308,0.000,0.064,2554,3667,3281,3270,3293,0,0,0,0,0,0,15.25,14.74,15.25
$GC,778,-0.55,-116.8,2554,3667,3269,3294,141.4,-12.7,135,786,0.05,2.30,0.00,0.000,3078,0.347,0.043,2574,2257,3281,3270,3293,0,0,0,0,0,0,14.71,14.94,14.93
$GC,1039,-0.55,-116.8,2574,2253,3270,3293,176.0,-13.1,166,1044,0.00,2.28,0.00,0.000,516,0.000,0.052,2575,851,3281,3270,3292,0,0,0,0,0,0,15.28,14.95,15.29
$GC,1133,-0.55,-116.8,2574,852,3271,3293,187.4,-11.2,175,1141,0.00,2.33,0.00,0.000,3078,0.000,0.052,2565,2266,3281,3271,3291,0,0,0,0,0,0,14.88,14.82,14.91
$STATE,1231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1231,begin apogee
$GC,1237,-0.13,0.0,2565,2082,3272,3290,200.3,-13.4,185,1334,0.35,0.08,92.82,1.086,10246,0.236,0.151,2700,2151,2799,2862,2736,0,0,0,0,0,0,14.56,14.64,14.06
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1337,0.55,116.8,2701,2151,2862,2735,206.1,0.0,195,1444,0.50,2.30,95.55,1.075,10500,0.153,0.062,2911,3514,2321,2402,2241,0,0,0,0,0,0,14.57,14.43,13.98
$GC,1451,0.65,275.5,2911,3514,2403,2242,205.9,1.9,206,1592,0.05,2.22,125.60,1.063,11270,0.248,0.041,3019,2168,1675,1753,1597,0,0,0,0,0,0,14.55,14.64,13.97
$GC,1834,0.65,275.5,3018,2168,1753,1591,125.6,24.7,254,1842,0.15,2.45,0.00,0.000,4612,0.312,0.059,2972,720,1672,1753,1591,0,0,0,0,0,0,14.43,14.70,14.61
$GC,1949,0.65,275.5,2971,719,1748,1589,106.4,13.9,275,1957,0.05,2.30,0.00,0.000,5126,0.373,0.048,2954,2107,1667,1747,1588,0,0,0,0,0,0,14.68,14.90,14.91
$GC,2210,0.65,275.5,2954,2110,1748,1587,74.6,10.3,324,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2110,1667,1747,1588,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2473,0.65,275.5,2953,2110,1748,1586,49.2,10.5,373,2481,0.00,2.38,0.00,0.000,516,0.000,0.056,2963,707,1667,1748,1586,0,0,0,0,0,0,15.21,14.88,15.22
$GC,2500,0.65,275.5,2963,707,1749,1587,46.3,10.7,377,2508,0.00,2.40,0.00,0.000,5126,0.000,0.050,2964,2125,1666,1748,1585,0,0,0,0,0,0,15.02,14.88,15.04
$GC,2765,0.65,275.5,2963,2125,1748,1585,13.3,11.3,426,2772,0.00,2.40,0.00,0.000,4356,0.000,0.067,2964,3538,1666,1748,1585,0,0,0,0,0,0,15.22,14.85,15.23
$GC,2807,0.65,275.5,2963,3538,1748,1585,8.3,12.6,433,2816,0.05,2.40,0.00,0.000,5126,0.379,0.049,2956,2110,1666,1748,1585,0,0,0,0,0,0,14.66,14.88,14.92
$STATE,2850,end climb,SURFACE_DEPTH_REACHED
$STATE,2850,begin surface coast
$FINISH,0.2,1.001160
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2888,51.17,0.183,0,0,1168,400.08
$SM_GC,1.15,6.35,0.28,51.17,0.049,0.080,0.183,178,2278,1168,-7.91,-0.96,400.08,0,0,0,0,0,0,14.97,14.95,14.69
$IRIDIUM_FIX,2237.01,-15802.37,260921,023032
$TT8_MAMPS,0.023219,0.283871
$HUMID,50.47
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.38,131.956
$10V_AH,13.08,0.000
$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,16.025,38.275,313.975,51.175,0.000,26.550,48.869,250.550,0.750,0.000,41.041,1100.275,414.353,397.037,1350.831,181.365,0.000,848.957,0.000,1052.943,0.000,0.556,0.000
$DEVICE_MAMPS,433.755,151.470,1086.300,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.454,316.640,694.510,612.248,714.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339252
$DATA_FILE_SIZE,37345,444
$CAP_FILE_SIZE,104467,0
$CFSIZE,1023623168,968687616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122,275.27,1
$GPS,260921,032801,2244.902,-15800.705,7,0.9,35,9.8,0.9,261.3,9,6.8