version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 536
start: 9 26 121 3 36 5
data:
$ID,626
$MISSION,3
$DIVE,536
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,260921,032801,2244.9023,-15800.7051,7,0.9,35,9.8,0.9,261.3,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.1
$GPS2,260921,033515,2244.8950,-15800.7568,7,0.9,18,9.8,0.6,224.3,8,9.7
$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,79.0,1308,-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,14,begin dive
$GC,16,-0.55,-116.8,122,2288,1197,1119,0.0,0.0,0,81,0.00,0.00,-62.42,0.000,16386,0.000,0.000,123,2289,3205,3168,3243,0,0,0,0,0,0,15.16,28.83,15.17
$GC,84,-0.55,-116.8,123,2288,3168,3244,4.1,-8.9,9,100,8.43,2.40,-1.08,0.000,18948,0.435,0.060,2573,834,3280,3250,3310,0,0,0,0,0,0,14.24,13.45,14.54
$GC,114,-0.55,-116.8,2572,834,3257,3303,20.7,-48.3,13,122,0.00,2.42,0.00,0.000,3078,0.000,0.051,2564,2246,3280,3261,3300,0,0,0,0,0,0,14.81,14.76,14.83
$GC,377,-0.55,-116.8,2563,2248,3262,3298,87.6,-20.6,62,384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2248,3280,3262,3298,0,0,0,0,0,0,15.21,15.21,15.21
$GC,648,-0.55,-116.8,2563,2248,3267,3295,120.8,-7.8,111,654,0.00,2.33,0.00,0.000,2564,0.000,0.050,2573,845,3281,3267,3295,0,0,0,0,0,0,15.25,14.92,15.26
$GC,677,-0.55,-116.8,2573,845,3268,3294,123.3,-7.8,116,685,0.00,2.42,0.00,0.000,1030,0.000,0.050,2573,2266,3281,3269,3293,0,0,0,0,0,0,14.90,14.85,14.94
$GC,944,-0.55,-116.8,2572,2266,3269,3292,142.0,-7.6,165,951,0.00,2.35,0.00,0.000,260,0.000,0.070,2573,3670,3281,3269,3293,0,0,0,0,0,0,15.26,14.90,15.26
$GC,1206,-0.55,-116.8,2573,3671,3268,3292,162.3,-8.3,200,1215,0.00,2.25,0.00,0.000,5126,0.000,0.038,2586,2253,3280,3269,3291,0,0,0,0,0,0,14.90,14.86,14.92
$GC,1456,-0.55,-116.8,2585,2251,3268,3290,181.9,-8.1,225,1466,0.00,2.38,0.00,0.000,4356,0.000,0.070,2586,3668,3279,3268,3290,0,0,0,0,0,0,15.30,14.68,15.30
$GC,1592,-0.55,-116.8,2585,3668,3268,3290,193.4,-8.8,238,1601,0.05,2.22,0.00,0.000,5126,0.260,0.039,2575,2264,3279,3269,3290,0,0,0,0,0,0,14.62,14.88,14.75
$STATE,1678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1678,begin apogee
$GC,1684,-0.13,0.0,2575,2061,3269,3290,200.5,-8.5,247,1781,0.25,0.12,93.25,1.095,10246,0.132,0.110,2698,2159,2798,2861,2736,0,0,0,0,0,0,14.76,14.66,14.05
$STATE,1782,end apogee,CONTROL_FINISHED_OK
$STATE,1782,begin climb
$GC,1785,0.55,116.8,2699,2161,2861,2736,208.1,0.0,257,1891,0.50,2.30,95.40,1.089,11012,0.050,0.055,3003,3512,2322,2392,2253,0,0,0,0,0,0,14.73,14.51,13.97
$GC,1936,0.66,307.7,3003,3512,2392,2253,217.5,0.3,272,2098,0.15,2.28,151.48,1.094,13318,0.378,0.035,2966,2115,1543,1626,1460,0,0,0,0,0,0,14.41,14.76,13.97
$GC,2338,0.66,307.7,2966,2115,1625,1456,144.3,19.4,314,2345,0.00,2.35,0.00,0.000,4612,0.000,0.057,2976,745,1540,1626,1455,0,0,0,0,0,0,15.16,14.82,15.16
$GC,2394,0.66,307.7,2975,745,1622,1456,133.6,18.4,324,2401,0.00,2.30,0.00,0.000,5126,0.000,0.050,2976,2093,1538,1622,1455,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2653,0.66,307.7,2976,2096,1622,1455,86.7,17.0,373,2659,0.00,0.00,0.00,0.000,4102,0.000,0.000,2976,2096,1538,1622,1455,0,0,0,0,0,0,15.22,15.23,15.22
$GC,2913,0.66,307.7,2976,2096,1622,1453,49.2,14.1,422,2921,0.00,2.35,0.00,0.000,4612,0.000,0.056,2986,736,1538,1622,1454,0,0,0,0,0,0,15.23,14.84,15.23
$GC,2934,0.66,307.7,2986,735,1622,1453,46.2,14.4,425,2944,0.05,2.38,0.00,0.000,5126,0.291,0.050,2967,2127,1537,1622,1453,0,0,0,0,0,0,14.57,14.78,14.73
$GC,3200,0.66,307.7,2967,2130,1622,1452,8.7,14.9,474,3209,0.00,2.40,0.00,0.000,4356,0.000,0.063,2967,3528,1537,1622,1452,0,0,0,0,0,0,15.22,14.74,15.23
$GC,3227,0.66,307.7,2967,3528,1622,1452,4.5,15.0,478,3235,0.05,2.35,0.00,0.000,5126,0.313,0.047,2962,2142,1536,1621,1452,0,0,0,0,0,0,14.59,14.83,14.76
$STATE,3241,end climb,SURFACE_DEPTH_REACHED
$STATE,3241,begin surface coast
$FINISH,0.3,1.010803
$STATE,3259,end surface coast,CONTROL_FINISHED_OK
$STATE,3259,begin surface
$SM_CCo,3275,38.15,0.186,0,0,1166,400.08
$SM_GC,1.23,6.30,0.20,38.15,0.033,0.073,0.186,168,2300,1166,-7.95,-1.16,400.08,0,0,0,0,0,0,14.93,15.02,14.70
$IRIDIUM_FIX,2234.68,-15802.37,260921,032921
$TT8_MAMPS,0.02247,0.283871
$HUMID,50.90
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,13.45,132.139
$10V_AH,13.10,0.000
$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,15.775,37.975,340.125,38.150,0.000,26.533,41.200,244.639,0.500,0.000,19.836,1187.785,589.740,402.109,1418.515,183.682,0.000,904.975,0.000,1150.960,0.000,0.557,0.000
$DEVICE_MAMPS,434.520,110.160,1094.715,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.323,347.166,742.985,599.197,704.705,0.000,0.000,0.000,0.000,0.000
$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,43964,483
$CAP_FILE_SIZE,105626,0
$CFSIZE,1023623168,968622080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.109,348.04,1
$GPS,260921,043212,2244.969,-15800.553,6,0.9,17,9.8,0.0,331.8,9,9.5