version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 538
start: 9 26 121 5 42 7
data:
$ID,626
$MISSION,3
$DIVE,538
$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,74
$R_STBD_OVSHOOT,65
$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
$GPS1,260921,053556,2244.9709,-15800.3584,6,1.0,22,9.8,0.5,326.8,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.8
$GPS2,260921,054117,2245.0042,-15800.4023,7,1.0,22,9.8,0.0,325.6,8,9.6
$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,95.6,686,-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,15,-0.55,-116.8,124,2219,1193,1118,0.0,0.0,0,75,0.00,0.00,-57.22,0.000,16386,0.000,0.000,124,2220,2992,2966,3019,0,0,0,0,0,0,15.19,28.83,15.20
$GC,78,-0.55,-116.8,123,2220,2968,3018,3.5,-6.7,8,101,8.45,2.20,-4.62,0.000,18948,0.440,0.060,2571,870,3277,3257,3298,0,0,0,0,0,0,14.30,13.97,14.58
$GC,135,-0.55,-116.8,2571,867,3262,3294,24.9,-27.3,17,143,0.00,2.33,0.00,0.000,3078,0.000,0.053,2563,2228,3278,3263,3293,0,0,0,0,0,0,14.87,14.81,14.90
$GC,396,-0.55,-116.8,2563,2231,3265,3290,89.1,-28.5,66,405,0.00,2.45,0.00,0.000,2308,0.000,0.065,2551,3680,3277,3265,3290,0,0,0,0,0,0,15.22,14.85,15.22
$GC,444,-0.55,-116.8,2551,3680,3265,3291,98.5,-17.3,74,454,0.05,2.30,0.00,0.000,3078,0.295,0.044,2571,2301,3277,3265,3290,0,0,0,0,0,0,14.60,14.85,14.92
$GC,716,-0.55,-116.8,2571,2297,3266,3291,138.8,-13.0,123,723,0.00,2.38,0.00,0.000,2564,0.000,0.051,2571,850,3278,3267,3290,0,0,0,0,0,0,15.25,14.92,15.26
$GC,777,-0.55,-116.8,2571,849,3267,3290,146.4,-10.8,134,786,0.00,2.42,0.00,0.000,3078,0.000,0.053,2562,2267,3278,3267,3289,0,0,0,0,0,0,14.90,14.85,14.94
$GC,1034,-0.55,-116.8,2562,2267,3267,3289,176.9,-12.0,162,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2267,3278,3267,3289,0,0,0,0,0,0,15.30,15.30,15.30
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1249,-0.13,0.0,2562,2078,3267,3289,200.5,-10.6,183,1347,0.38,0.10,92.50,1.081,10246,0.233,0.131,2705,2167,2798,2863,2734,0,0,0,0,0,0,14.45,14.66,14.07
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1350,0.55,116.8,2705,2165,2863,2734,204.4,0.0,193,1455,0.50,2.25,95.82,1.066,10500,0.147,0.060,2918,3503,2321,2403,2239,0,0,0,0,0,0,14.60,14.42,13.98
$GC,1491,0.58,176.7,2917,3502,2403,2241,200.8,7.0,207,1551,0.00,2.20,48.67,1.049,11270,0.000,0.043,2929,2161,2077,2161,1993,0,0,0,0,0,0,14.81,14.71,14.00
$GC,1791,0.58,176.7,2928,2161,2161,1989,167.0,11.6,237,1800,0.00,2.35,0.00,0.000,2564,0.000,0.055,2940,726,2073,2158,1988,0,0,0,0,0,0,15.19,14.67,15.19
$GC,1929,0.58,176.7,2940,726,2151,1988,151.7,10.9,250,1936,0.00,2.25,0.00,0.000,1030,0.000,0.050,2940,2094,2070,2152,1988,0,0,0,0,0,0,15.02,14.92,15.05
$GC,2188,0.58,176.7,2940,2095,2151,1988,124.3,10.4,298,2196,0.00,2.42,0.00,0.000,260,0.000,0.067,2940,3533,2070,2151,1989,0,0,0,0,0,0,15.23,14.88,15.24
$GC,2455,0.60,204.6,2940,3534,2151,1990,98.1,8.7,347,2484,0.00,2.30,22.02,0.976,13318,0.000,0.046,2951,2126,1965,2045,1885,0,0,0,0,0,0,15.06,14.95,14.29
$GC,2745,0.66,292.0,2951,2126,2044,1879,75.5,5.6,399,2820,0.00,2.35,68.45,0.959,10756,0.000,0.056,2962,718,1607,1698,1517,0,0,0,0,0,0,15.21,14.59,14.18
$GC,2845,0.68,328.8,2962,716,1692,1518,68.4,8.2,413,2881,0.00,2.42,29.58,0.920,9222,0.000,0.053,2962,2118,1457,1547,1368,0,0,0,0,0,0,14.76,14.70,14.10
$GC,3137,0.68,328.8,2962,2120,1547,1362,29.3,16.2,466,3145,0.00,2.42,0.00,0.000,2308,0.000,0.068,2962,3543,1454,1547,1362,0,0,0,0,0,0,15.15,14.81,15.15
$GC,3180,0.68,328.8,2962,3544,1547,1362,22.7,15.7,473,3187,0.00,2.40,0.00,0.000,5126,0.000,0.051,2972,2121,1454,1547,1362,0,0,0,0,0,0,14.97,14.84,15.00
$STATE,3321,end climb,SURFACE_DEPTH_REACHED
$STATE,3321,begin surface coast
$FINISH,0.3,1.023064
$STATE,3340,end surface coast,CONTROL_FINISHED_OK
$STATE,3340,begin surface
$SM_CCo,3355,29.20,0.187,0,0,1166,400.08
$SM_GC,1.51,6.40,0.25,29.20,0.048,0.060,0.187,157,2318,1166,-7.90,-0.82,400.08,0,0,0,0,0,0,14.95,14.99,14.68
$IRIDIUM_FIX,2234.68,-15802.37,260921,053719
$TT8_MAMPS,0.02247,0.28462
$HUMID,51.53
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.97,132.481
$10V_AH,12.00,0.000
$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,15.775,38.075,357.050,29.200,0.000,26.079,42.442,123.452,0.250,0.000,23.398,1222.066,623.344,396.848,1342.505,153.603,0.000,897.182,0.000,1164.625,0.000,0.556,0.000
$DEVICE_MAMPS,439.875,183.600,1080.945,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,332.794,360.773,776.401,640.228,752.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339140
$DATA_FILE_SIZE,43938,502
$CAP_FILE_SIZE,106967,0
$CFSIZE,1023623168,968474624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,313.27,1
$GPS,260921,063951,2245.089,-15800.149,9,0.9,43,9.8,0.3,259.1,9,8.7