version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 539
start: 9 26 121 6 46 11
data:
$ID,626
$MISSION,3
$DIVE,539
$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,73
$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
$GPS1,260921,063951,2245.0891,-15800.1494,9,0.9,43,9.8,0.3,259.1,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.4
$GPS2,260921,064519,2245.1218,-15800.1865,6,0.9,14,9.8,0.4,94.1,9,9.3
$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,118.8,391,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-116.8,123,2212,1194,1118,0.0,0.0,0,74,0.00,0.00,-55.62,0.000,16386,0.000,0.000,123,2212,2923,2907,2940,0,0,0,0,0,0,15.19,28.83,15.19
$GC,77,-0.58,-116.8,123,2212,2907,2941,3.3,-6.0,8,101,8.38,2.22,-6.05,0.000,18948,0.439,0.073,2555,885,3279,3261,3298,0,0,0,0,0,0,14.26,13.40,14.54
$GC,129,-0.58,-116.8,2554,885,3266,3296,23.5,-34.7,16,139,0.03,2.35,0.00,0.000,3078,0.282,0.049,2566,2266,3281,3267,3295,0,0,0,0,0,0,14.54,14.82,14.85
$GC,394,-0.58,-116.8,2567,2270,3267,3294,83.3,-18.4,65,401,0.00,2.35,0.00,0.000,260,0.000,0.064,2558,3678,3280,3267,3294,0,0,0,0,0,0,15.21,14.88,15.22
$GC,408,-0.58,-116.8,2558,3678,3267,3294,86.0,-17.7,67,415,0.00,2.25,0.00,0.000,3078,0.000,0.044,2558,2296,3280,3267,3294,0,0,0,0,0,0,15.04,14.92,15.05
$GC,672,-0.58,-116.8,2558,2292,3267,3295,130.9,-16.2,116,680,0.00,2.40,0.00,0.000,2564,0.000,0.052,2558,855,3281,3268,3294,0,0,0,0,0,0,15.25,14.88,15.25
$GC,715,-0.58,-116.8,2558,854,3268,3294,137.0,-13.3,123,722,0.00,2.35,0.00,0.000,3078,0.000,0.051,2548,2271,3281,3269,3293,0,0,0,0,0,0,15.05,14.92,15.07
$GC,974,-0.58,-116.8,2547,2272,3270,3293,174.1,-12.7,156,976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2271,3281,3270,3293,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1168,-0.13,0.0,2548,2079,3270,3292,200.5,-14.5,175,1265,0.40,0.10,93.12,1.083,10246,0.248,0.131,2699,2144,2800,2864,2736,0,0,0,0,0,0,14.54,14.66,14.08
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1268,0.58,116.8,2699,2166,2863,2735,206.5,0.0,185,1375,0.55,2.33,96.03,1.072,10500,0.158,0.063,2927,3520,2322,2404,2241,0,0,0,0,0,0,14.58,14.50,14.00
$GC,1382,0.67,262.9,2926,3520,2404,2241,206.6,1.8,196,1511,0.00,2.25,116.38,1.071,11270,0.000,0.041,2938,2162,1726,1806,1646,0,0,0,0,0,0,14.73,14.65,13.95
$GC,1750,0.67,262.9,2937,2162,1807,1641,150.2,16.3,233,1759,0.00,2.38,0.00,0.000,2564,0.000,0.059,2950,729,1723,1806,1640,0,0,0,0,0,0,15.18,14.76,15.18
$GC,1828,0.67,262.9,2949,728,1801,1641,139.4,12.7,247,1836,0.00,2.30,0.00,0.000,3078,0.000,0.050,2949,2113,1721,1801,1641,0,0,0,0,0,0,15.02,14.90,15.03
$GC,2085,0.67,262.9,2949,2114,1801,1640,102.0,13.4,296,2093,0.00,2.42,0.00,0.000,2308,0.000,0.064,2950,3526,1720,1801,1639,0,0,0,0,0,0,15.23,14.83,15.23
$GC,2174,0.67,262.9,2949,3526,1801,1639,91.1,11.6,312,2182,0.00,2.38,0.00,0.000,3078,0.000,0.049,2960,2129,1720,1801,1640,0,0,0,0,0,0,15.04,14.87,15.06
$GC,2436,0.67,262.9,2960,2126,1801,1639,62.6,10.4,361,2444,0.00,2.40,0.00,0.000,2308,0.000,0.062,2960,3535,1720,1801,1639,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2457,0.67,262.9,2960,3535,1801,1639,60.4,10.9,364,2466,0.00,2.40,0.00,0.000,5126,0.000,0.047,2971,2120,1720,1801,1639,0,0,0,0,0,0,14.86,14.80,14.88
$GC,2721,0.67,265.9,2971,2116,1801,1637,29.7,9.9,413,2728,0.00,2.40,0.00,0.000,4612,0.000,0.056,2982,690,1720,1801,1639,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2737,0.68,289.4,2982,689,1801,1639,28.3,8.8,415,2753,0.00,2.42,11.57,0.857,13318,0.000,0.050,2983,2126,1618,1706,1531,0,0,0,0,0,0,15.02,14.88,14.29
$STATE,2924,end climb,SURFACE_DEPTH_REACHED
$STATE,2924,begin surface coast
$FINISH,0.4,1.023062
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2957,46.08,0.182,0,0,1165,400.08
$SM_GC,1.41,6.38,0.22,46.08,0.042,0.073,0.182,176,2293,1165,-7.90,-0.82,400.08,0,0,0,0,0,0,15.00,14.97,14.70
$IRIDIUM_FIX,2234.68,-15800.20,260921,064114
$TT8_MAMPS,0.02247,0.283871
$HUMID,50.82
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.40,132.644
$10V_AH,13.11,0.000
$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,15.725,38.250,317.100,46.075,0.000,27.941,44.611,128.857,0.750,0.000,17.009,1117.126,480.931,391.599,1229.652,147.260,0.000,837.608,0.000,1039.217,0.000,0.556,0.000
$DEVICE_MAMPS,439.110,130.815,1083.240,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,299.782,324.258,700.633,603.492,697.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,40765,452
$CAP_FILE_SIZE,103801,0
$CFSIZE,1023623168,968392704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,308.65,1
$GPS,260921,073710,2244.974,-15759.950,7,0.9,19,9.8,0.6,277.4,9,9.6