version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 540
start: 9 26 121 7 42 53
data:
$ID,626
$MISSION,3
$DIVE,540
$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,52
$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
$GPS1,260921,073710,2244.9739,-15759.9502,7,0.9,19,9.8,0.6,277.4,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.4
$GPS2,260921,074201,2244.9985,-15759.9805,6,0.9,17,9.8,0.8,310.8,8,10.0
$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,254.8,33,-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,16,-0.58,-116.8,123,2302,1196,1114,0.0,0.0,0,83,0.00,0.00,-64.30,0.000,16386,0.000,0.000,123,2302,3247,3208,3287,0,0,0,0,0,0,15.19,28.83,15.19
$GC,86,-0.58,-116.8,123,2302,3210,3285,4.1,-7.2,9,102,8.38,2.35,-0.45,0.000,18948,0.435,0.054,2568,832,3279,3249,3309,0,0,0,0,0,0,14.28,13.99,14.57
$GC,288,-0.58,-116.8,2567,830,3262,3296,57.7,-16.1,46,296,0.00,2.40,0.00,0.000,3078,0.000,0.050,2558,2253,3279,3264,3295,0,0,0,0,0,0,15.00,14.86,15.02
$GC,547,-0.58,-116.8,2557,2257,3267,3293,107.9,-18.3,95,554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2257,3280,3267,3293,0,0,0,0,0,0,15.23,15.24,15.24
$GC,803,-0.58,-116.8,2557,2257,3267,3293,150.0,-15.2,144,813,0.00,2.33,0.00,0.000,2564,0.000,0.050,2558,846,3280,3267,3294,0,0,0,0,0,0,15.25,14.93,15.26
$GC,869,-0.58,-116.8,2557,846,3267,3292,159.5,-14.2,150,877,0.00,2.40,0.00,0.000,3078,0.000,0.052,2547,2258,3280,3267,3293,0,0,0,0,0,0,14.78,14.72,14.81
$GC,1119,-0.58,-116.8,2547,2258,3267,3293,198.3,-13.6,175,1129,0.00,2.33,0.00,0.000,2308,0.000,0.066,2537,3670,3279,3267,3292,0,0,0,0,0,0,15.28,14.78,15.29
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1149,-0.13,0.0,2537,2116,3267,3292,201.7,-13.8,177,1245,0.45,0.00,92.85,1.088,10246,0.244,0.000,2705,2112,2798,2863,2734,0,0,0,0,0,0,14.37,14.67,14.07
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1249,0.58,116.8,2705,2112,2863,2733,206.2,0.0,187,1353,0.52,2.40,95.78,1.079,10756,0.152,0.049,2937,703,2320,2402,2238,0,0,0,0,0,0,14.54,14.59,14.00
$GC,1376,0.62,191.0,2936,703,2392,2240,203.0,5.9,200,1446,0.00,2.40,59.70,1.060,11270,0.000,0.048,2937,2130,2020,2100,1940,0,0,0,0,0,0,14.77,14.67,13.94
$GC,1686,0.62,191.0,2937,2130,2100,1935,162.9,13.2,231,1696,0.00,2.33,0.00,0.000,2308,0.000,0.063,2937,3532,2017,2100,1934,0,0,0,0,0,0,15.18,14.77,15.18
$GC,1782,0.62,191.0,2937,3532,2100,1934,150.9,12.9,240,1790,0.00,2.38,0.00,0.000,1030,0.000,0.047,2949,2104,2017,2100,1934,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2043,0.62,191.0,2949,2102,2100,1934,119.3,12.7,289,2049,0.00,2.28,0.00,0.000,516,0.000,0.054,2960,711,2016,2100,1933,0,0,0,0,0,0,15.22,14.92,15.23
$GC,2108,0.62,191.0,2959,710,2093,1933,111.0,11.8,301,2115,0.00,2.35,0.00,0.000,5126,0.000,0.050,2960,2126,2013,2093,1933,0,0,0,0,0,0,15.05,14.93,15.07
$GC,2365,0.66,245.2,2960,2126,2093,1933,86.0,7.0,350,2414,0.00,2.42,42.47,0.968,8452,0.000,0.065,2960,3535,1799,1881,1717,0,0,0,0,0,0,15.24,14.81,14.26
$GC,2480,0.67,259.9,2960,3535,1880,1717,76.7,9.3,369,2504,0.00,2.40,13.40,0.910,13318,0.000,0.047,2971,2105,1737,1822,1653,0,0,0,0,0,0,14.95,14.83,14.16
$GC,2764,0.67,259.9,2971,2104,1822,1647,47.1,11.3,420,2772,0.00,2.38,0.00,0.000,4612,0.000,0.055,2982,715,1734,1821,1647,0,0,0,0,0,0,15.19,14.80,15.19
$GC,2818,0.67,259.9,2982,714,1816,1648,40.4,12.7,429,2826,0.05,2.40,0.00,0.000,5126,0.371,0.048,2964,2138,1732,1816,1648,0,0,0,0,0,0,14.65,14.85,14.92
$GC,3086,0.67,259.9,2965,2140,1816,1647,9.7,12.1,478,3093,0.00,2.38,0.00,0.000,260,0.000,0.065,2965,3547,1731,1816,1647,0,0,0,0,0,0,15.21,14.84,15.21
$GC,3133,0.67,259.9,2964,3547,1816,1647,3.9,12.8,486,3141,0.00,2.38,0.00,0.000,5126,0.000,0.041,2974,2132,1732,1816,1648,0,0,0,0,0,0,15.02,14.85,15.04
$STATE,3147,end climb,SURFACE_DEPTH_REACHED
$STATE,3147,begin surface coast
$FINISH,0.2,1.022234
$STATE,3176,end surface coast,CONTROL_FINISHED_OK
$STATE,3176,begin surface
$SM_CCo,3192,57.50,0.181,0,0,1165,400.08
$SM_GC,1.09,6.47,0.25,57.50,0.063,0.073,0.181,171,2322,1165,-7.90,-0.68,400.08,0,0,0,0,0,0,14.97,14.96,14.69
$IRIDIUM_FIX,2237.01,-15802.37,260921,073830
$TT8_MAMPS,0.02247,0.312333
$HUMID,50.35
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.94,132.805
$10V_AH,12.67,0.000
$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,15.875,43.100,304.200,57.500,0.000,25.935,47.865,102.173,0.250,0.000,18.360,1222.286,483.384,404.095,1311.330,156.017,0.000,887.323,0.000,1159.047,0.000,0.556,0.000
$DEVICE_MAMPS,434.520,72.675,1087.830,180.540,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.139,354.325,771.469,657.686,771.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,43929,493
$CAP_FILE_SIZE,112480,0
$CFSIZE,1023623168,968327168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078,310.97,1
$GPS,260921,083819,2245.012,-15800.436,7,0.7,40,9.8,0.5,126.1,11,5.1