version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 541
start: 9 26 121 8 44 34
data:
$ID,626
$MISSION,3
$DIVE,541
$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,31
$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
$GPS1,260921,083819,2245.0122,-15800.4355,7,0.7,40,9.8,0.5,126.1,11,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.2
$GPS2,260921,084343,2245.0315,-15800.4775,6,0.8,17,9.8,0.5,312.3,10,9.1
$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,96.1,818,-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,16,-0.55,-116.8,122,2214,1194,1120,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,16386,0.000,0.000,123,2210,3181,3145,3217,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,122,2211,3145,3218,4.0,-8.8,9,98,8.45,0.00,-1.48,0.000,18950,0.440,0.000,2562,2211,3279,3250,3309,0,0,0,0,0,0,14.28,13.51,14.56
$GC,354,-0.55,-116.8,2562,2212,3264,3296,82.5,-18.9,59,362,0.00,2.45,0.00,0.000,2308,0.000,0.063,2552,3671,3280,3264,3297,0,0,0,0,0,0,15.21,14.86,15.21
$GC,380,-0.55,-116.8,2552,3672,3264,3296,87.7,-19.2,63,389,0.05,2.25,0.00,0.000,3078,0.374,0.044,2570,2294,3280,3264,3296,0,0,0,0,0,0,14.66,14.92,14.90
$GC,638,-0.55,-116.8,2570,2290,3266,3296,128.2,-15.1,112,646,0.00,2.40,0.00,0.000,2564,0.000,0.052,2570,856,3281,3267,3295,0,0,0,0,0,0,15.24,14.88,15.25
$GC,706,-0.55,-116.8,2570,856,3267,3295,137.5,-12.1,124,714,0.00,2.40,0.00,0.000,3078,0.000,0.052,2561,2260,3280,3267,3294,0,0,0,0,0,0,14.84,14.76,14.88
$GC,961,-0.55,-116.8,2561,2260,3268,3294,176.3,-14.6,157,969,0.00,2.33,0.00,0.000,2308,0.000,0.065,2550,3665,3281,3268,3294,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1012,-0.55,-116.8,2550,3666,3268,3294,182.6,-11.8,162,1018,0.08,2.28,0.00,0.000,3078,0.297,0.043,2580,2263,3280,3267,3294,0,0,0,0,0,0,14.73,14.97,14.95
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1210,-0.13,0.0,2580,2069,3268,3293,200.8,-8.8,181,1307,0.30,0.10,93.15,1.086,10246,0.233,0.128,2700,2157,2798,2862,2734,0,0,0,0,0,0,14.57,14.66,14.08
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1309,begin climb
$GC,1311,0.55,116.8,2700,2157,2862,2734,203.5,0.0,191,1416,0.52,0.00,95.82,1.069,10502,0.158,0.000,2919,2157,2321,2404,2239,0,0,0,0,0,0,14.59,14.35,13.95
$GC,1657,0.57,156.3,2918,2157,2403,2233,182.2,8.1,226,1696,0.00,2.42,31.98,1.046,10756,0.000,0.049,2931,706,2161,2248,2074,0,0,0,0,0,0,15.18,14.62,14.17
$GC,1791,0.58,170.9,2930,705,2237,2074,170.7,9.3,239,1810,0.00,2.30,12.65,0.981,11270,0.000,0.049,2931,2096,2102,2187,2017,0,0,0,0,0,0,14.97,14.86,14.19
$GC,2050,0.59,190.3,2931,2096,2186,2013,148.3,9.1,266,2076,0.00,2.42,16.67,0.995,10500,0.000,0.064,2931,3534,2022,2106,1938,0,0,0,0,0,0,15.22,14.83,14.28
$GC,2140,0.59,190.3,2931,3534,2106,1938,138.7,11.4,282,2149,0.00,2.38,0.00,0.000,1030,0.000,0.045,2942,2126,2021,2105,1938,0,0,0,0,0,0,14.85,14.79,14.88
$GC,2401,0.59,190.3,2942,2124,2106,1937,109.5,10.4,331,2407,0.00,2.38,0.00,0.000,260,0.000,0.063,2942,3531,2021,2106,1936,0,0,0,0,0,0,15.22,14.90,15.22
$GC,2654,0.63,244.9,2941,3531,2106,1936,87.0,7.3,379,2707,0.00,2.33,43.15,0.967,9222,0.000,0.045,2953,2112,1799,1881,1717,0,0,0,0,0,0,15.04,14.95,14.23
$GC,2963,0.63,249.2,2952,2112,1881,1710,61.3,9.9,435,2977,0.00,2.40,4.30,0.749,8452,0.000,0.062,2953,3525,1781,1866,1697,0,0,0,0,0,0,15.17,14.73,14.19
$GC,3060,0.64,265.4,2952,3525,1866,1697,52.3,9.3,452,3083,0.00,2.38,14.55,0.896,13318,0.000,0.047,2964,2124,1714,1802,1627,0,0,0,0,0,0,15.00,14.85,14.28
$GC,3340,0.64,265.4,2963,2121,1802,1624,20.1,13.6,503,3347,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2122,1713,1802,1624,0,0,0,0,0,0,15.19,15.20,15.20
$STATE,3472,end climb,SURFACE_DEPTH_REACHED
$STATE,3473,begin surface coast
$FINISH,0.2,1.010388
$STATE,3498,end surface coast,CONTROL_FINISHED_OK
$STATE,3498,begin surface
$SM_CCo,3513,55.38,0.182,0,0,1167,400.08
$SM_GC,1.33,6.43,0.22,55.38,0.057,0.065,0.182,175,2318,1167,-7.90,-1.16,400.08,0,0,0,0,0,0,14.97,15.00,14.69
$IRIDIUM_FIX,2234.68,-15802.37,260921,083940
$TT8_MAMPS,0.023219,0.28462
$HUMID,50.98
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,13.51,132.973
$10V_AH,12.96,0.000
$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,15.825,33.725,312.275,55.375,0.000,24.403,44.639,130.978,0.500,0.000,18.726,1307.883,656.859,398.217,1403.554,160.508,0.000,899.612,0.000,1224.191,0.000,0.556,0.000
$DEVICE_MAMPS,439.875,127.755,1086.300,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,353.502,383.733,824.637,684.152,801.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,47581,532
$CAP_FILE_SIZE,115968,0
$CFSIZE,1023623168,968228864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.082,239.32,1
$GPS,260921,094453,2244.930,-15800.273,7,0.9,14,9.8,1.4,310.9,8,9.6