version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 548
start: 9 26 121 16 32 46
data:
$ID,626
$MISSION,3
$DIVE,548
$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,36
$R_STBD_OVSHOOT,49
$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
$GPS1,260921,162637,2245.0293,-15800.6484,7,1.0,18,9.8,0.9,295.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.1
$GPS2,260921,163157,2245.0415,-15800.6885,7,1.0,17,9.8,0.0,270.8,8,9.9
$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,100.6,1178,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,123,2293,1194,1121,0.0,0.0,0,75,0.00,0.00,-56.55,0.000,16386,0.000,0.000,123,2294,2949,2927,2971,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,123,2293,2927,2971,3.0,-4.9,8,101,8.40,2.25,-5.65,0.000,18692,0.438,0.070,2553,3665,3277,3255,3299,0,0,0,0,0,0,14.28,13.95,14.57
$GC,126,-0.55,-116.8,2553,3665,3255,3299,20.4,-35.8,15,134,0.05,2.40,0.00,0.000,3078,0.379,0.054,2569,2246,3277,3258,3296,0,0,0,0,0,0,14.63,14.84,14.88
$GC,388,-0.55,-116.8,2569,2242,3262,3294,79.1,-21.8,64,395,0.00,2.38,0.00,0.000,2564,0.000,0.057,2570,851,3277,3262,3293,0,0,0,0,0,0,15.21,14.81,15.21
$GC,442,-0.55,-116.8,2569,851,3264,3292,89.0,-15.1,73,449,0.00,2.33,0.00,0.000,3078,0.000,0.051,2561,2246,3278,3265,3291,0,0,0,0,0,0,15.02,14.90,15.04
$GC,705,-0.55,-116.8,2561,2246,3266,3291,132.2,-15.5,122,714,0.00,2.40,0.00,0.000,2564,0.000,0.052,2561,828,3278,3266,3290,0,0,0,0,0,0,15.24,14.88,15.25
$GC,753,-0.55,-116.8,2560,828,3266,3290,139.0,-13.8,130,762,0.08,2.45,0.00,0.000,3078,0.337,0.054,2577,2273,3278,3267,3290,0,0,0,0,0,0,14.64,14.89,14.90
$GC,1011,-0.55,-116.8,2577,2276,3267,3290,173.1,-14.1,162,1016,0.00,2.35,0.00,0.000,516,0.000,0.050,2578,842,3278,3267,3290,0,0,0,0,0,0,15.27,14.94,15.28
$GC,1046,-0.55,-116.8,2577,842,3267,3290,178.1,-15.1,165,1054,0.00,2.40,0.00,0.000,3078,0.000,0.052,2568,2265,3278,3267,3289,0,0,0,0,0,0,15.05,14.91,15.07
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1208,-0.13,0.0,2568,2070,3267,3289,200.3,-13.4,181,1305,0.35,0.10,92.47,1.079,10246,0.249,0.128,2701,2160,2797,2861,2734,0,0,0,0,0,0,14.54,14.66,14.08
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1309,0.55,116.8,2701,2160,2862,2734,205.7,0.0,191,1415,0.50,2.45,95.20,1.070,10756,0.156,0.048,2922,705,2319,2399,2239,0,0,0,0,0,0,14.59,14.42,13.99
$GC,1491,0.56,137.3,2922,705,2389,2239,198.6,9.0,209,1514,0.00,2.30,17.25,1.012,11270,0.000,0.050,2922,2086,2239,2323,2156,0,0,0,0,0,0,14.73,14.67,14.08
$GC,1753,0.57,155.4,2921,2086,2321,2152,172.8,9.2,235,1775,0.00,2.45,15.80,1.002,10500,0.000,0.065,2922,3535,2165,2251,2079,0,0,0,0,0,0,15.19,14.83,14.23
$GC,1854,0.57,155.4,2922,3535,2251,2080,162.5,10.6,245,1863,0.00,2.33,0.00,0.000,1030,0.000,0.045,2934,2111,2165,2251,2080,0,0,0,0,0,0,14.99,14.90,15.01
$GC,2107,0.60,209.6,2933,2109,2251,2077,139.6,7.3,282,2154,0.00,0.00,43.30,1.017,10758,0.000,0.000,2934,2109,1943,2022,1865,0,0,0,0,0,0,15.23,14.79,14.23
$GC,2405,0.60,209.6,2933,2109,2022,1859,111.1,10.2,337,2410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2933,2109,1940,2022,1859,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2662,0.60,209.6,2933,2109,2022,1858,81.3,10.2,386,2669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2933,2109,1939,2022,1857,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2925,0.65,279.9,2933,2109,2023,1857,59.3,6.5,435,2988,0.00,0.00,54.55,0.939,10246,0.000,0.000,2933,2109,1657,1748,1566,0,0,0,0,0,0,15.22,14.57,14.19
$GC,3245,0.65,279.9,2933,2109,1746,1561,28.7,10.9,492,3253,0.00,2.38,0.00,0.000,2564,0.000,0.058,2945,729,1653,1746,1561,0,0,0,0,0,0,15.17,14.79,15.16
$GC,3276,0.65,279.9,2945,729,1742,1561,25.3,11.3,497,3283,0.00,2.40,0.00,0.000,3078,0.000,0.050,2944,2143,1651,1741,1561,0,0,0,0,0,0,14.98,14.85,15.00
$STATE,3485,end climb,SURFACE_DEPTH_REACHED
$STATE,3485,begin surface coast
$FINISH,0.2,1.001167
$STATE,3511,end surface coast,CONTROL_FINISHED_OK
$STATE,3512,begin surface
$SM_CCo,3528,49.40,0.182,0,0,1166,400.08
$SM_GC,1.25,6.25,0.17,49.40,0.028,0.086,0.182,137,2284,1166,-7.96,-1.13,400.08,0,0,0,0,0,0,15.00,14.97,14.69
$IRIDIUM_FIX,2234.68,-15800.20,260921,162803
$TT8_MAMPS,0.023219,0.343042
$HUMID,50.94
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,13.95,134.178
$10V_AH,12.91,0.000
$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,15.625,33.775,318.575,49.400,0.000,26.974,42.271,125.619,0.000,0.000,18.351,1325.627,622.591,393.902,1421.359,163.689,0.000,905.363,0.000,1250.636,0.000,0.555,0.000
$DEVICE_MAMPS,437.580,127.755,1078.650,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,359.581,396.524,839.809,718.304,828.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,47195,541
$CAP_FILE_SIZE,117451,0
$CFSIZE,1023623168,967655424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.159,336.53,1
$GPS,260921,173347,2245.219,-15800.391,7,1.2,47,9.8,0.0,50.4,7,8.3