version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 549
start: 9 26 121 17 40 49
data:
$ID,626
$MISSION,3
$DIVE,549
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,260921,173347,2245.2195,-15800.3906,7,1.2,47,9.8,0.0,50.4,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.5
$GPS2,260921,174001,2245.2578,-15800.4248,7,0.9,37,9.8,1.1,303.4,9,6.9
$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,136.1,869,-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,14,begin dive
$GC,16,-0.55,-116.8,123,2294,1195,1119,0.0,0.0,0,74,0.00,0.00,-56.05,0.000,16386,0.000,0.000,123,2294,2944,2922,2966,0,0,0,0,0,0,15.19,28.83,15.20
$GC,78,-0.55,-116.8,123,2294,2924,2965,3.3,-6.3,8,101,8.40,2.38,-5.72,0.000,18948,0.435,0.067,2574,856,3277,3257,3297,0,0,0,0,0,0,14.28,13.94,14.57
$GC,167,-0.55,-116.8,2574,855,3263,3291,29.4,-21.8,23,175,0.00,2.38,0.00,0.000,3078,0.000,0.051,2566,2240,3277,3264,3290,0,0,0,0,0,0,15.00,14.81,15.01
$GC,431,-0.55,-116.8,2565,2241,3266,3289,89.9,-18.6,72,439,0.00,2.45,0.00,0.000,2308,0.000,0.064,2554,3681,3277,3265,3289,0,0,0,0,0,0,15.21,14.85,15.22
$GC,467,-0.55,-116.8,2553,3681,3266,3289,96.2,-16.7,78,477,0.05,2.38,0.00,0.000,3078,0.363,0.045,2573,2273,3278,3266,3290,0,0,0,0,0,0,14.67,14.85,14.90
$GC,737,-0.55,-116.8,2572,2269,3266,3289,138.2,-15.5,127,744,0.00,2.33,0.00,0.000,516,0.000,0.054,2573,851,3277,3266,3288,0,0,0,0,0,0,15.24,14.92,15.25
$GC,838,-0.55,-116.8,2573,851,3267,3289,151.8,-12.3,144,847,0.00,2.38,0.00,0.000,3078,0.000,0.051,2564,2264,3278,3267,3289,0,0,0,0,0,0,15.03,14.88,15.04
$GC,1087,-0.55,-116.8,2563,2266,3267,3289,190.2,-13.9,169,1088,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2265,3278,3267,3289,0,0,0,0,0,0,15.29,15.30,15.30
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1164,begin apogee
$GC,1170,-0.13,0.0,2564,2085,3267,3289,200.3,-12.2,177,1268,0.38,0.08,91.97,1.081,10246,0.248,0.153,2705,2149,2798,2862,2734,0,0,0,0,0,0,14.41,14.64,14.08
$STATE,1269,end apogee,CONTROL_FINISHED_OK
$STATE,1269,begin climb
$GC,1271,0.55,116.8,2704,2149,2862,2734,204.2,0.0,187,1376,0.50,2.30,95.60,1.072,10500,0.152,0.062,2914,3512,2323,2405,2241,0,0,0,0,0,0,14.54,14.57,14.00
$GC,1500,0.56,131.9,2914,3512,2405,2241,193.2,9.3,210,1520,0.00,2.22,13.70,1.008,9222,0.000,0.042,2926,2156,2260,2344,2176,0,0,0,0,0,0,14.91,14.82,14.14
$GC,1760,0.57,160.2,2925,2156,2344,2171,169.4,8.6,236,1790,0.00,2.33,23.42,1.025,10500,0.000,0.061,2926,3512,2144,2232,2057,0,0,0,0,0,0,15.22,14.85,14.25
$GC,1858,0.57,160.2,2925,3512,2232,2057,159.6,11.6,245,1864,0.00,2.28,0.00,0.000,5126,0.000,0.044,2936,2122,2144,2232,2057,0,0,0,0,0,0,14.99,14.89,15.00
$GC,2115,0.58,165.1,2937,2119,2232,2054,133.1,9.9,285,2128,0.00,2.38,5.05,0.839,8452,0.000,0.063,2937,3508,2125,2213,2038,0,0,0,0,0,0,15.22,14.81,14.20
$GC,2163,0.58,165.1,2936,3508,2213,2038,127.3,12.7,293,2170,0.00,2.30,0.00,0.000,5126,0.000,0.048,2947,2120,2125,2213,2038,0,0,0,0,0,0,15.04,14.94,15.05
$GC,2427,0.60,202.5,2947,2118,2213,2035,101.4,8.2,342,2465,0.00,2.35,30.23,0.984,12804,0.000,0.057,2958,720,1972,2053,1891,0,0,0,0,0,0,15.24,14.83,14.28
$GC,2499,0.61,213.7,2958,719,2045,1892,95.2,9.5,354,2521,0.00,2.38,10.00,0.905,13318,0.000,0.055,2958,2096,1926,2004,1848,0,0,0,0,0,0,14.96,14.81,14.14
$GC,2782,0.65,279.0,2958,2096,2004,1843,71.9,6.7,405,2844,0.00,2.45,51.33,0.946,8452,0.000,0.067,2958,3531,1660,1748,1572,0,0,0,0,0,0,15.19,14.64,14.23
$GC,2942,0.65,279.0,2958,3531,1748,1572,54.6,12.4,432,2951,0.00,2.40,0.00,0.000,5126,0.000,0.050,2970,2107,1660,1748,1572,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3205,0.65,279.0,2969,2105,1748,1568,19.2,12.9,481,3213,0.00,2.40,0.00,0.000,4612,0.000,0.061,2980,712,1657,1748,1566,0,0,0,0,0,0,15.19,14.78,15.19
$GC,3248,0.65,279.0,2980,712,1743,1569,13.7,14.8,488,3258,0.05,2.42,0.00,0.000,5126,0.295,0.050,2961,2130,1655,1743,1568,0,0,0,0,0,0,14.54,14.78,14.71
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.3,1.011208
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3367,49.80,0.182,0,0,1168,400.08
$SM_GC,1.31,6.30,0.20,49.80,0.037,0.075,0.182,150,2294,1168,-7.91,-1.05,400.08,0,0,0,0,0,0,14.98,14.99,14.70
$IRIDIUM_FIX,2234.68,-15800.20,260921,173522
$TT8_MAMPS,0.023219,0.343791
$HUMID,50.31
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.94,134.346
$10V_AH,12.08,0.000
$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,15.675,42.975,321.300,49.800,0.000,32.899,69.092,127.364,0.750,0.000,38.729,1244.194,611.130,415.953,1389.979,158.696,0.000,905.245,0.000,1155.019,0.000,0.556,0.000
$DEVICE_MAMPS,435.285,153.000,1080.945,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,335.649,447.308,781.390,652.663,751.170,0.000,0.000,0.000,0.000,0.000
$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,43839,506
$CAP_FILE_SIZE,111965,0
$CFSIZE,1023623168,967589888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.137,333.95,1
$GPS,260921,183836,2245.226,-15800.256,6,0.9,15,9.8,0.0,126.8,9,9.8