version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 551
start: 9 26 121 19 48 59
data:
$ID,626
$MISSION,3
$DIVE,551
$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,62
$R_STBD_OVSHOOT,33
$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
$GPS1,260921,194249,2245.1870,-15800.1221,7,1.1,42,9.8,1.2,291.3,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.6
$GPS2,260921,194809,2245.2124,-15800.1475,7,1.0,17,9.8,0.0,269.3,8,9.9
$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,139.4,467,-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,-116.8,123,2231,1199,1115,0.0,0.0,0,80,0.00,0.00,-61.53,0.000,16386,0.000,0.000,123,2231,3142,3110,3174,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,123,2231,3110,3175,3.5,-5.9,9,99,8.45,2.25,-2.17,0.000,18948,0.439,0.060,2574,859,3278,3250,3307,0,0,0,0,0,0,14.29,13.46,14.57
$GC,150,-0.55,-116.8,2573,859,3263,3296,28.5,-23.9,20,157,0.00,2.42,0.00,0.000,3078,0.000,0.054,2565,2264,3280,3266,3295,0,0,0,0,0,0,14.86,14.80,14.90
$GC,415,-0.55,-116.8,2565,2265,3266,3295,90.7,-20.2,69,421,0.00,2.38,0.00,0.000,2308,0.000,0.064,2554,3684,3280,3266,3295,0,0,0,0,0,0,15.22,14.87,15.22
$GC,450,-0.55,-116.8,2552,3685,3266,3295,96.9,-16.5,75,459,0.05,2.30,0.00,0.000,3078,0.364,0.046,2572,2284,3280,3266,3295,0,0,0,0,0,0,14.69,14.93,14.91
$GC,710,-0.55,-116.8,2572,2280,3267,3295,135.8,-14.4,124,717,0.00,2.40,0.00,0.000,516,0.000,0.054,2572,853,3281,3268,3294,0,0,0,0,0,0,15.24,14.88,15.24
$GC,840,-0.55,-116.8,2572,852,3268,3294,152.4,-12.4,147,848,0.00,2.40,0.00,0.000,3078,0.000,0.052,2563,2259,3280,3268,3292,0,0,0,0,0,0,14.79,14.73,14.83
$GC,1090,-0.55,-116.8,2563,2260,3269,3292,187.2,-14.2,172,1096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2260,3280,3269,3292,0,0,0,0,0,0,15.28,15.29,15.28
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1202,-0.13,0.0,2563,2078,3269,3291,201.1,-11.9,183,1300,0.38,0.10,92.60,1.081,10246,0.242,0.129,2705,2163,2797,2861,2734,0,0,0,0,0,0,14.43,14.66,14.09
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1303,0.55,116.8,2705,2162,2863,2734,204.6,0.0,193,1409,0.50,2.38,95.40,1.069,10756,0.150,0.049,2929,748,2320,2401,2239,0,0,0,0,0,0,14.59,14.59,14.00
$GC,1465,0.58,166.3,2928,748,2390,2239,199.5,7.5,209,1515,0.00,2.25,40.15,1.048,11270,0.000,0.050,2929,2098,2120,2206,2035,0,0,0,0,0,0,14.71,14.66,13.98
$GC,1755,0.58,166.3,2928,2098,2205,2031,167.4,11.0,238,1765,0.00,2.40,0.00,0.000,2308,0.000,0.066,2929,3534,2119,2206,2032,0,0,0,0,0,0,15.19,14.74,15.19
$GC,1859,0.58,166.3,2928,3533,2205,2032,155.5,11.7,248,1869,0.00,2.25,0.00,0.000,5126,0.000,0.046,2940,2158,2118,2205,2032,0,0,0,0,0,0,15.04,14.93,15.05
$GC,2122,0.58,166.3,2939,2156,2205,2031,125.7,10.7,293,2129,0.00,2.40,0.00,0.000,4612,0.000,0.056,2951,715,2118,2206,2030,0,0,0,0,0,0,15.24,14.92,15.24
$GC,2171,0.58,172.2,2951,714,2198,2030,120.9,9.8,301,2185,0.00,2.35,5.53,0.852,13318,0.000,0.051,2951,2126,2096,2182,2011,0,0,0,0,0,0,15.05,14.93,14.21
$GC,2443,0.61,210.5,2951,2126,2182,2011,95.4,8.1,351,2483,0.00,2.38,31.02,0.972,12548,0.000,0.064,2951,3531,1941,2021,1861,0,0,0,0,0,0,15.24,14.65,14.22
$GC,2540,0.61,210.5,2951,3531,2021,1861,84.5,11.8,367,2548,0.05,2.33,0.00,0.000,5126,0.390,0.047,2946,2129,1941,2021,1861,0,0,0,0,0,0,14.63,14.87,14.88
$GC,2804,0.64,265.0,2945,2126,2021,1857,60.3,7.3,416,2855,0.00,2.40,43.12,0.932,10500,0.000,0.063,2945,3531,1717,1805,1630,0,0,0,0,0,0,15.20,14.64,14.23
$GC,2927,0.64,265.0,2945,3531,1805,1630,48.4,10.9,436,2935,0.00,2.40,0.00,0.000,1030,0.000,0.050,2955,2110,1717,1805,1630,0,0,0,0,0,0,14.91,14.81,14.93
$GC,3189,0.64,265.0,2954,2107,1805,1626,20.0,10.8,485,3197,0.00,2.35,0.00,0.000,516,0.000,0.060,2966,713,1715,1804,1626,0,0,0,0,0,0,15.18,14.83,15.19
$GC,3253,0.64,265.0,2966,712,1798,1626,12.5,11.9,496,3262,0.00,2.40,0.00,0.000,5126,0.000,0.051,2966,2127,1712,1798,1626,0,0,0,0,0,0,15.00,14.85,15.02
$STATE,3330,end climb,SURFACE_DEPTH_REACHED
$STATE,3330,begin surface coast
$FINISH,0.2,1.023131
$STATE,3353,end surface coast,CONTROL_FINISHED_OK
$STATE,3353,begin surface
$SM_CCo,3369,55.53,0.181,0,0,1166,400.08
$SM_GC,1.39,6.47,0.22,55.53,0.061,0.073,0.181,157,2305,1166,-7.93,-0.76,400.08,0,0,0,0,0,0,15.00,14.97,14.69
$IRIDIUM_FIX,2234.68,-15802.37,260921,194414
$TT8_MAMPS,0.023219,0.283871
$HUMID,50.90
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.46,134.677
$10V_AH,13.00,0.000
$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,15.900,43.075,307.825,55.525,0.000,27.207,45.242,126.502,0.750,0.000,18.748,1264.825,581.324,405.506,1362.679,162.420,0.000,903.983,0.000,1186.645,0.000,0.556,0.000
$DEVICE_MAMPS,439.110,128.520,1080.945,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,341.084,369.631,799.430,676.775,782.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,44183,514
$CAP_FILE_SIZE,116865,0
$CFSIZE,1023623168,967409664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.092,332.26,1
$GPS,260921,204719,2245.089,-15759.977,6,0.9,39,9.8,0.6,290.8,9,4.7