version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 552
start: 9 26 121 20 53 56
data:
$ID,626
$MISSION,3
$DIVE,552
$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,55
$R_STBD_OVSHOOT,64
$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
$GPS1,260921,204719,2245.0889,-15759.9766,6,0.9,39,9.8,0.6,290.8,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.7
$GPS2,260921,205304,2245.1167,-15800.0107,6,0.9,17,9.8,0.0,286.2,9,9.5
$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,155.7,217,-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,-116.8,123,2240,1198,1115,0.0,0.0,0,75,0.00,0.00,-56.83,0.000,16386,0.000,0.000,123,2240,2959,2944,2974,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.58,-116.8,123,2240,2944,2975,3.1,-4.9,8,101,8.40,2.28,-5.43,0.000,18948,0.436,0.066,2563,862,3277,3259,3296,0,0,0,0,0,0,14.28,13.95,14.56
$GC,173,-0.58,-116.8,2563,862,3264,3294,30.7,-20.8,24,180,0.00,2.35,0.00,0.000,3078,0.000,0.054,2555,2227,3278,3264,3292,0,0,0,0,0,0,14.86,14.81,14.97
$GC,439,-0.58,-116.8,2555,2228,3266,3290,91.0,-19.4,73,446,0.00,2.42,0.00,0.000,2308,0.000,0.063,2544,3677,3278,3266,3290,0,0,0,0,0,0,15.23,14.87,15.23
$GC,464,-0.58,-116.8,2543,3677,3266,3291,95.4,-17.8,77,472,0.05,2.30,0.00,0.000,3078,0.362,0.048,2561,2284,3278,3266,3291,0,0,0,0,0,0,14.68,14.92,14.91
$GC,731,-0.58,-116.8,2561,2280,3267,3290,138.7,-16.8,126,739,0.00,2.40,0.00,0.000,516,0.000,0.054,2562,855,3278,3267,3290,0,0,0,0,0,0,15.24,14.87,15.25
$GC,840,-0.58,-116.8,2562,854,3267,3290,154.8,-13.6,143,845,0.00,2.35,0.00,0.000,3078,0.000,0.052,2553,2270,3278,3267,3290,0,0,0,0,0,0,15.06,14.92,15.07
$GC,1094,-0.58,-116.8,2552,2270,3268,3289,191.3,-13.0,168,1095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2553,2270,3278,3267,3290,0,0,0,0,0,0,15.29,15.30,15.29
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1168,-0.13,0.0,2553,2077,3268,3289,200.5,-13.2,175,1265,0.40,0.10,92.38,1.081,10246,0.245,0.128,2704,2160,2798,2863,2734,0,0,0,0,0,0,14.53,14.66,14.07
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1269,0.58,116.8,2704,2161,2863,2734,205.8,0.0,185,1374,0.52,2.40,95.82,1.073,10756,0.147,0.047,2936,752,2320,2402,2239,0,0,0,0,0,0,14.54,14.38,13.95
$GC,1491,0.58,116.8,2936,752,2390,2239,195.5,10.3,207,1498,0.00,2.30,0.00,0.000,1030,0.000,0.052,2936,2092,2314,2390,2239,0,0,0,0,0,0,14.81,14.75,14.84
$GC,1741,0.62,177.4,2936,2093,2390,2238,172.6,6.7,232,1799,0.00,2.47,48.47,1.054,10500,0.000,0.066,2936,3534,2074,2161,1988,0,0,0,0,0,0,15.21,14.68,14.18
$GC,1902,0.62,177.4,2936,3533,2160,1988,156.5,11.6,248,1906,0.00,2.28,0.00,0.000,1030,0.000,0.047,2947,2156,2074,2161,1988,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2154,0.62,177.4,2947,2154,2161,1985,126.7,10.2,291,2162,0.00,2.38,0.00,0.000,516,0.000,0.055,2959,715,2072,2160,1984,0,0,0,0,0,0,15.20,14.90,15.21
$GC,2196,0.62,177.4,2958,715,2152,1984,122.6,10.4,298,2203,0.00,2.40,0.00,0.000,5126,0.000,0.051,2959,2132,2068,2152,1985,0,0,0,0,0,0,15.02,14.88,15.04
$GC,2454,0.62,177.4,2958,2132,2152,1984,94.6,12.2,347,2462,0.00,2.35,0.00,0.000,4356,0.000,0.065,2958,3539,2068,2152,1984,0,0,0,0,0,0,15.23,14.90,15.23
$GC,2480,0.62,177.4,2958,3540,2152,1985,91.0,14.0,351,2489,0.08,2.35,0.00,0.000,5126,0.346,0.048,2945,2123,2068,2152,1985,0,0,0,0,0,0,14.65,14.93,14.94
$GC,2743,0.66,254.2,2944,2120,2152,1985,67.9,5.7,400,2809,0.00,2.45,59.00,0.962,10500,0.000,0.063,2945,3532,1761,1846,1677,0,0,0,0,0,0,15.23,14.74,14.23
$GC,2849,0.68,287.7,2945,3532,1846,1677,61.1,8.2,416,2886,0.00,2.40,27.30,0.929,11270,0.000,0.049,2954,2114,1625,1719,1532,0,0,0,0,0,0,14.89,14.78,14.12
$GC,3140,0.68,287.7,2954,2114,1719,1526,29.2,12.4,469,3148,0.00,2.40,0.00,0.000,2564,0.000,0.059,2966,705,1622,1718,1526,0,0,0,0,0,0,15.15,14.82,15.16
$GC,3205,0.68,287.7,2965,705,1711,1527,21.7,11.7,480,3212,0.00,2.42,0.00,0.000,1030,0.000,0.052,2966,2131,1618,1710,1527,0,0,0,0,0,0,14.96,14.85,14.99
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FINISH,0.3,1.005732
$STATE,3373,end surface coast,CONTROL_FINISHED_OK
$STATE,3373,begin surface
$SM_CCo,3389,46.20,0.187,0,0,1166,400.08
$SM_GC,1.24,6.32,0.20,46.20,0.037,0.076,0.187,155,2313,1166,-7.90,-1.02,400.08,0,0,0,0,0,0,14.97,14.97,14.68
$IRIDIUM_FIX,2234.68,-15800.20,260921,204844
$TT8_MAMPS,0.02247,0.340795
$HUMID,51.06
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,13.95,134.847
$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,15.775,43.300,322.975,46.200,0.000,26.630,67.318,130.274,0.750,0.000,17.720,1267.094,593.151,401.307,1391.303,162.141,0.000,898.464,0.000,1190.472,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,189.720,1080.945,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,339.359,365.818,792.282,676.500,789.053,0.000,0.000,0.000,0.000,0.000
$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,43828,511
$CAP_FILE_SIZE,113266,0
$CFSIZE,1023623168,967344128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068,276.84,1
$GPS,260921,215205,2244.763,-15800.035,7,1.0,17,9.8,0.6,177.9,9,9.7