version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 553
start: 9 26 121 21 58 13
data:
$ID,626
$MISSION,3
$DIVE,553
$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,46
$R_STBD_OVSHOOT,79
$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
$GPS1,260921,215205,2244.7632,-15800.0352,7,1.0,17,9.8,0.6,177.9,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.3
$GPS2,260921,215722,2244.7732,-15800.0723,6,1.0,17,9.8,0.9,307.6,9,10.0
$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,24.7,438,-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,-116.8,124,2250,1198,1114,0.0,0.0,0,74,0.00,0.00,-55.97,0.000,16386,0.000,0.000,124,2250,2932,2911,2953,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.58,-116.8,124,2250,2912,2954,3.2,-6.3,8,101,8.43,2.30,-5.90,0.000,18692,0.441,0.074,2543,3631,3277,3257,3298,0,0,0,0,0,0,14.29,13.96,14.58
$GC,203,-0.58,-116.8,2542,3631,3256,3298,34.8,-18.0,30,212,0.05,2.30,0.00,0.000,3078,0.330,0.048,2560,2273,3277,3260,3295,0,0,0,0,0,0,14.54,14.81,14.89
$GC,472,-0.58,-116.8,2560,2270,3262,3294,90.9,-19.1,79,479,0.00,2.38,0.00,0.000,2564,0.000,0.059,2561,851,3278,3263,3293,0,0,0,0,0,0,15.22,14.88,15.23
$GC,585,-0.58,-116.8,2560,849,3266,3292,108.8,-12.5,99,592,0.00,2.30,0.00,0.000,3078,0.000,0.054,2552,2227,3278,3266,3291,0,0,0,0,0,0,15.04,14.91,15.05
$GC,847,-0.58,-116.8,2551,2227,3266,3292,147.6,-15.1,148,854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2551,2227,3278,3266,3291,0,0,0,0,0,0,15.25,15.26,15.26
$GC,1098,-0.58,-116.8,2551,2227,3267,3291,184.4,-14.6,174,1102,0.00,2.28,0.00,0.000,2564,0.000,0.053,2551,858,3279,3267,3291,0,0,0,0,0,0,15.29,14.95,15.29
$GC,1171,-0.58,-116.8,2551,857,3267,3291,195.1,-13.9,181,1181,0.05,2.33,0.00,0.000,3078,0.323,0.054,2559,2263,3278,3267,3290,0,0,0,0,0,0,14.54,14.87,14.70
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1225,-0.13,0.0,2560,2073,3267,3290,200.9,-11.7,186,1323,0.38,0.10,92.45,1.093,10246,0.248,0.129,2701,2158,2797,2861,2734,0,0,0,0,0,0,14.40,14.66,14.07
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,0.58,116.8,2701,2159,2862,2734,205.3,0.0,196,1431,0.52,2.45,95.53,1.079,10756,0.151,0.049,2934,706,2320,2401,2239,0,0,0,0,0,0,14.59,14.58,14.00
$GC,1467,0.61,170.5,2933,706,2392,2239,201.6,7.0,210,1517,0.00,2.33,43.83,1.061,11270,0.000,0.050,2933,2093,2103,2188,2018,0,0,0,0,0,0,14.57,14.58,13.98
$GC,1757,0.61,170.5,2933,2093,2185,2013,166.8,11.9,239,1767,0.00,2.42,0.00,0.000,2308,0.000,0.065,2934,3537,2100,2186,2014,0,0,0,0,0,0,15.18,14.85,15.18
$GC,1800,0.61,170.5,2933,3538,2185,2013,161.4,12.5,243,1811,0.00,2.33,0.00,0.000,1030,0.000,0.047,2945,2125,2099,2186,2013,0,0,0,0,0,0,15.00,14.91,15.02
$GC,2055,0.61,172.0,2944,2123,2186,2013,133.9,10.0,282,2063,0.00,2.35,0.00,0.000,516,0.000,0.054,2956,716,2098,2185,2012,0,0,0,0,0,0,15.23,14.88,15.23
$GC,2087,0.61,172.0,2955,716,2180,2012,130.6,10.8,287,2095,0.00,2.38,0.00,0.000,5126,0.000,0.051,2955,2137,2096,2180,2012,0,0,0,0,0,0,15.04,14.92,15.06
$GC,2348,0.61,173.7,2955,2137,2180,2012,104.0,10.0,336,2356,0.00,2.40,0.00,0.000,4356,0.000,0.066,2956,3528,2096,2180,2013,0,0,0,0,0,0,15.24,14.81,15.25
$GC,2426,0.61,173.7,2955,3528,2180,2014,95.5,11.1,350,2434,0.05,2.38,0.00,0.000,5126,0.397,0.045,2951,2123,2097,2180,2014,0,0,0,0,0,0,14.65,14.87,14.90
$GC,2686,0.64,210.1,2950,2121,2180,2013,74.2,8.0,399,2723,0.00,2.42,30.90,0.968,8452,0.000,0.062,2950,3532,1941,2022,1861,0,0,0,0,0,0,15.23,14.85,14.29
$GC,2736,0.64,210.1,2950,3532,2022,1861,69.5,10.5,406,2745,0.00,2.38,0.00,0.000,5126,0.000,0.045,2960,2133,1941,2022,1861,0,0,0,0,0,0,14.81,14.76,14.84
$GC,3002,0.66,254.5,2960,2130,2022,1858,48.3,7.6,455,3045,0.00,2.38,35.33,0.929,8708,0.000,0.054,2971,716,1759,1843,1676,0,0,0,0,0,0,15.18,14.59,14.21
$GC,3075,0.67,259.6,2971,716,1837,1676,42.1,9.8,466,3091,0.00,2.40,5.07,0.770,13318,0.000,0.050,2971,2125,1739,1822,1656,0,0,0,0,0,0,14.91,14.79,14.09
$GC,3346,0.67,259.6,2971,2125,1823,1653,10.4,12.2,516,3354,0.00,2.42,0.00,0.000,4356,0.000,0.066,2971,3526,1738,1823,1653,0,0,0,0,0,0,15.17,14.72,15.17
$GC,3395,0.67,259.6,2971,3526,1823,1653,3.7,14.0,524,3403,0.08,2.40,0.00,0.000,5126,0.336,0.050,2959,2103,1737,1822,1653,0,0,0,0,0,0,14.62,14.85,14.87
$STATE,3409,end climb,SURFACE_DEPTH_REACHED
$STATE,3409,begin surface coast
$FINISH,0.3,1.023101
$STATE,3432,end surface coast,CONTROL_FINISHED_OK
$STATE,3432,begin surface
$SM_CCo,3448,58.00,0.184,0,0,1167,400.08
$SM_GC,1.17,6.32,0.28,58.00,0.043,0.072,0.184,150,2286,1167,-7.89,-1.10,400.08,0,0,0,0,0,0,14.99,14.94,14.67
$IRIDIUM_FIX,2234.68,-15800.20,260921,215327
$TT8_MAMPS,0.02247,0.292859
$HUMID,51.41
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,13.96,135.012
$10V_AH,12.73,0.000
$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,15.875,47.975,303.100,58.000,0.000,23.359,45.233,118.558,0.250,0.000,19.034,1309.374,567.030,408.418,1400.642,170.338,0.000,923.677,0.000,1232.674,0.000,0.556,0.000
$DEVICE_MAMPS,441.405,131.580,1093.185,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,352.180,383.579,828.074,710.430,830.041,0.000,0.000,0.000,0.000,0.000
$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,47348,530
$CAP_FILE_SIZE,120374,0
$CFSIZE,1023623168,967245824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,261.88,1
$GPS,260921,225755,2245.043,-15800.085,7,0.9,40,9.8,0.4,222.9,10,6.8