version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 566
start: 9 27 121 12 22 2
data:
$ID,626
$MISSION,3
$DIVE,566
$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,70
$R_STBD_OVSHOOT,31
$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
$GPS1,270921,121601,2244.8374,-15800.0049,7,0.8,32,9.8,0.3,268.3,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,270921,122111,2244.8411,-15800.0547,7,0.8,14,9.8,0.0,241.7,10,9.9
$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,25.0,309,-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,-116.8,123,2215,1203,1113,0.0,0.0,0,80,0.00,0.00,-61.80,0.000,16386,0.000,0.000,124,2215,3158,3122,3194,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.58,-116.8,123,2215,3122,3194,3.8,-7.5,9,99,8.40,2.45,-1.88,0.000,18692,0.437,0.064,2545,3685,3280,3251,3310,0,0,0,0,0,0,14.27,13.45,14.55
$GC,134,-0.58,-116.8,2545,3686,3255,3306,26.6,-33.7,17,142,0.05,2.38,0.00,0.000,3078,0.376,0.050,2561,2297,3281,3260,3302,0,0,0,0,0,0,14.62,14.81,14.86
$GC,396,-0.58,-116.8,2561,2293,3264,3298,86.6,-19.5,66,404,0.00,2.42,0.00,0.000,516,0.000,0.056,2561,849,3281,3266,3297,0,0,0,0,0,0,15.20,14.85,15.21
$GC,505,-0.58,-116.8,2561,849,3267,3296,105.4,-15.2,86,514,0.00,2.45,0.00,0.000,3078,0.000,0.056,2553,2267,3281,3267,3295,0,0,0,0,0,0,14.83,14.76,14.84
$GC,772,-0.58,-116.8,2552,2267,3268,3296,158.0,-19.3,132,781,0.00,2.33,0.00,0.000,2308,0.000,0.063,2541,3675,3281,3267,3295,0,0,0,0,0,0,15.26,14.65,15.26
$GC,804,-0.58,-116.8,2541,3675,3268,3295,163.8,-18.0,135,816,0.05,2.30,0.00,0.000,3078,0.360,0.041,2560,2258,3282,3268,3296,0,0,0,0,0,0,14.70,14.95,14.92
$GC,1056,-0.58,-116.8,2559,2257,3267,3296,198.3,-12.6,160,1064,0.00,2.30,0.00,0.000,2564,0.000,0.054,2560,859,3281,3268,3295,0,0,0,0,0,0,15.28,14.81,15.29
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1083,-0.13,0.0,2552,2132,3267,3294,201.2,-12.4,162,1179,0.40,0.00,92.93,1.086,10246,0.244,0.000,2702,2132,2799,2863,2735,0,0,0,0,0,0,14.38,14.66,14.07
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,0.58,116.8,2702,2132,2862,2735,205.9,0.0,172,1287,0.52,0.00,95.43,1.074,10758,0.164,0.000,2920,2132,2322,2404,2241,0,0,0,0,0,0,14.57,14.39,13.97
$GC,1527,0.63,192.9,2920,2132,2404,2234,190.1,5.8,207,1599,0.05,2.45,60.88,1.066,10756,0.256,0.057,3023,719,2010,2087,1934,0,0,0,0,0,0,14.85,14.63,14.12
$GC,1706,0.63,192.9,3022,719,2076,1934,167.5,15.1,224,1713,0.20,2.35,0.00,0.000,5126,0.288,0.051,2954,2125,2004,2075,1934,0,0,0,0,0,0,14.57,14.83,14.85
$GC,1956,0.63,192.9,2953,2128,2075,1930,138.8,11.6,258,1963,0.00,2.38,0.00,0.000,4356,0.000,0.061,2953,3536,2003,2075,1931,0,0,0,0,0,0,15.21,14.86,15.21
$GC,1998,0.63,192.9,2953,3536,2075,1931,134.0,11.8,265,2005,0.00,2.33,0.00,0.000,5126,0.000,0.043,2963,2123,2003,2075,1931,0,0,0,0,0,0,15.03,14.92,15.05
$GC,2257,0.65,234.6,2962,2122,2074,1931,107.2,7.7,314,2299,0.00,2.35,32.67,0.991,12804,0.000,0.056,2974,713,1840,1919,1762,0,0,0,0,0,0,15.23,14.74,14.26
$GC,2334,0.67,260.4,2973,713,1914,1763,101.0,8.6,326,2362,0.00,2.40,21.65,0.960,13318,0.000,0.053,2973,2123,1736,1819,1654,0,0,0,0,0,0,14.95,14.82,14.18
$GC,2615,0.69,304.4,2973,2124,1819,1649,73.6,7.6,378,2658,0.00,2.40,34.78,0.953,8452,0.000,0.063,2974,3542,1557,1647,1468,0,0,0,0,0,0,15.16,14.59,14.19
$GC,2735,0.69,304.4,2973,3542,1647,1468,60.8,11.2,398,2742,0.00,2.40,0.00,0.000,5126,0.000,0.047,2985,2121,1557,1647,1468,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2997,0.69,304.4,2984,2120,1647,1465,27.6,14.2,447,3005,0.00,2.40,0.00,0.000,4612,0.000,0.062,2996,713,1556,1647,1465,0,0,0,0,0,0,15.18,14.83,15.18
$GC,3019,0.69,304.4,2995,713,1643,1465,24.3,14.8,450,3027,0.05,2.45,0.00,0.000,5126,0.280,0.054,2976,2132,1553,1643,1463,0,0,0,0,0,0,14.60,14.81,14.76
$STATE,3181,end climb,SURFACE_DEPTH_REACHED
$STATE,3181,begin surface coast
$FINISH,0.3,1.023259
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3221,39.50,0.184,0,0,1165,400.08
$SM_GC,0.98,6.53,0.20,39.50,0.064,0.095,0.184,160,2269,1165,-7.93,-1.10,400.08,0,0,0,0,0,0,14.94,14.92,14.69
$IRIDIUM_FIX,2234.68,-15759.32,270921,121726
$TT8_MAMPS,0.02247,0.285369
$HUMID,51.65
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,13.45,137.262
$10V_AH,12.94,0.000
$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,16.250,42.975,338.325,39.500,0.000,25.941,43.435,124.188,0.500,0.000,15.161,1189.114,550.246,404.979,1297.383,162.087,0.000,894.910,0.000,1123.215,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,105.570,1086.300,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,320.665,383.537,747.599,622.732,729.328,0.000,0.000,0.000,0.000,0.000
$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,43987,484
$CAP_FILE_SIZE,109645,0
$CFSIZE,1023623168,966197248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$INTR,0,2003.41,0x2131c2,1,24
$CURRENT,0.168,246.35,1
$GPS,270921,131717,2245.022,-15800.258,8,0.8,18,9.8,0.4,130.9,11,10.0