version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 569
start: 9 27 121 15 37 38
data:
$ID,626
$MISSION,3
$DIVE,569
$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,65
$R_STBD_OVSHOOT,70
$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
$GPS1,270921,153131,2245.1089,-15800.4062,8,0.9,41,9.8,1.0,178.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,270921,153648,2245.1118,-15800.4521,7,0.9,15,9.8,0.0,291.0,9,9.7
$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,79.1,800,-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,13,begin dive
$GC,16,-0.55,-116.8,124,2232,1202,1116,0.0,0.0,0,80,0.00,0.00,-61.70,0.000,16386,0.000,0.000,123,2229,3154,3121,3188,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,123,2229,3121,3188,3.7,-7.6,9,98,8.40,0.00,-1.95,0.000,18950,0.435,0.000,2562,2229,3280,3251,3309,0,0,0,0,0,0,14.28,13.49,14.56
$GC,353,-0.55,-116.8,2562,2229,3264,3298,81.8,-20.4,59,360,0.00,2.35,0.00,0.000,2308,0.000,0.060,2552,3635,3281,3264,3298,0,0,0,0,0,0,15.20,14.86,15.21
$GC,382,-0.55,-116.8,2552,3635,3264,3298,87.5,-19.1,64,393,0.05,2.28,0.00,0.000,3078,0.313,0.045,2571,2284,3281,3265,3297,0,0,0,0,0,0,14.53,14.78,14.66
$GC,652,-0.55,-116.8,2570,2281,3267,3296,129.4,-16.2,113,659,0.00,2.35,0.00,0.000,2564,0.000,0.053,2571,859,3280,3265,3296,0,0,0,0,0,0,15.23,14.90,15.24
$GC,747,-0.55,-116.8,2571,859,3267,3296,143.1,-12.5,130,754,0.00,2.35,0.00,0.000,3078,0.000,0.052,2562,2230,3282,3269,3295,0,0,0,0,0,0,14.90,14.83,15.01
$GC,1001,-0.55,-116.8,2562,2230,3269,3295,183.0,-15.0,159,1011,0.00,2.40,0.00,0.000,2308,0.000,0.063,2552,3678,3282,3269,3295,0,0,0,0,0,0,15.29,14.92,15.29
$GC,1045,-0.55,-116.8,2551,3678,3268,3295,188.6,-12.8,163,1056,0.05,2.28,0.00,0.000,3078,0.295,0.038,2570,2259,3282,3269,3295,0,0,0,0,0,0,14.58,14.99,14.69
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1158,-0.13,0.0,2571,2078,3269,3294,200.3,-10.7,174,1257,0.35,0.10,93.00,1.086,10246,0.250,0.123,2704,2164,2798,2863,2734,0,0,0,0,0,0,14.40,14.66,14.08
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1260,0.55,116.8,2704,2164,2863,2734,204.8,0.0,184,1365,0.50,2.28,95.70,1.074,10500,0.158,0.062,2915,3505,2322,2404,2240,0,0,0,0,0,0,14.57,14.40,13.97
$GC,1414,0.61,216.8,2915,3505,2404,2242,203.7,4.9,199,1503,0.00,2.22,79.68,1.064,11270,0.000,0.039,2926,2177,1914,1989,1839,0,0,0,0,0,0,14.76,14.71,13.98
$GC,1743,0.61,216.8,2925,2177,1989,1834,172.9,10.2,232,1751,0.00,2.33,0.00,0.000,2564,0.000,0.053,2937,767,1910,1987,1834,0,0,0,0,0,0,15.16,14.75,15.17
$GC,1790,0.61,217.1,2937,767,1983,1834,168.4,10.1,236,1797,0.00,2.22,0.00,0.000,3078,0.000,0.054,2937,2099,1908,1982,1834,0,0,0,0,0,0,15.00,14.88,15.02
$GC,2041,0.61,217.1,2937,2099,1982,1834,140.3,11.5,269,2048,0.00,2.40,0.00,0.000,2308,0.000,0.064,2938,3535,1907,1982,1833,0,0,0,0,0,0,15.23,14.90,15.23
$GC,2162,0.61,217.1,2937,3535,1983,1834,124.5,12.9,291,2169,0.00,2.22,0.00,0.000,5126,0.000,0.047,2950,2182,1908,1982,1834,0,0,0,0,0,0,15.05,14.93,15.07
$GC,2426,0.61,217.1,2949,2181,1982,1834,92.3,11.4,340,2434,0.00,2.40,0.00,0.000,4612,0.000,0.057,2960,765,1908,1983,1834,0,0,0,0,0,0,15.24,14.87,15.25
$GC,2544,0.61,223.7,2961,765,1979,1834,80.6,9.8,361,2560,0.00,2.28,6.10,0.842,13318,0.000,0.053,2961,2128,1885,1961,1809,0,0,0,0,0,0,15.05,14.92,14.21
$GC,2818,0.63,247.1,2961,2127,1961,1809,55.5,8.9,411,2847,0.00,2.38,19.95,0.919,12548,0.000,0.066,2961,3536,1790,1871,1710,0,0,0,0,0,0,15.22,14.65,14.23
$GC,2941,0.63,247.1,2961,3537,1871,1710,42.7,11.5,432,2949,0.05,2.30,0.00,0.000,5126,0.324,0.047,2954,2183,1790,1871,1710,0,0,0,0,0,0,14.55,14.81,14.90
$GC,3206,0.63,247.1,2953,2180,1871,1709,11.5,11.5,481,3213,0.00,2.38,0.00,0.000,516,0.000,0.057,2963,769,1790,1871,1709,0,0,0,0,0,0,15.19,14.85,15.20
$GC,3248,0.63,247.1,2963,769,1867,1709,6.7,11.9,488,3256,0.00,2.33,0.00,0.000,5126,0.000,0.051,2963,2120,1788,1868,1708,0,0,0,0,0,0,14.88,14.81,14.90
$STATE,3277,end climb,SURFACE_DEPTH_REACHED
$STATE,3277,begin surface coast
$FINISH,0.3,1.022514
$STATE,3306,end surface coast,CONTROL_FINISHED_OK
$STATE,3306,begin surface
$SM_CCo,3322,63.58,0.181,0,0,1166,400.08
$SM_GC,1.06,6.38,0.22,63.58,0.049,0.076,0.181,159,2290,1166,-7.90,-0.96,400.08,0,0,0,0,0,0,14.97,14.97,14.67
$IRIDIUM_FIX,2234.68,-15800.20,270921,153257
$TT8_MAMPS,0.02247,0.28462
$HUMID,51.29
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.49,137.774
$10V_AH,12.98,0.000
$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,15.775,42.300,294.425,63.575,0.000,26.734,45.602,126.258,0.750,0.000,16.147,1234.574,592.961,400.131,1342.664,164.409,0.000,890.298,0.000,1154.051,0.000,0.554,0.000
$DEVICE_MAMPS,435.285,135.405,1085.535,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,330.963,450.417,779.748,655.744,758.636,0.000,0.000,0.000,0.000,0.000
$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,44023,498
$CAP_FILE_SIZE,113737,0
$CFSIZE,1023623168,965951488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,9
$CURRENT,0.104,277.11,1
$GPS,270921,163500,2245.153,-15800.377,6,0.9,19,9.8,0.0,309.4,9,9.9