version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 570
start: 9 27 121 16 41 23
data:
$ID,626
$MISSION,3
$DIVE,570
$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,92
$R_STBD_OVSHOOT,54
$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
$GPS1,270921,163500,2245.1526,-15800.3770,6,0.9,19,9.8,0.0,309.4,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.7
$GPS2,270921,164034,2245.1626,-15800.4219,7,0.9,20,9.8,0.5,299.2,9,9.9
$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,95.8,781,-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,-116.8,123,2299,1194,1119,0.0,0.0,0,74,0.00,0.00,-56.03,0.000,16386,0.000,0.000,123,2300,2950,2930,2970,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,123,2300,2931,2970,3.3,-6.3,8,100,8.38,2.30,-5.55,0.000,18948,0.431,0.067,2571,907,3277,3257,3297,0,0,0,0,0,0,14.26,13.93,14.54
$GC,108,-0.55,-116.8,2570,907,3261,3295,16.0,-36.4,12,116,0.00,2.30,0.00,0.000,3078,0.000,0.048,2562,2249,3278,3262,3294,0,0,0,0,0,0,14.86,14.79,14.89
$GC,374,-0.55,-116.8,2562,2250,3264,3292,84.3,-21.0,61,381,0.00,2.40,0.00,0.000,2308,0.000,0.063,2551,3680,3278,3264,3292,0,0,0,0,0,0,15.21,14.86,15.21
$GC,413,-0.55,-116.8,2551,3680,3264,3293,91.8,-19.1,67,421,0.08,2.25,0.00,0.000,3078,0.318,0.044,2578,2315,3278,3264,3292,0,0,0,0,0,0,14.64,14.91,14.89
$GC,681,-0.55,-116.8,2578,2311,3266,3292,129.8,-13.8,116,688,0.00,2.42,0.00,0.000,516,0.000,0.053,2578,856,3278,3266,3290,0,0,0,0,0,0,15.23,14.88,15.23
$GC,793,-0.55,-116.8,2578,857,3266,3290,142.9,-11.2,136,800,0.00,2.40,0.00,0.000,3078,0.000,0.055,2569,2267,3278,3267,3290,0,0,0,0,0,0,15.02,14.87,15.04
$GC,1051,-0.55,-116.8,2569,2267,3268,3290,179.0,-14.3,166,1056,0.00,2.33,0.00,0.000,2308,0.000,0.063,2558,3675,3279,3268,3290,0,0,0,0,0,0,15.28,14.92,15.29
$GC,1084,-0.55,-116.8,2558,3676,3268,3289,183.4,-13.5,169,1093,0.00,2.30,0.00,0.000,3078,0.000,0.041,2558,2251,3278,3267,3290,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1217,-0.13,0.0,2558,2072,3267,3289,201.1,-13.0,182,1315,0.38,0.10,92.68,1.081,10246,0.243,0.125,2701,2157,2798,2863,2734,0,0,0,0,0,0,14.51,14.66,14.06
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1318,0.55,116.8,2700,2158,2863,2734,206.3,0.0,192,1424,0.50,2.33,95.47,1.075,10500,0.152,0.062,2913,3510,2322,2404,2241,0,0,0,0,0,0,14.57,14.55,13.99
$GC,1530,0.56,142.6,2912,3510,2404,2241,198.0,8.8,213,1561,0.00,2.30,22.12,1.034,11270,0.000,0.045,2924,2121,2216,2302,2131,0,0,0,0,0,0,14.90,14.80,14.09
$GC,1800,0.56,142.6,2925,2120,2302,2125,168.9,10.6,240,1810,0.00,2.33,0.00,0.000,2308,0.000,0.062,2925,3505,2213,2301,2125,0,0,0,0,0,0,15.21,14.65,15.21
$GC,1847,0.56,142.6,2924,3505,2301,2125,164.3,10.7,244,1854,0.00,2.28,0.00,0.000,5126,0.000,0.045,2936,2118,2213,2302,2125,0,0,0,0,0,0,15.02,14.92,15.04
$GC,2099,0.59,188.5,2935,2117,2302,2124,143.1,7.7,277,2145,0.00,2.38,36.88,1.025,10500,0.000,0.062,2935,3507,2029,2113,1945,0,0,0,0,0,0,15.24,14.78,14.25
$GC,2197,0.59,188.5,2935,3507,2113,1945,133.5,11.9,293,2204,0.00,2.30,0.00,0.000,5126,0.000,0.047,2946,2127,2028,2113,1944,0,0,0,0,0,0,14.96,14.85,14.97
$GC,2461,0.61,212.2,2946,2126,2113,1941,105.2,8.9,342,2482,0.00,0.00,19.50,0.965,8198,0.000,0.000,2946,2126,1932,2012,1853,0,0,0,0,0,0,15.20,14.85,14.27
$GC,2746,0.61,213.3,2946,2126,2011,1848,76.9,10.0,393,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2126,1929,2011,1848,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3010,0.63,258.5,2946,2126,2011,1846,53.8,7.8,442,3053,0.00,2.38,36.35,0.926,10500,0.000,0.060,2947,3506,1744,1829,1659,0,0,0,0,0,0,15.21,14.82,14.28
$GC,3151,0.64,271.0,2946,3506,1829,1658,40.5,9.5,466,3167,0.00,2.35,11.32,0.863,9222,0.000,0.047,2957,2130,1693,1782,1605,0,0,0,0,0,0,14.85,14.80,14.22
$GC,3421,0.64,271.0,2957,2130,1782,1601,11.0,12.2,516,3428,0.00,2.40,0.00,0.000,516,0.000,0.060,2968,715,1691,1782,1601,0,0,0,0,0,0,15.17,14.83,15.18
$GC,3464,0.64,271.0,2968,714,1778,1601,6.1,12.1,523,3471,0.00,2.38,0.00,0.000,5126,0.000,0.049,2968,2098,1689,1778,1601,0,0,0,0,0,0,15.00,14.82,15.01
$STATE,3492,end climb,SURFACE_DEPTH_REACHED
$STATE,3492,begin surface coast
$FINISH,0.3,1.011188
$STATE,3521,end surface coast,CONTROL_FINISHED_OK
$STATE,3521,begin surface
$SM_CCo,3538,53.35,0.183,0,0,1166,400.08
$SM_GC,1.38,6.50,0.28,53.35,0.060,0.062,0.183,135,2318,1166,-7.96,-0.71,400.08,0,0,0,0,0,0,14.97,14.96,14.67
$IRIDIUM_FIX,2234.68,-15802.37,270921,163636
$TT8_MAMPS,0.02247,0.285369
$HUMID,51.14
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,13.93,137.943
$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,15.825,42.650,314.325,53.350,0.000,32.898,47.641,130.731,0.250,0.000,21.226,1312.350,656.241,399.613,1419.843,168.559,0.000,910.838,0.000,1227.802,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,125.460,1080.945,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,354.777,416.826,827.778,697.123,809.412,0.000,0.000,0.000,0.000,0.000
$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,47373,533
$CAP_FILE_SIZE,117384,0
$CFSIZE,1023623168,965853184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$CURRENT,0.122,302.10,1
$GPS,270921,174231,2245.269,-15800.271,8,0.9,40,9.8,1.0,324.9,9,5.5