version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 576
start: 9 27 121 23 14 27
data:
$ID,626
$MISSION,3
$DIVE,576
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,270921,230805,2245.0940,-15800.2490,7,1.0,19,9.8,0.6,240.3,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.1
$GPS2,270921,231336,2245.0967,-15800.2832,7,0.9,18,9.8,1.1,290.2,9,9.5
$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,100.4,515,-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,-116.8,124,2307,1201,1115,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,124,2307,3175,3137,3213,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.58,-116.8,124,2307,3138,3213,3.9,-7.9,9,99,8.35,2.42,-1.60,0.000,18948,0.433,0.058,2562,839,3279,3250,3308,0,0,0,0,0,0,14.26,13.43,14.57
$GC,108,-0.58,-116.8,2561,839,3257,3303,16.9,-39.5,12,115,0.00,2.38,0.00,0.000,3078,0.000,0.045,2553,2235,3280,3260,3301,0,0,0,0,0,0,14.99,14.83,15.00
$GC,371,-0.58,-116.8,2553,2236,3264,3297,87.7,-23.8,61,378,0.00,2.40,0.00,0.000,2308,0.000,0.061,2542,3672,3280,3263,3297,0,0,0,0,0,0,15.21,14.87,15.21
$GC,397,-0.58,-116.8,2542,3673,3264,3297,94.0,-22.2,65,405,0.05,2.33,0.00,0.000,3078,0.376,0.044,2559,2258,3280,3263,3297,0,0,0,0,0,0,14.66,14.92,14.90
$GC,657,-0.58,-116.8,2558,2254,3266,3296,140.5,-16.6,114,664,0.00,2.38,0.00,0.000,2564,0.000,0.052,2559,859,3281,3267,3295,0,0,0,0,0,0,15.23,14.83,15.24
$GC,745,-0.58,-116.8,2559,859,3268,3295,154.5,-14.9,127,754,0.00,2.30,0.00,0.000,3078,0.000,0.052,2550,2255,3281,3268,3294,0,0,0,0,0,0,14.85,14.80,14.88
$GC,998,-0.58,-116.8,2550,2255,3268,3294,192.4,-13.1,152,1006,0.00,2.35,0.00,0.000,2308,0.000,0.065,2540,3673,3281,3268,3294,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1033,-0.58,-116.8,2539,3673,3268,3294,196.3,-11.1,155,1042,0.08,2.30,0.00,0.000,3078,0.324,0.039,2567,2254,3281,3268,3294,0,0,0,0,0,0,14.69,14.98,14.94
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1086,-0.13,0.0,2567,2078,3268,3294,200.9,-9.1,160,1183,0.35,0.10,92.80,1.080,10246,0.233,0.125,2704,2163,2798,2863,2734,0,0,0,0,0,0,14.56,14.66,14.07
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1186,0.58,116.8,2704,2163,2863,2734,203.6,0.0,170,1292,0.52,2.40,95.72,1.071,11012,0.142,0.047,2939,758,2319,2400,2239,0,0,0,0,0,0,14.59,14.38,13.95
$GC,1339,0.61,160.4,2938,757,2390,2239,198.8,7.6,185,1380,0.00,2.28,35.50,1.045,11270,0.000,0.051,2939,2103,2145,2231,2060,0,0,0,0,0,0,14.82,14.71,14.02
$GC,1622,0.62,187.7,2938,2102,2230,2055,171.3,8.6,213,1651,0.00,2.40,22.70,1.024,10500,0.000,0.061,2939,3541,2032,2116,1949,0,0,0,0,0,0,15.19,14.65,14.19
$GC,1736,0.62,187.7,2939,3542,2116,1949,157.6,14.1,224,1744,0.00,2.22,0.00,0.000,1030,0.000,0.044,2949,2179,2032,2116,1949,0,0,0,0,0,0,14.83,14.79,14.85
$GC,1992,0.62,187.7,2949,2178,2116,1948,124.2,14.1,267,1998,0.00,2.33,0.00,0.000,516,0.000,0.055,2960,766,2032,2116,1948,0,0,0,0,0,0,15.21,14.91,15.21
$GC,2068,0.62,187.7,2960,766,2109,1948,113.7,12.9,281,2075,0.00,2.28,0.00,0.000,5126,0.000,0.049,2960,2132,2028,2108,1948,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2330,0.67,259.2,2960,2132,2109,1947,87.6,6.0,330,2395,0.00,2.35,55.83,0.974,8708,0.000,0.054,2971,763,1741,1825,1657,0,0,0,0,0,0,15.23,14.73,14.22
$GC,2419,0.69,300.7,2970,763,1820,1658,81.5,7.7,344,2461,0.00,2.35,33.65,0.942,9222,0.000,0.051,2970,2122,1571,1661,1482,0,0,0,0,0,0,14.79,14.73,14.12
$GC,2717,0.69,300.7,2970,2121,1662,1476,44.5,13.7,398,2724,0.00,2.40,0.00,0.000,260,0.000,0.061,2970,3547,1568,1661,1476,0,0,0,0,0,0,15.15,14.83,15.16
$GC,2737,0.69,300.7,2970,3547,1661,1476,41.2,14.8,401,2747,0.00,2.35,0.00,0.000,5126,0.000,0.048,2982,2175,1568,1661,1476,0,0,0,0,0,0,14.81,14.75,14.83
$STATE,2995,end climb,SURFACE_DEPTH_REACHED
$STATE,2995,begin surface coast
$FINISH,0.3,1.023043
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3028,40.62,0.184,0,0,1166,400.08
$SM_GC,0.95,6.47,0.17,40.62,0.052,0.081,0.184,153,2311,1166,-7.95,-0.65,400.08,0,0,0,0,0,0,14.97,14.97,14.68
$IRIDIUM_FIX,2234.68,-15800.20,270921,230930
$TT8_MAMPS,0.02247,0.289863
$HUMID,51.33
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,13.43,138.938
$10V_AH,12.87,0.000
$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,15.825,42.650,336.200,40.625,0.000,24.751,47.755,126.094,0.750,0.000,19.098,1111.965,522.409,409.022,1232.379,156.208,0.000,866.768,0.000,1049.124,0.000,0.556,0.000
$DEVICE_MAMPS,432.990,125.460,1080.180,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.825,325.994,701.034,576.771,669.533,0.000,0.000,0.000,0.000,0.000
$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,40684,452
$CAP_FILE_SIZE,102706,0
$CFSIZE,1023623168,965394432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,226.77,1
$GPS,280921,000655,2244.899,-15800.002,6,0.9,42,9.8,0.4,211.0,10,4.8