version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 579
start: 9 28 121 2 23 42
data:
$ID,626
$MISSION,3
$DIVE,579
$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,77
$R_STBD_OVSHOOT,34
$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
$GPS1,280921,021725,2244.8596,-15759.9766,7,0.8,38,9.8,0.7,230.3,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.1
$GPS2,280921,022253,2244.8267,-15800.0312,7,0.8,19,9.8,0.0,63.3,10,9.2
$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,18.6,325,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,123,2217,1202,1113,0.0,0.0,0,75,0.00,0.00,-55.95,0.000,16386,0.000,0.000,124,2215,2939,2920,2959,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,123,2215,2918,2959,3.2,-6.3,8,101,8.40,2.45,-5.80,0.000,18692,0.435,0.070,2552,3682,3277,3257,3298,0,0,0,0,0,0,14.27,13.94,14.56
$GC,146,-0.55,-116.8,2552,3683,3258,3299,24.0,-20.0,19,154,0.03,2.35,0.00,0.000,3078,0.245,0.047,2576,2298,3278,3261,3296,0,0,0,0,0,0,14.58,14.82,14.85
$GC,407,-0.55,-116.8,2575,2295,3265,3294,74.0,-15.8,68,414,0.00,2.40,0.00,0.000,516,0.000,0.051,2576,855,3279,3266,3292,0,0,0,0,0,0,15.21,14.85,15.21
$GC,480,-0.55,-116.8,2575,855,3267,3292,84.9,-14.9,81,487,0.00,2.35,0.00,0.000,3078,0.000,0.052,2567,2262,3279,3267,3291,0,0,0,0,0,0,15.02,14.90,15.04
$GC,744,-0.55,-116.8,2566,2262,3267,3290,129.2,-15.7,130,752,0.00,2.40,0.00,0.000,2308,0.000,0.063,2556,3675,3279,3268,3290,0,0,0,0,0,0,15.24,14.85,15.25
$GC,777,-0.55,-116.8,2555,3676,3267,3291,134.0,-15.1,135,784,0.05,2.30,0.00,0.000,3078,0.347,0.042,2575,2270,3279,3268,3290,0,0,0,0,0,0,14.71,14.95,14.93
$GC,1033,-0.55,-116.8,2575,2265,3267,3290,166.9,-12.7,171,1043,0.00,2.30,0.00,0.000,516,0.000,0.051,2576,857,3279,3268,3290,0,0,0,0,0,0,15.28,14.72,15.28
$GC,1109,-0.55,-116.8,2575,857,3268,3290,175.2,-10.6,178,1117,0.00,2.35,0.00,0.000,3078,0.000,0.051,2567,2270,3279,3268,3290,0,0,0,0,0,0,15.07,14.94,15.08
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1325,begin apogee
$GC,1330,-0.13,0.0,2567,2072,3268,3289,200.3,-12.3,200,1428,0.35,0.10,92.43,1.092,10246,0.243,0.125,2701,2158,2798,2863,2734,0,0,0,0,0,0,14.54,14.66,14.05
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1432,0.55,116.8,2701,2158,2863,2734,204.3,0.0,210,1537,0.50,2.28,95.40,1.078,10500,0.148,0.060,2915,3503,2321,2403,2239,0,0,0,0,0,0,14.58,14.57,13.98
$GC,1808,0.57,152.8,2915,3503,2403,2239,183.7,8.2,247,1847,0.00,2.25,29.70,1.050,11270,0.000,0.044,2928,2125,2175,2261,2090,0,0,0,0,0,0,14.84,14.79,14.16
$GC,2087,0.58,172.9,2927,2125,2261,2082,159.1,9.1,275,2111,0.00,2.38,16.67,1.011,10756,0.000,0.055,2939,717,2093,2180,2007,0,0,0,0,0,0,15.21,14.86,14.24
$GC,2191,0.58,172.9,2938,717,2171,2007,148.5,11.2,286,2198,0.00,2.38,0.00,0.000,1030,0.000,0.050,2939,2102,2089,2171,2007,0,0,0,0,0,0,14.99,14.84,15.00
$GC,2453,0.59,179.5,2938,2102,2171,2006,121.0,9.8,335,2469,0.00,2.42,6.03,0.870,8452,0.000,0.063,2939,3529,2067,2150,1984,0,0,0,0,0,0,15.21,14.81,14.20
$GC,2608,0.59,179.5,2938,3530,2151,1984,105.0,10.3,363,2616,0.00,2.33,0.00,0.000,5126,0.000,0.046,2950,2122,2067,2151,1984,0,0,0,0,0,0,15.04,14.93,15.05
$GC,2872,0.60,207.9,2949,2122,2151,1983,78.3,8.6,412,2900,0.00,0.00,23.45,0.959,12294,0.000,0.000,2949,2122,1950,2030,1871,0,0,0,0,0,0,15.23,14.87,14.29
$GC,3157,0.65,275.7,2950,2122,2030,1866,52.3,6.6,464,3219,0.00,2.38,52.85,0.933,10756,0.000,0.056,2961,724,1674,1763,1586,0,0,0,0,0,0,15.19,14.64,14.21
$GC,3250,0.67,312.1,2960,724,1757,1586,45.4,8.2,478,3285,0.00,2.40,29.20,0.900,9222,0.000,0.048,2961,2135,1524,1614,1435,0,0,0,0,0,0,14.86,14.76,14.14
$GC,3541,0.67,312.1,2961,2136,1614,1430,12.2,13.2,531,3549,0.00,2.35,0.00,0.000,260,0.000,0.063,2961,3533,1521,1614,1429,0,0,0,0,0,0,15.14,14.81,15.15
$GC,3573,0.67,312.1,2960,3532,1614,1429,7.8,14.2,536,3581,0.00,2.40,0.00,0.000,5126,0.000,0.049,2972,2113,1522,1614,1430,0,0,0,0,0,0,14.97,14.85,14.99
$STATE,3608,end climb,SURFACE_DEPTH_REACHED
$STATE,3608,begin surface coast
$FINISH,0.3,1.023034
$STATE,3631,end surface coast,CONTROL_FINISHED_OK
$STATE,3631,begin surface
$SM_CCo,3647,36.00,0.184,0,0,1167,400.08
$SM_GC,0.98,6.43,0.28,36.00,0.054,0.078,0.184,171,2273,1167,-7.90,-0.90,400.08,0,0,0,0,0,0,14.92,14.92,14.66
$IRIDIUM_FIX,2237.01,-15802.37,280921,021850
$TT8_MAMPS,0.023219,0.290612
$HUMID,51.22
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,13.94,139.455
$10V_AH,12.96,0.000
$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,15.750,43.150,345.725,36.000,0.000,25.714,50.205,124.516,0.500,0.000,20.444,1341.038,643.986,407.046,1475.966,174.021,0.000,948.815,0.000,1291.142,0.000,0.555,0.000
$DEVICE_MAMPS,435.285,131.580,1091.655,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,362.787,411.388,851.693,714.781,825.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,47351,546
$CAP_FILE_SIZE,122513,0
$CFSIZE,1023623168,965148672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.166,234.28,1
$GPS,280921,032625,2244.923,-15800.287,7,0.9,43,9.8,0.5,86.6,8,5.5