version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 586
start: 9 28 121 10 35 3
data:
$ID,626
$MISSION,3
$DIVE,586
$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,34
$R_STBD_OVSHOOT,52
$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
$GPS1,280921,102625,2244.9526,-15800.2979,6,0.9,18,9.8,0.0,272.4,8,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.4
$GPS2,280921,103413,2244.9397,-15800.3809,6,0.9,17,9.8,0.0,81.1,8,9.4
$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,66.1,660,-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,-116.8,123,2297,1204,1113,0.0,0.0,0,80,0.00,0.00,-61.88,0.000,16386,0.000,0.000,124,2297,3150,3114,3187,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,124,2297,3114,3186,3.6,-6.4,9,100,8.38,2.40,-2.03,0.000,18948,0.434,0.057,2571,838,3279,3251,3308,0,0,0,0,0,0,14.23,13.43,14.54
$GC,113,-0.55,-116.8,2569,838,3259,3302,19.7,-45.6,13,122,0.00,2.42,0.00,0.000,3078,0.000,0.050,2562,2247,3280,3261,3299,0,0,0,0,0,0,14.81,14.76,14.83
$GC,374,-0.55,-116.8,2561,2250,3264,3296,85.4,-21.0,62,383,0.00,2.45,0.00,0.000,2308,0.000,0.062,2551,3671,3280,3264,3297,0,0,0,0,0,0,15.21,14.73,15.21
$GC,408,-0.55,-116.8,2550,3671,3264,3296,91.3,-17.9,67,415,0.08,2.33,0.00,0.000,3078,0.298,0.045,2580,2261,3280,3265,3296,0,0,0,0,0,0,14.68,14.92,14.90
$GC,676,-0.55,-116.8,2580,2258,3266,3296,131.6,-13.3,116,684,0.00,2.40,0.00,0.000,4612,0.000,0.051,2580,829,3281,3267,3295,0,0,0,0,0,0,15.23,14.87,15.23
$GC,763,-0.55,-116.8,2580,829,3268,3295,141.6,-10.2,131,770,0.00,2.40,0.00,0.000,3078,0.000,0.050,2571,2270,3281,3268,3294,0,0,0,0,0,0,15.04,14.92,15.06
$GC,1017,-0.55,-116.8,2570,2270,3268,3294,171.8,-11.6,162,1022,0.00,2.35,0.00,0.000,2564,0.000,0.049,2571,853,3281,3269,3293,0,0,0,0,0,0,15.29,14.95,15.29
$GC,1060,-0.55,-116.8,2570,853,3269,3294,176.8,-11.9,166,1065,0.00,2.35,0.00,0.000,3078,0.000,0.051,2560,2266,3281,3269,3293,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,1241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1241,begin apogee
$GC,1248,-0.13,0.0,2560,2080,3269,3292,200.1,-13.5,184,1345,0.38,0.10,93.22,1.082,10246,0.230,0.124,2705,2166,2798,2863,2734,0,0,0,0,0,0,14.58,14.66,14.04
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1349,0.55,116.8,2705,2165,2863,2734,205.4,0.0,194,1454,0.50,2.40,95.90,1.079,10756,0.148,0.047,2930,756,2319,2400,2238,0,0,0,0,0,0,14.58,14.37,13.92
$GC,1977,0.61,225.4,2929,756,2388,2236,166.5,4.5,255,2068,0.00,2.22,84.90,1.066,11270,0.000,0.049,2929,2100,1879,1958,1801,0,0,0,0,0,0,15.05,14.95,14.09
$GC,2311,0.61,225.4,2929,2100,1957,1794,136.6,11.0,299,2318,0.00,2.40,0.00,0.000,2308,0.000,0.064,2930,3527,1875,1957,1794,0,0,0,0,0,0,15.16,14.84,15.16
$GC,2481,0.61,225.4,2929,3527,1957,1793,116.6,10.9,331,2489,0.00,2.25,0.00,0.000,3078,0.000,0.047,2940,2167,1876,1958,1794,0,0,0,0,0,0,15.02,14.91,15.04
$GC,2742,0.65,277.4,2940,2166,1957,1792,96.4,7.4,380,2795,0.00,2.47,41.42,0.990,10756,0.000,0.055,2952,713,1665,1756,1575,0,0,0,0,0,0,15.23,14.81,14.24
$GC,2815,0.66,303.6,2952,713,1753,1575,90.7,8.8,391,2843,0.00,2.38,21.60,0.954,11270,0.000,0.051,2952,2123,1561,1653,1469,0,0,0,0,0,0,14.92,14.82,14.14
$GC,3098,0.66,303.6,2951,2123,1653,1463,62.6,10.2,443,3106,0.00,2.42,0.00,0.000,2308,0.000,0.066,2952,3538,1558,1653,1463,0,0,0,0,0,0,15.16,14.82,15.16
$GC,3176,0.66,303.6,2951,3539,1653,1463,53.8,11.8,457,3184,0.00,2.40,0.00,0.000,1030,0.000,0.048,2962,2117,1558,1653,1463,0,0,0,0,0,0,14.96,14.85,14.99
$GC,3444,0.66,303.6,2962,2117,1653,1463,25.1,10.2,506,3451,0.00,2.35,0.00,0.000,516,0.000,0.054,2973,710,1558,1653,1463,0,0,0,0,0,0,15.19,14.85,15.20
$GC,3475,0.66,303.6,2973,710,1648,1463,21.6,11.7,511,3484,0.00,2.40,0.00,0.000,5126,0.000,0.047,2973,2132,1556,1649,1463,0,0,0,0,0,0,15.00,14.87,15.02
$STATE,3611,end climb,SURFACE_DEPTH_REACHED
$STATE,3612,begin surface coast
$FINISH,0.3,1.023044
$STATE,3629,end surface coast,CONTROL_FINISHED_OK
$STATE,3629,begin surface
$SM_CCo,3646,39.75,0.190,0,0,1166,400.08
$SM_GC,1.00,6.53,0.20,39.75,0.073,0.084,0.190,157,2279,1166,-7.89,-1.07,400.08,0,0,0,0,0,0,15.02,14.96,14.66
$IRIDIUM_FIX,2234.68,-15800.20,280921,103024
$TT8_MAMPS,0.023219,0.343042
$HUMID,51.89
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,13.43,140.731
$10V_AH,12.91,0.000
$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,15.850,43.325,337.050,39.750,0.000,61.273,91.662,120.601,0.250,0.000,18.348,1337.723,709.694,401.905,1566.076,168.719,0.000,940.652,0.000,1286.640,0.000,0.556,0.000
$DEVICE_MAMPS,433.755,123.930,1081.710,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,358.424,458.468,830.566,680.642,787.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,47375,539
$CAP_FILE_SIZE,117799,0
$CFSIZE,1023623168,964575232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.174,241.83,1
$GPS,280921,113729,2244.816,-15800.412,6,1.1,23,9.8,0.0,221.3,8,9.9