version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 587
start: 9 28 121 11 43 50
data:
$ID,626
$MISSION,3
$DIVE,587
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,280921,113729,2244.8164,-15800.4121,6,1.1,23,9.8,0.0,221.3,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.1
$GPS2,280921,114301,2244.8025,-15800.4639,6,0.9,33,9.8,0.4,310.8,9,5.7
$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,52.8,873,-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,-116.8,125,2288,1202,1114,0.0,0.0,0,82,0.00,0.00,-63.62,0.000,16386,0.000,0.000,124,2288,3221,3181,3261,0,0,0,0,0,0,15.19,28.83,15.19
$GC,85,-0.55,-116.8,124,2288,3182,3261,4.0,-8.1,9,101,8.43,2.30,-0.85,0.000,18692,0.435,0.063,2557,3681,3280,3249,3312,0,0,0,0,0,0,14.25,13.45,14.54
$GC,114,-0.55,-116.8,2556,3682,3253,3308,20.0,-46.7,13,124,0.03,2.42,0.00,0.000,3078,0.430,0.050,2564,2265,3280,3257,3304,0,0,0,0,0,0,14.53,14.75,14.64
$GC,380,-0.55,-116.8,2564,2261,3263,3297,84.8,-21.7,62,387,0.00,2.40,0.00,0.000,2564,0.000,0.056,2565,845,3280,3265,3296,0,0,0,0,0,0,15.21,14.84,15.21
$GC,447,-0.55,-116.8,2564,843,3267,3296,97.0,-14.8,74,455,0.05,2.40,0.00,0.000,3078,0.384,0.050,2573,2260,3281,3267,3295,0,0,0,0,0,0,14.64,14.85,14.88
$GC,708,-0.55,-116.8,2572,2262,3267,3295,137.0,-13.7,123,715,0.00,2.33,0.00,0.000,516,0.000,0.049,2572,849,3280,3266,3295,0,0,0,0,0,0,15.23,14.91,15.24
$GC,733,-0.55,-116.8,2573,849,3268,3295,140.7,-13.9,127,741,0.00,2.38,0.00,0.000,3078,0.000,0.053,2563,2271,3281,3267,3295,0,0,0,0,0,0,15.04,14.91,15.05
$GC,986,-0.55,-116.8,2563,2271,3268,3295,176.0,-13.1,158,987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2271,3281,3268,3295,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1174,begin apogee
$GC,1180,-0.13,0.0,2564,2065,3268,3294,200.4,-12.0,177,1278,0.38,0.12,93.43,1.091,10246,0.236,0.108,2705,2168,2798,2863,2734,0,0,0,0,0,0,14.41,14.66,14.05
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1281,0.55,116.8,2705,2168,2863,2734,204.0,0.0,187,1387,0.50,2.25,95.88,1.076,10500,0.147,0.059,2918,3499,2322,2405,2240,0,0,0,0,0,0,14.58,14.40,13.95
$GC,1688,0.57,157.4,2918,3499,2405,2241,176.1,8.0,227,1729,0.00,2.25,33.45,1.053,9222,0.000,0.041,2930,2120,2156,2243,2070,0,0,0,0,0,0,14.85,14.80,14.19
$GC,1969,0.62,227.3,2930,2120,2242,2064,157.1,6.5,255,2031,0.00,2.40,55.22,1.050,10756,0.000,0.055,2941,712,1870,1951,1789,0,0,0,0,0,0,15.21,14.72,14.16
$GC,2327,0.62,233.9,2941,711,1936,1789,125.1,9.8,315,2341,0.00,2.30,5.12,0.843,11270,0.000,0.050,2941,2092,1846,1923,1770,0,0,0,0,0,0,15.00,14.89,14.13
$GC,2594,0.63,255.5,2940,2092,1922,1768,100.5,9.0,365,2620,0.00,0.00,19.20,0.975,10246,0.000,0.000,2942,2092,1755,1838,1673,0,0,0,0,0,0,15.21,14.64,14.21
$GC,2872,0.68,332.6,2941,2092,1838,1669,78.8,6.1,417,2943,0.00,2.47,61.03,0.970,10500,0.000,0.065,2941,3532,1441,1534,1348,0,0,0,0,0,0,15.21,14.64,14.19
$GC,3017,0.70,370.5,2941,3532,1534,1348,68.5,8.1,440,3054,0.00,2.40,30.17,0.935,11270,0.000,0.048,2952,2118,1287,1382,1192,0,0,0,0,0,0,14.90,14.78,14.14
$GC,3312,0.71,377.7,2951,2117,1382,1187,41.8,9.7,493,3328,0.00,2.38,6.45,0.808,10756,0.000,0.057,2962,713,1259,1357,1161,0,0,0,0,0,0,15.15,14.71,14.19
$GC,3374,0.71,377.7,2962,713,1353,1161,35.3,11.8,503,3382,0.00,2.40,0.00,0.000,3078,0.000,0.048,2963,2134,1256,1352,1161,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3642,0.71,377.7,2962,2136,1352,1160,4.2,12.3,552,3650,0.00,0.00,0.00,0.000,2054,0.000,0.000,2962,2136,1256,1352,1161,0,0,0,0,0,0,15.20,15.20,15.20
$STATE,3657,end climb,SURFACE_DEPTH_REACHED
$STATE,3657,begin surface coast
$FINISH,0.3,1.023069
$STATE,3680,end surface coast,CONTROL_FINISHED_OK
$STATE,3680,begin surface
$SM_CCo,3696,9.10,0.197,0,0,1167,400.08
$SM_GC,0.99,6.30,0.20,9.10,0.031,0.072,0.197,175,2315,1167,-7.94,-0.96,400.08,0,0,0,0,0,0,14.94,15.00,14.69
$IRIDIUM_FIX,2234.68,-15759.32,280921,113901
$TT8_MAMPS,0.02247,0.286867
$HUMID,51.73
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,13.45,140.923
$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,15.675,33.650,399.950,9.100,0.000,31.061,44.155,118.870,0.000,0.000,34.647,1358.541,638.106,404.760,1489.261,176.047,0.000,957.816,0.000,1305.945,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,107.865,1090.890,197.370,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,370.164,400.678,866.120,714.257,830.258,0.000,0.000,0.000,0.000,0.000
$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,50765,558
$CAP_FILE_SIZE,120938,0
$CFSIZE,1023623168,964476928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.185,234.20,1
$GPS,280921,124626,2244.758,-15800.579,7,0.8,14,9.8,0.0,298.1,10,9.4