version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 588
start: 9 28 121 12 52 34
data:
$ID,626
$MISSION,3
$DIVE,588
$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,72
$R_STBD_OVSHOOT,80
$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
$GPS1,280921,124626,2244.7576,-15800.5791,7,0.8,14,9.8,0.0,298.1,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.8
$GPS2,280921,125143,2244.7366,-15800.6270,6,0.8,15,9.8,0.9,247.6,10,9.3
$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,46.5,1177,-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,-116.8,124,2216,1208,1113,0.0,0.0,0,80,0.00,0.00,-61.88,0.000,16386,0.000,0.000,124,2212,3129,3094,3165,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2212,3094,3165,3.6,-6.3,9,107,8.43,2.38,-2.40,0.000,18692,0.436,0.070,2551,3633,3279,3254,3305,0,0,0,0,0,0,14.26,13.43,14.54
$GC,117,-0.55,-116.8,2551,3634,3256,3303,18.8,-42.8,13,125,0.05,2.25,0.00,0.000,3078,0.355,0.047,2567,2305,3279,3257,3302,0,0,0,0,0,0,14.53,14.76,14.70
$GC,384,-0.55,-116.8,2567,2301,3261,3297,81.7,-21.3,62,392,0.00,2.42,0.00,0.000,2564,0.000,0.053,2568,855,3279,3262,3296,0,0,0,0,0,0,15.21,14.87,15.21
$GC,512,-0.55,-116.8,2568,852,3266,3295,103.7,-15.1,86,520,0.00,2.33,0.00,0.000,3078,0.000,0.049,2559,2215,3280,3267,3294,0,0,0,0,0,0,14.82,14.76,14.85
$GC,776,-0.55,-116.8,2559,2214,3267,3294,147.1,-15.1,135,783,0.00,2.47,0.00,0.000,2308,0.000,0.065,2548,3678,3280,3267,3294,0,0,0,0,0,0,15.23,14.89,15.23
$GC,802,-0.55,-116.8,2548,3678,3267,3295,151.5,-15.3,139,808,0.08,2.33,0.00,0.000,3078,0.304,0.043,2576,2257,3281,3268,3295,0,0,0,0,0,0,14.69,14.95,14.92
$GC,1057,-0.55,-116.8,2576,2254,3267,3295,181.9,-10.8,164,1065,0.00,2.25,0.00,0.000,516,0.000,0.050,2576,862,3281,3268,3294,0,0,0,0,0,0,15.27,14.81,15.27
$GC,1128,-0.55,-116.8,2576,862,3267,3295,189.6,-10.3,171,1133,0.00,2.33,0.00,0.000,3078,0.000,0.051,2568,2264,3280,3266,3294,0,0,0,0,0,0,15.08,14.95,15.09
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1225,-0.13,0.0,2568,2081,3268,3292,200.3,-12.1,180,1323,0.35,0.08,92.75,1.086,10246,0.231,0.148,2702,2146,2799,2863,2735,0,0,0,0,0,0,14.44,14.64,14.05
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,0.55,116.8,2702,2147,2863,2735,204.9,0.0,190,1432,0.50,2.35,95.62,1.078,10756,0.151,0.045,2925,758,2320,2401,2239,0,0,0,0,0,0,14.57,14.40,13.95
$GC,1946,0.60,207.5,2924,758,2389,2236,181.1,5.4,251,2028,0.00,2.25,70.97,1.073,11270,0.000,0.050,2925,2114,1954,2032,1876,0,0,0,0,0,0,15.06,14.95,14.09
$GC,2268,0.60,208.7,2924,2114,2032,1869,149.2,10.0,283,2274,0.00,2.30,0.00,0.000,2564,0.000,0.056,2935,755,1950,2032,1868,0,0,0,0,0,0,15.19,14.88,15.19
$GC,2638,0.63,248.0,2934,755,2021,1869,119.1,8.1,351,2679,0.00,2.30,32.50,1.003,11270,0.000,0.054,2935,2123,1787,1870,1705,0,0,0,0,0,0,15.04,14.92,14.26
$GC,2940,0.65,283.9,2934,2124,1869,1699,92.9,8.2,405,2973,0.00,0.00,29.38,0.981,10758,0.000,0.000,2935,2124,1640,1732,1549,0,0,0,0,0,0,15.20,14.81,14.23
$GC,3230,0.68,328.3,2934,2123,1731,1544,69.4,7.8,458,3273,0.05,2.40,35.10,0.943,10500,0.260,0.061,3048,3541,1460,1548,1372,0,0,0,0,0,0,14.85,14.59,14.17
$GC,3308,0.68,328.3,3047,3543,1548,1372,58.8,16.7,470,3316,0.22,2.35,0.00,0.000,5126,0.243,0.047,2965,2170,1459,1548,1371,0,0,0,0,0,0,14.57,14.77,14.81
$GC,3571,0.68,328.3,2964,2167,1548,1369,30.2,11.4,519,3579,0.00,2.45,0.00,0.000,516,0.000,0.057,2974,719,1458,1548,1368,0,0,0,0,0,0,15.17,14.83,15.18
$GC,3597,0.68,328.3,2974,719,1546,1368,27.2,11.2,523,3606,0.00,2.42,0.00,0.000,5126,0.000,0.053,2974,2123,1457,1547,1367,0,0,0,0,0,0,14.82,14.76,14.85
$STATE,3792,end climb,SURFACE_DEPTH_REACHED
$STATE,3792,begin surface coast
$FINISH,0.4,1.023054
$STATE,3815,end surface coast,CONTROL_FINISHED_OK
$STATE,3816,begin surface
$SM_CCo,3832,29.52,0.184,0,0,1165,400.08
$SM_GC,1.29,6.45,0.22,29.52,0.057,0.080,0.184,175,2289,1165,-7.91,-0.90,400.08,0,0,0,0,0,0,14.93,14.94,14.69
$IRIDIUM_FIX,2234.68,-15800.20,280921,124755
$TT8_MAMPS,0.020223,0.283871
$HUMID,51.65
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.43,141.106
$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,16.125,38.200,356.325,29.525,0.000,27.085,43.166,122.926,0.250,0.000,17.860,1393.875,723.812,397.560,1515.780,178.295,0.000,959.346,0.000,1332.052,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,147.645,1085.535,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,374.344,441.972,864.566,698.806,807.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,50707,563
$CAP_FILE_SIZE,121642,0
$CFSIZE,1023623168,964395008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$INTR,0,104.03,0x2131c2,0,24
$CURRENT,0.186,238.93,1
$GPS,280921,135801,2244.681,-15800.787,8,1.1,28,9.8,0.7,127.3,8,7.9