version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 589
start: 9 28 121 14 4 50
data:
$ID,626
$MISSION,3
$DIVE,589
$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,36
$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
$GPS1,280921,135801,2244.6809,-15800.7871,8,1.1,28,9.8,0.7,127.3,8,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,280921,140401,2244.6533,-15800.8555,6,1.0,40,9.8,0.0,160.8,8,5.4
$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,50.5,1595,-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,-116.8,124,2298,1204,1113,0.0,0.0,0,81,0.00,0.00,-62.67,0.000,16386,0.000,0.000,124,2299,3214,3176,3252,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2299,3176,3252,4.2,-9.4,9,100,8.43,2.25,-0.93,0.000,18692,0.437,0.060,2554,3671,3278,3247,3310,0,0,0,0,0,0,14.26,13.45,14.54
$GC,152,-0.55,-116.8,2553,3671,3255,3303,29.5,-16.8,20,160,0.05,2.38,0.00,0.000,3078,0.359,0.045,2572,2273,3279,3260,3299,0,0,0,0,0,0,14.64,14.83,14.88
$GC,417,-0.55,-116.8,2572,2268,3262,3295,85.0,-19.2,69,424,0.00,2.33,0.00,0.000,516,0.000,0.051,2572,852,3279,3264,3295,0,0,0,0,0,0,15.21,14.88,15.21
$GC,521,-0.55,-116.8,2572,852,3266,3295,100.9,-12.5,88,528,0.00,2.38,0.00,0.000,3078,0.000,0.051,2563,2236,3280,3267,3293,0,0,0,0,0,0,15.01,14.82,15.03
$GC,779,-0.55,-116.8,2563,2236,3267,3294,141.5,-16.5,137,785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2236,3280,3267,3294,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1029,-0.55,-116.8,2563,2236,3267,3294,180.0,-14.7,167,1033,0.00,2.30,0.00,0.000,2564,0.000,0.049,2563,847,3280,3266,3294,0,0,0,0,0,0,15.28,14.95,15.29
$GC,1052,-0.55,-116.8,2563,847,3267,3294,183.2,-14.7,169,1057,0.05,2.38,0.00,0.000,3078,0.384,0.053,2570,2276,3280,3267,3294,0,0,0,0,0,0,14.69,14.94,14.93
$STATE,1182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1188,-0.13,0.0,2570,2062,3267,3292,201.1,-13.2,182,1286,0.35,0.12,92.88,1.086,10246,0.244,0.107,2705,2169,2798,2862,2734,0,0,0,0,0,0,14.53,14.66,14.06
$STATE,1287,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1289,0.55,116.8,2705,2169,2862,2734,206.3,0.0,192,1395,0.50,2.47,95.70,1.075,10756,0.158,0.048,2926,702,2320,2400,2240,0,0,0,0,0,0,14.57,14.58,13.97
$GC,1910,0.60,198.7,2926,702,2389,2236,173.2,5.9,253,1980,0.00,2.28,64.75,1.060,11270,0.000,0.050,2927,2084,1987,2068,1907,0,0,0,0,0,0,14.86,14.81,14.14
$GC,2221,0.60,203.3,2926,2084,2066,1901,145.6,9.9,288,2235,0.00,2.47,4.43,0.813,11012,0.000,0.064,2926,3535,1969,2051,1888,0,0,0,0,0,0,15.18,14.88,14.14
$GC,2496,0.62,231.6,2926,3535,2051,1888,117.6,8.6,340,2530,0.00,2.42,23.75,0.989,11270,0.000,0.048,2938,2117,1855,1937,1773,0,0,0,0,0,0,14.91,14.85,14.19
$GC,2783,0.67,313.0,2937,2117,1936,1768,98.9,5.9,393,2856,0.00,2.40,64.78,0.985,10756,0.000,0.056,2949,713,1521,1612,1430,0,0,0,0,0,0,15.20,14.71,14.16
$GC,2911,0.68,329.1,2949,713,1605,1431,89.1,9.3,414,2932,0.00,2.42,13.65,0.923,11270,0.000,0.050,2949,2135,1456,1547,1365,0,0,0,0,0,0,14.88,14.76,14.13
$GC,3189,0.69,354.4,2949,2135,1548,1360,64.8,8.8,465,3220,0.00,2.38,20.45,0.925,10500,0.000,0.063,2948,3527,1353,1450,1257,0,0,0,0,0,0,15.16,14.72,14.24
$GC,3288,0.71,372.7,2949,3527,1450,1257,55.7,9.2,481,3311,0.00,2.40,15.82,0.901,11270,0.000,0.047,2959,2105,1277,1374,1180,0,0,0,0,0,0,14.95,14.83,14.21
$GC,3568,0.71,372.7,2959,2105,1374,1176,26.0,12.2,532,3575,0.00,2.38,0.00,0.000,2564,0.000,0.055,2970,719,1275,1374,1176,0,0,0,0,0,0,15.17,14.81,15.18
$GC,3603,0.71,372.7,2970,718,1372,1176,21.8,11.7,538,3611,0.00,2.40,0.00,0.000,3078,0.000,0.047,2970,2140,1274,1372,1176,0,0,0,0,0,0,14.99,14.85,15.00
$STATE,3751,end climb,SURFACE_DEPTH_REACHED
$STATE,3751,begin surface coast
$FINISH,0.3,0.999112
$STATE,3773,end surface coast,CONTROL_FINISHED_OK
$STATE,3773,begin surface
$SM_CCo,3789,10.88,0.200,0,0,1168,400.08
$SM_GC,1.15,6.43,0.20,10.88,0.057,0.077,0.200,182,2305,1168,-7.89,-0.79,400.08,0,0,0,0,0,0,14.92,14.97,14.68
$IRIDIUM_FIX,2234.68,-15849.69,280921,135944
$TT8_MAMPS,0.02247,0.292859
$HUMID,51.45
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.45,141.299
$10V_AH,13.07,0.000
$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,15.800,38.600,396.200,10.875,0.000,32.895,59.565,121.485,0.250,0.000,42.043,1393.489,654.997,404.472,1559.072,177.447,0.000,970.761,0.000,1346.577,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,107.100,1085.535,200.430,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,377.631,415.992,879.175,727.047,842.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,50736,569
$CAP_FILE_SIZE,123998,0
$CFSIZE,1023623168,964313088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.181,233.88,1
$GPS,280921,150903,2244.587,-15800.970,6,1.0,16,9.8,0.8,253.5,8,9.3