version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 596
start: 9 28 121 21 46 30
data:
$ID,626
$MISSION,3
$DIVE,596
$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,80
$R_STBD_OVSHOOT,71
$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
$GPS1,280921,214029,2245.1084,-15800.5166,8,1.0,20,9.8,0.8,300.4,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.4
$GPS2,280921,214540,2245.1243,-15800.5439,7,1.0,21,9.8,0.0,33.3,8,9.4
$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,105.0,957,-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,-116.8,121,2218,1199,1116,0.0,0.0,0,81,0.00,0.00,-62.80,0.000,16386,0.000,0.000,123,2214,3220,3183,3258,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,122,2214,3183,3258,4.1,-8.4,9,99,8.38,0.00,-0.85,0.000,18694,0.433,0.000,2564,2210,3279,3249,3310,0,0,0,0,0,0,14.26,13.50,14.54
$GC,352,-0.55,-116.8,2564,2212,3262,3297,79.9,-20.0,59,361,0.00,2.42,0.00,0.000,2308,0.000,0.058,2555,3636,3278,3262,3295,0,0,0,0,0,0,15.21,14.84,15.21
$GC,370,-0.55,-116.8,2554,3637,3262,3297,83.0,-19.6,61,378,0.05,2.17,0.00,0.000,3078,0.375,0.043,2572,2306,3279,3262,3297,0,0,0,0,0,0,14.66,14.92,14.90
$GC,629,-0.55,-116.8,2571,2302,3263,3297,124.5,-15.0,110,636,0.00,2.42,0.00,0.000,516,0.000,0.052,2572,859,3280,3266,3295,0,0,0,0,0,0,15.23,14.88,15.24
$GC,722,-0.55,-116.8,2572,857,3267,3295,137.6,-12.7,127,730,0.00,2.28,0.00,0.000,3078,0.000,0.049,2563,2229,3280,3267,3294,0,0,0,0,0,0,15.04,14.92,15.06
$GC,976,-0.55,-116.8,2563,2229,3267,3294,172.9,-13.9,160,985,0.00,2.38,0.00,0.000,2308,0.000,0.065,2552,3661,3281,3268,3294,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1041,-0.55,-116.8,2552,3661,3267,3294,179.7,-10.2,166,1050,0.05,2.28,0.00,0.000,3078,0.346,0.041,2572,2260,3280,3266,3294,0,0,0,0,0,0,14.72,14.94,14.95
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1256,-0.13,0.0,2571,2075,3267,3293,200.2,-10.2,187,1353,0.32,0.10,93.22,1.087,10246,0.237,0.127,2700,2167,2798,2864,2733,0,0,0,0,0,0,14.58,14.66,14.04
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1357,0.55,116.8,2700,2167,2864,2733,203.6,0.0,197,1461,0.50,2.30,95.88,1.074,10500,0.154,0.059,2912,3498,2322,2406,2239,0,0,0,0,0,0,14.57,14.57,13.98
$GC,1912,0.58,173.4,2912,3498,2406,2239,162.9,7.2,252,1964,0.00,2.17,45.58,1.052,11270,0.000,0.042,2925,2169,2091,2179,2004,0,0,0,0,0,0,15.05,14.95,14.19
$GC,2215,0.60,205.3,2925,2169,2178,1997,133.6,8.5,296,2250,0.00,2.28,25.35,1.014,10500,0.000,0.059,2925,3502,1961,2040,1882,0,0,0,0,0,0,15.19,14.61,14.16
$GC,2264,0.61,219.6,2925,3502,2042,1882,129.2,9.4,303,2285,0.00,2.30,13.20,0.966,11270,0.000,0.048,2936,2125,1902,1982,1822,0,0,0,0,0,0,14.95,14.84,14.12
$GC,2543,0.61,219.6,2936,2127,1981,1817,98.8,10.9,354,2551,0.00,2.42,0.00,0.000,2564,0.000,0.056,2947,715,1897,1978,1816,0,0,0,0,0,0,15.19,14.76,15.19
$GC,2599,0.61,219.6,2947,715,1972,1817,92.7,10.9,363,2606,0.00,2.30,0.00,0.000,1030,0.000,0.048,2948,2095,1894,1972,1817,0,0,0,0,0,0,15.00,14.90,15.03
$GC,2866,0.63,245.7,2947,2096,1972,1816,65.5,8.8,412,2894,0.00,2.42,20.45,0.942,10500,0.000,0.062,2947,3534,1797,1879,1715,0,0,0,0,0,0,15.22,14.66,14.21
$GC,2945,0.64,261.8,2947,3532,1879,1715,58.5,9.3,425,2966,0.00,2.40,14.43,0.910,13318,0.000,0.046,2958,2126,1730,1816,1645,0,0,0,0,0,0,14.87,14.82,14.22
$GC,3222,0.64,267.6,2958,2126,1816,1641,32.2,9.8,476,3238,0.00,2.38,5.80,0.801,8708,0.000,0.055,2969,708,1706,1794,1618,0,0,0,0,0,0,15.18,14.74,14.20
$GC,3274,0.64,269.6,2969,708,1789,1619,27.1,10.0,484,3283,0.00,2.40,0.00,0.000,5126,0.000,0.045,2969,2135,1704,1789,1619,0,0,0,0,0,0,14.99,14.86,15.00
$STATE,3471,end climb,SURFACE_DEPTH_REACHED
$STATE,3472,begin surface coast
$FINISH,0.2,1.023014
$STATE,3495,end surface coast,CONTROL_FINISHED_OK
$STATE,3495,begin surface
$SM_CCo,3511,55.00,0.185,0,0,1168,400.08
$SM_GC,1.37,6.47,0.20,55.00,0.066,0.088,0.185,169,2278,1168,-7.89,-1.05,400.08,0,0,0,0,0,0,14.97,14.95,14.67
$IRIDIUM_FIX,2237.01,-15802.37,280921,214154
$TT8_MAMPS,0.023219,0.28462
$HUMID,51.77
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.00
$XPDR_PINGS,4
$24V_AH,13.50,142.483
$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,15.775,37.900,313.900,55.000,0.000,26.928,42.286,117.800,1.000,0.000,22.483,1305.002,616.629,398.327,1416.875,173.231,0.000,917.455,0.000,1250.274,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,129.285,1087.065,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,349.004,393.777,817.464,689.913,794.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,47610,525
$CAP_FILE_SIZE,118823,0
$CFSIZE,1023623168,963788800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.035,268.41,1
$GPS,280921,224702,2245.019,-15800.262,20,0.9,29,9.8,0.6,64.6,10,9.7