version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1064
start: 10 28 121 16 34 48
data:
$ID,626
$MISSION,3
$DIVE,1064
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,175
$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,150
$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,390
$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,2720
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$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,2035
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2620
$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
$GPS1,281021,162748,2238.9265,-15805.6455,8,1.0,16,9.8,0.0,310.4,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.6
$GPS2,281021,163419,2238.9348,-15805.6670,8,0.9,43,9.8,0.6,65.9,9,4.6
$SPEED_LIMITS,0.214,0.235
$TGT_NAME,ALOHASW
$TGT_LATLONG,2242.000,-15803.000
$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,31.8,7279,-16.8,-10.000,-23.08,2186
$D_GRID,180
$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,14,begin dive
$GC,17,-0.57,-146.0,112,2045,887,746,0.0,0.0,0,89,0.00,0.00,-69.90,0.000,16386,0.000,0.000,112,2046,3070,3034,3106,0,0,0,0,0,0,15.11,28.83,15.13
$GC,94,-0.57,-146.0,112,2046,3035,3105,3.4,-6.3,10,117,8.55,2.38,-2.45,0.000,18692,0.434,0.076,2521,3447,3220,3189,3252,0,0,0,0,0,0,13.97,13.10,14.28
$GC,153,-0.57,-146.0,2519,3447,3195,3247,21.9,-19.1,19,161,0.03,2.42,0.00,0.000,3078,0.509,0.045,2531,2024,3220,3198,3243,0,0,0,0,0,0,14.56,14.72,14.73
$GC,412,-0.57,-146.0,2531,2022,3201,3242,65.7,-16.9,48,419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2531,2022,3221,3201,3242,0,0,0,0,0,0,15.19,15.19,15.19
$GC,662,-0.57,-146.0,2531,2021,3202,3241,104.4,-13.4,73,671,0.00,2.40,0.00,0.000,2308,0.000,0.064,2522,3436,3221,3202,3240,0,0,0,0,0,0,15.21,14.57,15.22
$GC,695,-0.57,-146.0,2522,3435,3202,3240,108.9,-13.0,76,705,0.00,2.33,0.00,0.000,3078,0.000,0.046,2523,2030,3221,3202,3240,0,0,0,0,0,0,14.48,14.42,14.50
$GC,946,-0.57,-146.0,2522,2030,3202,3240,140.8,-13.5,101,952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2030,3220,3202,3239,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1195,-0.57,-146.0,2522,2029,3203,3239,173.8,-13.3,126,1205,0.00,2.33,0.00,0.000,2564,0.000,0.053,2522,628,3220,3203,3238,0,0,0,0,0,0,15.24,14.45,15.24
$GC,1232,-0.57,-146.0,2522,627,3203,3239,178.1,-13.0,129,1240,0.05,2.42,0.00,0.000,3078,0.312,0.051,2531,2031,3220,3203,3238,0,0,0,0,0,0,14.40,14.71,14.59
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1245,begin apogee
$GC,1253,-0.14,0.0,2531,2143,3203,3238,180.5,-12.5,131,1378,0.38,0.00,118.12,1.047,10246,0.260,0.000,2667,2145,2619,2712,2526,0,0,0,0,0,0,14.26,14.50,13.75
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1383,0.57,146.0,2667,2145,2712,2526,187.3,0.0,144,1509,0.55,0.00,120.75,1.030,10246,0.194,0.000,2884,2145,2022,2118,1927,0,0,0,0,0,0,14.22,14.47,13.76
$GC,1752,0.62,221.9,2884,2145,2115,1921,168.7,6.4,181,1821,0.05,2.35,61.40,1.001,10500,0.256,0.061,3009,3513,1713,1804,1622,0,0,0,0,0,0,14.80,14.61,13.85
$GC,1882,0.62,221.9,3008,3513,1804,1622,151.0,16.0,194,1892,0.28,2.30,0.00,0.000,5126,0.251,0.045,2923,2118,1712,1804,1621,0,0,0,0,0,0,14.29,14.68,14.46
$GC,2134,0.63,247.4,2923,2117,1803,1617,126.8,8.8,219,2162,0.00,2.35,21.48,0.952,8708,0.000,0.054,2933,706,1609,1710,1508,0,0,0,0,0,0,15.16,14.45,13.91
$GC,2177,0.65,275.7,2933,706,1706,1508,123.1,8.7,223,2207,0.00,2.35,23.75,0.945,13318,0.000,0.050,2933,2105,1493,1593,1394,0,0,0,0,0,0,14.91,14.78,13.92
$GC,2457,0.66,288.9,2932,2105,1593,1391,97.3,9.4,251,2477,0.00,2.45,11.45,0.888,8452,0.000,0.066,2933,3525,1440,1542,1339,0,0,0,0,0,0,15.17,14.38,13.87
$GC,2562,0.66,288.9,2932,3524,1542,1339,86.4,10.3,261,2567,0.00,2.33,0.00,0.000,5126,0.000,0.047,2943,2119,1440,1542,1339,0,0,0,0,0,0,14.96,14.83,14.97
$GC,2819,0.69,334.7,2943,2119,1542,1339,65.2,7.8,286,2865,0.00,2.40,36.78,0.907,12804,0.000,0.057,2954,713,1252,1352,1153,0,0,0,0,0,0,15.19,14.62,13.98
$GC,2933,0.70,363.9,2954,713,1347,1153,55.8,8.6,297,2964,0.00,2.38,23.45,0.882,13318,0.000,0.049,2954,2124,1134,1235,1034,0,0,0,0,0,0,14.91,14.78,13.97
$GC,3204,0.74,420.6,2954,2124,1235,1029,33.8,7.3,324,3253,0.00,2.42,43.25,0.871,8964,0.000,0.068,2955,3529,904,1002,806,0,0,0,0,0,0,15.17,14.68,13.97
$STATE,3545,end climb,SURFACE_DEPTH_REACHED
$STATE,3546,begin surface coast
$FINISH,0.3,1.012445
$STATE,3572,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3653,0.00,0.000,0,0,902,421.42
$SM_GC,1.19,6.28,2.47,0.00,0.026,0.034,0.000,142,2034,902,-7.85,1.10,421.42,0,0,0,0,0,0,14.88,14.85,14.94
$IRIDIUM_FIX,2230.01,-15806.28,281021,162940
$TT8_MAMPS,0.02247,0.34454
$HUMID,51.26
$INTERNAL_PRESSURE,9.22849
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,13.10,234.993
$10V_AH,12.47,0.000
$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,16.150,38.200,460.425,0.000,0.000,26.477,41.916,149.996,0.750,0.000,44.114,927.784,1305.692,454.273,1157.726,200.111,0.000,925.086,0.000,931.685,0.000,0.554,0.000
$DEVICE_MAMPS,509.490,113.985,1047.285,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.792,278.048,541.818,528.142,610.873,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339152
$DATA_FILE_SIZE,34118,389
$CAP_FILE_SIZE,61412,0
$CFSIZE,1023623168,929300480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.079,113.31,1
$GPS,281021,173635,2239.215,-15805.494,8,1.0,18,9.8,0.0,52.6,8,9.6