version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 559
start: 9 27 121 4 29 56
data:
$ID,626
$MISSION,3
$DIVE,559
$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,34
$R_STBD_OVSHOOT,64
$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
$GPS1,270921,042331,2245.0864,-15800.4434,6,0.9,30,9.8,0.3,36.7,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.6
$GPS2,270921,042907,2245.0779,-15800.4883,7,0.9,21,9.8,0.0,283.2,9,8.8
$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,78.6,846,-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,-116.8,122,2304,1193,1119,0.0,0.0,0,75,0.00,0.00,-56.70,0.000,16386,0.000,0.000,123,2304,2952,2934,2970,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,122,2305,2934,2971,3.1,-5.9,8,102,8.40,2.22,-5.60,0.000,19204,0.435,0.072,2553,3645,3279,3257,3301,0,0,0,0,0,0,14.27,13.93,14.55
$GC,126,-0.55,-116.8,2552,3645,3258,3300,20.7,-36.1,15,135,0.05,2.38,0.00,0.000,3078,0.376,0.052,2569,2262,3278,3261,3296,0,0,0,0,0,0,14.63,14.81,14.87
$GC,388,-0.55,-116.8,2569,2258,3266,3294,77.0,-17.7,64,396,0.00,2.40,0.00,0.000,2564,0.000,0.053,2569,835,3280,3267,3294,0,0,0,0,0,0,15.21,14.84,15.21
$GC,436,-0.55,-116.8,2569,835,3267,3293,84.3,-14.3,72,444,0.00,2.40,0.00,0.000,3078,0.000,0.054,2561,2246,3279,3267,3292,0,0,0,0,0,0,15.00,14.85,15.02
$GC,707,-0.55,-116.8,2560,2246,3267,3292,130.4,-14.8,121,713,0.00,2.40,0.00,0.000,2308,0.000,0.063,2549,3684,3279,3267,3292,0,0,0,0,0,0,15.24,14.89,15.24
$GC,749,-0.55,-116.8,2549,3684,3267,3293,135.9,-12.0,128,757,0.08,2.40,0.00,0.000,3078,0.309,0.040,2578,2229,3279,3267,3292,0,0,0,0,0,0,14.66,14.90,14.90
$GC,1006,-0.55,-116.8,2577,2227,3268,3293,171.8,-14.6,162,1011,0.00,2.22,0.00,0.000,516,0.000,0.053,2578,862,3280,3267,3293,0,0,0,0,0,0,15.28,14.93,15.28
$GC,1089,-0.55,-116.8,2577,861,3268,3292,183.1,-13.0,170,1094,0.00,2.35,0.00,0.000,3078,0.000,0.052,2569,2277,3280,3269,3291,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,1201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1207,-0.13,0.0,2569,2076,3269,3291,201.5,-17.0,181,1304,0.35,0.10,92.78,1.089,10246,0.261,0.125,2698,2162,2799,2862,2736,0,0,0,0,0,0,14.50,14.66,14.06
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1308,0.55,116.8,2699,2162,2862,2735,209.0,0.0,191,1413,0.52,2.40,95.78,1.082,10756,0.174,0.047,2923,756,2319,2400,2239,0,0,0,0,0,0,14.55,14.37,13.93
$GC,1934,0.61,214.2,2923,755,2389,2236,179.3,5.1,252,2016,0.00,2.20,76.70,1.065,11270,0.000,0.050,2923,2092,1924,2003,1846,0,0,0,0,0,0,14.80,14.71,14.12
$GC,2258,0.61,214.2,2923,2091,2001,1840,149.9,10.1,284,2266,0.00,2.30,0.00,0.000,2564,0.000,0.056,2933,765,1919,1999,1840,0,0,0,0,0,0,15.19,14.81,15.19
$GC,2520,0.62,229.9,2933,765,1990,1842,125.2,9.3,332,2542,0.00,2.35,12.88,0.969,11270,0.000,0.054,2933,2128,1860,1938,1782,0,0,0,0,0,0,14.90,14.85,14.23
$GC,2801,0.65,278.1,2933,2128,1938,1779,101.3,7.6,383,2846,0.00,2.38,38.95,0.981,10500,0.000,0.064,2933,3537,1665,1756,1575,0,0,0,0,0,0,15.23,14.65,14.23
$GC,2891,0.65,278.1,2933,3536,1756,1575,92.8,11.3,398,2899,0.00,2.33,0.00,0.000,3078,0.000,0.047,2944,2176,1666,1756,1576,0,0,0,0,0,0,14.83,14.78,14.86
$GC,3154,0.68,338.0,2944,2174,1756,1574,69.1,7.0,447,3208,0.00,2.42,47.40,0.946,10756,0.000,0.060,2955,766,1420,1514,1326,0,0,0,0,0,0,15.19,14.76,14.23
$GC,3349,0.70,368.1,2955,766,1505,1326,51.9,8.5,480,3378,0.00,2.35,23.77,0.907,11270,0.000,0.053,2955,2126,1297,1392,1202,0,0,0,0,0,0,14.85,14.78,14.21
$GC,3635,0.71,385.3,2955,2126,1392,1199,23.9,9.2,532,3651,0.00,2.40,7.22,0.779,10500,0.000,0.066,2955,3531,1227,1324,1130,0,0,0,0,0,0,15.16,14.76,14.25
$GC,3718,0.72,392.7,2955,3531,1324,1130,15.5,9.7,546,3727,0.00,2.33,3.03,0.250,11270,0.000,0.047,2964,2168,1196,1294,1099,0,0,0,0,0,0,14.88,14.81,14.61
$STATE,3824,end climb,SURFACE_DEPTH_REACHED
$STATE,3825,begin surface coast
$FINISH,0.3,1.021950
$STATE,3849,end surface coast,CONTROL_FINISHED_OK
$STATE,3849,begin surface
$SM_CCo,3864,2.60,0.233,0,0,1167,400.08
$SM_GC,1.94,6.30,0.17,2.60,0.036,0.074,0.233,161,2344,1167,-7.89,-0.82,400.08,0,0,0,0,0,0,14.98,14.97,14.69
$IRIDIUM_FIX,2234.68,-15800.20,270921,042458
$TT8_MAMPS,0.023219,0.290612
$HUMID,51.14
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,13.93,136.036
$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,15.700,42.750,398.500,2.600,0.000,30.463,43.458,131.248,0.000,0.000,22.841,1400.701,682.997,391.547,1584.926,172.414,0.000,967.027,0.000,1356.585,0.000,0.556,0.000
$DEVICE_MAMPS,434.520,125.460,1089.360,232.560,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,377.941,526.138,871.763,736.350,848.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,50649,569
$CAP_FILE_SIZE,121069,0
$CFSIZE,1023623168,966737920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,7
$CURRENT,0.143,292.23,1
$GPS,270921,053531,2245.162,-15800.536,8,0.8,31,9.8,0.4,288.1,10,5.7