version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 560
start: 9 27 121 5 41 54
data:
$ID,626
$MISSION,3
$DIVE,560
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,270921,053531,2245.1616,-15800.5361,8,0.8,31,9.8,0.4,288.1,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.7
$GPS2,270921,054104,2245.1704,-15800.5928,7,0.8,16,9.8,0.0,263.9,10,10.0
$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,100.6,1060,-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,-116.8,123,2240,1217,1110,0.0,0.0,0,80,0.00,0.00,-62.08,0.000,16386,0.000,0.000,123,2237,3184,3149,3219,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,123,2237,3150,3219,3.9,-7.9,9,98,8.40,0.00,-1.48,0.000,18950,0.433,0.000,2566,2236,3281,3250,3312,0,0,0,0,0,0,14.27,13.50,14.55
$GC,354,-0.55,-116.8,2566,2236,3264,3298,77.2,-18.0,59,362,0.00,2.33,0.00,0.000,2564,0.000,0.051,2566,872,3281,3266,3297,0,0,0,0,0,0,15.21,14.81,15.21
$GC,417,-0.55,-116.8,2566,872,3266,3296,88.4,-14.5,70,425,0.03,2.40,0.00,0.000,3078,0.549,0.054,2567,2284,3281,3267,3295,0,0,0,0,0,0,14.69,14.86,14.89
$GC,676,-0.55,-116.8,2566,2287,3268,3295,131.2,-16.7,119,683,0.00,2.33,0.00,0.000,2308,0.000,0.066,2557,3671,3281,3268,3295,0,0,0,0,0,0,15.24,14.88,15.24
$GC,718,-0.55,-116.8,2557,3672,3267,3295,137.1,-13.3,126,726,0.00,2.35,0.00,0.000,3078,0.000,0.041,2557,2274,3281,3267,3295,0,0,0,0,0,0,14.90,14.85,14.93
$GC,975,-0.55,-116.8,2557,2270,3268,3295,173.4,-13.0,160,984,0.05,2.30,0.00,0.000,2564,0.392,0.050,2575,861,3281,3268,3295,0,0,0,0,0,0,14.78,14.78,14.94
$GC,1041,-0.55,-116.8,2574,861,3269,3295,180.3,-10.0,166,1048,0.00,2.35,0.00,0.000,3078,0.000,0.054,2565,2268,3282,3270,3295,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,1206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1212,-0.13,0.0,2565,2085,3270,3294,200.7,-12.4,183,1311,0.35,0.08,92.78,1.082,10246,0.233,0.153,2700,2152,2798,2862,2734,0,0,0,0,0,0,14.44,14.63,14.07
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1315,0.55,116.8,2701,2152,2862,2734,205.9,0.0,193,1419,0.52,2.38,95.30,1.073,10756,0.160,0.048,2930,752,2321,2401,2241,0,0,0,0,0,0,14.57,14.42,13.97
$GC,1466,0.60,194.7,2930,752,2390,2241,203.2,6.1,208,1536,0.00,2.25,62.45,1.058,11270,0.000,0.050,2931,2101,2005,2084,1926,0,0,0,0,0,0,14.69,14.65,13.98
$GC,1775,0.60,194.7,2930,2102,2083,1920,166.4,11.7,239,1776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2930,2101,2002,2083,1921,0,0,0,0,0,0,15.18,15.19,15.18
$GC,2022,0.60,194.7,2930,2101,2083,1920,139.9,11.8,271,2028,0.00,2.40,0.00,0.000,2308,0.000,0.064,2930,3532,2001,2083,1920,0,0,0,0,0,0,15.23,14.89,15.23
$GC,2237,0.60,194.7,2930,3532,2083,1920,114.0,11.5,311,2244,0.00,2.28,0.00,0.000,1030,0.000,0.047,2941,2154,2001,2083,1920,0,0,0,0,0,0,15.04,14.93,15.06
$GC,2504,0.64,261.9,2941,2154,2082,1919,94.4,6.6,360,2564,0.00,2.35,53.10,0.974,10500,0.000,0.061,2941,3533,1729,1817,1642,0,0,0,0,0,0,15.24,14.62,14.21
$GC,2637,0.66,292.1,2941,3532,1816,1642,83.7,8.5,382,2672,0.00,2.40,24.77,0.935,11270,0.000,0.047,2952,2108,1607,1700,1514,0,0,0,0,0,0,14.92,14.81,14.16
$GC,2930,0.67,311.3,2951,2107,1700,1509,53.5,9.1,435,2952,0.00,2.38,15.85,0.888,10756,0.000,0.060,2963,714,1528,1622,1435,0,0,0,0,0,0,15.17,14.84,14.27
$GC,3042,0.67,321.3,2963,713,1614,1436,42.8,9.6,454,3058,0.00,2.40,8.68,0.838,9222,0.000,0.054,2963,2125,1488,1579,1397,0,0,0,0,0,0,14.95,14.83,14.23
$GC,3315,0.67,321.3,2963,2125,1580,1395,11.4,10.8,504,3323,0.00,2.42,0.00,0.000,260,0.000,0.064,2963,3530,1487,1580,1394,0,0,0,0,0,0,15.17,14.73,15.18
$GC,3367,0.67,321.3,2963,3530,1580,1395,4.1,13.3,513,3376,0.00,2.40,0.00,0.000,5126,0.000,0.052,2974,2132,1487,1580,1395,0,0,0,0,0,0,14.83,14.77,14.86
$STATE,3382,end climb,SURFACE_DEPTH_REACHED
$STATE,3382,begin surface coast
$FINISH,0.3,1.023014
$STATE,3406,end surface coast,CONTROL_FINISHED_OK
$STATE,3406,begin surface
$SM_CCo,3422,32.62,0.186,0,0,1168,400.08
$SM_GC,1.13,6.38,0.22,32.62,0.045,0.065,0.186,163,2303,1168,-7.89,-1.07,400.08,0,0,0,0,0,0,14.98,14.98,14.69
$IRIDIUM_FIX,2237.01,-15804.53,270921,053711
$TT8_MAMPS,0.023219,0.283871
$HUMID,51.57
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.50,136.212
$10V_AH,12.70,0.000
$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,15.725,38.375,352.925,32.625,0.000,32.898,52.062,120.845,0.500,0.000,17.376,1269.088,609.596,401.457,1372.962,164.713,0.000,902.854,0.000,1183.548,0.000,0.556,0.000
$DEVICE_MAMPS,549.270,153.000,1081.710,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,344.003,373.512,801.642,664.592,772.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,47358,519
$CAP_FILE_SIZE,113823,0
$CFSIZE,1023623168,966688768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,310.31,1
$GPS,270921,064018,2245.239,-15800.414,7,0.9,14,9.8,0.5,293.1,8,10.0