version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 562
start: 9 27 121 7 55 6
data:
$ID,626
$MISSION,3
$DIVE,562
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,270921,074902,2245.1885,-15800.2695,7,1.1,22,9.8,0.0,20.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.1
$GPS2,270921,075416,2245.2000,-15800.3145,7,1.1,21,9.8,0.9,312.7,8,10.0
$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,117.3,652,-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,-116.8,123,2224,1203,1112,0.0,0.0,0,75,0.00,0.00,-56.65,0.000,16386,0.000,0.000,123,2224,2968,2946,2991,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.55,-116.8,123,2225,2948,2990,3.3,-6.3,8,101,8.48,2.25,-5.20,0.000,18948,0.441,0.068,2571,866,3277,3257,3298,0,0,0,0,0,0,14.28,13.95,14.57
$GC,147,-0.55,-116.8,2571,865,3266,3293,25.7,-22.0,19,155,0.00,2.40,0.00,0.000,3078,0.000,0.054,2562,2275,3277,3265,3290,0,0,0,0,0,0,14.98,14.83,15.00
$GC,412,-0.55,-116.8,2562,2275,3267,3290,84.2,-21.0,68,419,0.00,2.40,0.00,0.000,2564,0.000,0.052,2562,861,3278,3267,3290,0,0,0,0,0,0,15.21,14.85,15.22
$GC,443,-0.55,-116.8,2562,861,3267,3290,89.6,-16.8,73,451,0.05,2.38,0.00,0.000,3078,0.389,0.057,2569,2272,3278,3267,3290,0,0,0,0,0,0,14.65,14.89,14.90
$GC,710,-0.55,-116.8,2569,2275,3267,3290,128.5,-13.5,122,718,0.00,2.40,0.00,0.000,2308,0.000,0.067,2560,3681,3278,3267,3289,0,0,0,0,0,0,15.24,14.84,15.25
$GC,743,-0.55,-116.8,2558,3681,3267,3289,132.8,-13.6,127,749,0.00,2.28,0.00,0.000,3078,0.000,0.040,2559,2282,3278,3267,3290,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1001,-0.55,-116.8,2559,2279,3267,3290,169.0,-13.4,163,1009,0.00,2.33,0.00,0.000,2564,0.000,0.050,2559,855,3279,3268,3290,0,0,0,0,0,0,15.28,14.79,15.28
$GC,1064,-0.55,-116.8,2559,854,3268,3290,177.1,-12.6,169,1073,0.05,2.35,0.00,0.000,3078,0.308,0.056,2567,2271,3278,3268,3289,0,0,0,0,0,0,14.51,14.78,14.68
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1272,begin apogee
$GC,1278,-0.13,0.0,2568,2070,3268,3289,200.8,-10.2,190,1375,0.35,0.10,92.57,1.087,10246,0.235,0.128,2705,2161,2798,2862,2735,0,0,0,0,0,0,14.57,14.66,14.06
$STATE,1376,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1378,0.55,116.8,2705,2161,2862,2735,205.0,0.0,200,1484,0.50,2.47,95.68,1.080,10756,0.154,0.049,2927,715,2320,2401,2239,0,0,0,0,0,0,14.58,14.38,13.94
$GC,1562,0.59,186.9,2926,715,2389,2240,201.4,6.5,218,1629,0.00,2.33,56.47,1.069,11270,0.000,0.050,2927,2099,2035,2117,1953,0,0,0,0,0,0,14.88,14.76,14.02
$GC,1870,0.59,186.9,2926,2099,2116,1948,169.9,11.7,249,1881,0.00,2.40,0.00,0.000,2308,0.000,0.065,2927,3529,2032,2116,1948,0,0,0,0,0,0,15.19,14.85,15.19
$GC,1904,0.59,186.9,2926,3530,2116,1948,165.8,12.3,252,1913,0.00,2.30,0.00,0.000,1030,0.000,0.045,2938,2125,2032,2116,1948,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2159,0.62,229.6,2938,2123,2115,1948,140.2,7.9,287,2199,0.00,2.42,33.80,1.024,10500,0.000,0.061,2937,3533,1863,1944,1782,0,0,0,0,0,0,15.24,14.83,14.26
$GC,2395,0.62,229.6,2938,3533,1944,1782,114.5,11.1,329,2402,0.00,2.33,0.00,0.000,1030,0.000,0.047,2949,2125,1863,1944,1782,0,0,0,0,0,0,15.00,14.90,15.01
$GC,2659,0.62,229.6,2948,2123,1944,1778,85.0,11.7,378,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2123,1861,1944,1779,0,0,0,0,0,0,15.21,15.23,15.23
$GC,2926,0.68,325.7,2948,2123,1944,1777,62.9,5.1,427,3012,0.00,2.40,74.78,0.949,10756,0.000,0.060,2960,723,1469,1559,1380,0,0,0,0,0,0,15.23,14.64,14.18
$GC,3053,0.68,337.7,2959,723,1555,1380,53.5,9.5,446,3069,0.00,2.40,10.50,0.867,11270,0.000,0.054,2959,2125,1422,1515,1329,0,0,0,0,0,0,14.86,14.74,14.14
$GC,3325,0.68,337.7,2959,2126,1514,1323,23.2,10.3,496,3332,0.00,2.40,0.00,0.000,2308,0.000,0.065,2959,3530,1419,1514,1324,0,0,0,0,0,0,15.16,14.81,15.16
$GC,3406,0.68,337.7,2959,3530,1514,1323,13.2,11.5,510,3414,0.00,2.40,0.00,0.000,1030,0.000,0.049,2970,2104,1419,1514,1324,0,0,0,0,0,0,14.97,14.86,14.99
$STATE,3487,end climb,SURFACE_DEPTH_REACHED
$STATE,3487,begin surface coast
$FINISH,0.3,1.023104
$STATE,3505,end surface coast,CONTROL_FINISHED_OK
$STATE,3505,begin surface
$SM_CCo,3521,25.67,0.192,0,0,1167,400.08
$SM_GC,1.54,6.50,0.28,25.67,0.060,0.061,0.192,160,2301,1167,-7.95,-1.02,400.08,0,0,0,0,0,0,14.95,14.96,14.68
$IRIDIUM_FIX,2234.68,-15757.16,270921,075026
$TT8_MAMPS,0.023219,0.287616
$HUMID,51.10
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.94,136.564
$10V_AH,12.94,0.000
$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,15.925,43.325,363.800,25.675,0.000,24.043,45.059,119.327,0.750,0.000,22.660,1284.216,636.781,413.680,1390.411,166.288,0.000,938.036,0.000,1224.439,0.000,0.556,0.000
$DEVICE_MAMPS,440.640,127.755,1087.065,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,349.871,377.773,822.597,691.879,806.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,47152,528
$CAP_FILE_SIZE,118163,0
$CFSIZE,1023623168,966508544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,324.37,1
$GPS,270921,085531,2245.096,-15800.049,13,0.7,41,9.8,0.8,259.3,11,7.2