version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 564
start: 9 27 121 10 6 9
data:
$ID,626
$MISSION,3
$DIVE,564
$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,67
$R_STBD_OVSHOOT,32
$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
$GPS1,270921,095953,2244.8650,-15759.9678,7,0.9,14,9.8,0.7,312.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.4
$GPS2,270921,100519,2244.8889,-15800.0088,8,0.9,15,9.8,1.1,311.2,8,9.4
$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,11.4,206,-19.1,-10.101,-25.00,1808
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-116.8,123,2226,1200,1113,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,16386,0.000,0.000,123,2224,3152,3115,3189,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.58,-116.8,123,2225,3117,3189,3.8,-7.7,9,99,8.40,2.42,-1.95,0.000,18692,0.437,0.066,2543,3684,3280,3251,3309,0,0,0,0,0,0,14.28,13.45,14.56
$GC,196,-0.58,-116.8,2543,3685,3258,3303,36.7,-15.7,29,204,0.03,2.35,0.00,0.000,3078,0.211,0.045,2569,2287,3281,3262,3300,0,0,0,0,0,0,14.62,14.83,14.87
$GC,456,-0.58,-116.8,2569,2283,3265,3297,92.0,-17.9,78,464,0.00,2.40,0.00,0.000,4612,0.000,0.054,2570,858,3281,3266,3296,0,0,0,0,0,0,15.22,14.85,15.22
$GC,539,-0.58,-116.8,2569,858,3267,3296,104.1,-12.5,93,546,0.00,2.35,0.00,0.000,3078,0.000,0.053,2560,2263,3281,3267,3295,0,0,0,0,0,0,15.03,14.90,15.04
$GC,795,-0.58,-116.8,2560,2263,3268,3295,145.7,-16.3,142,802,0.00,2.40,0.00,0.000,2308,0.000,0.063,2549,3681,3281,3268,3295,0,0,0,0,0,0,15.24,14.85,15.25
$GC,840,-0.58,-116.8,2549,3681,3268,3295,152.5,-13.4,149,851,0.00,2.28,0.00,0.000,3078,0.000,0.039,2549,2266,3281,3268,3295,0,0,0,0,0,0,15.06,14.95,15.07
$GC,1093,-0.58,-116.8,2549,2263,3268,3295,190.2,-13.7,174,1102,0.00,2.30,0.00,0.000,2564,0.000,0.052,2550,859,3281,3268,3295,0,0,0,0,0,0,15.28,14.67,15.28
$GC,1127,-0.58,-116.8,2549,859,3268,3296,194.8,-13.8,177,1137,0.08,2.38,0.00,0.000,3078,0.334,0.054,2566,2266,3282,3269,3295,0,0,0,0,0,0,14.66,14.90,14.92
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1179,-0.13,0.0,2566,2079,3269,3295,201.1,-12.7,182,1277,0.35,0.10,93.35,1.078,10246,0.243,0.125,2701,2167,2798,2862,2735,0,0,0,0,0,0,14.55,14.66,14.07
$STATE,1278,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1280,0.58,116.8,2701,2167,2862,2735,206.3,0.0,192,1385,0.52,2.38,95.72,1.071,10756,0.155,0.048,2931,762,2320,2401,2240,0,0,0,0,0,0,14.59,14.40,13.96
$GC,1899,0.63,194.1,2931,762,2389,2237,171.0,5.7,253,1970,0.00,2.20,61.22,1.060,11270,0.000,0.050,2932,2099,2007,2089,1925,0,0,0,0,0,0,14.90,14.83,14.17
$GC,2209,0.63,194.1,2931,2099,2087,1919,139.9,11.7,292,2217,0.00,2.47,0.00,0.000,2308,0.000,0.064,2932,3531,2003,2088,1919,0,0,0,0,0,0,15.19,14.80,15.19
$GC,2409,0.64,222.0,2932,3531,2087,1919,119.5,8.5,329,2441,0.00,2.25,22.73,0.995,11270,0.000,0.045,2942,2163,1891,1972,1811,0,0,0,0,0,0,15.04,14.92,14.27
$GC,2692,0.67,268.2,2942,2163,1971,1807,97.1,7.5,382,2740,0.00,2.45,36.88,0.983,10756,0.000,0.059,2954,725,1704,1792,1617,0,0,0,0,0,0,15.21,14.69,14.24
$GC,2780,0.69,294.1,2954,725,1787,1617,90.6,8.6,396,2810,0.00,2.40,21.42,0.952,11270,0.000,0.054,2954,2129,1598,1689,1507,0,0,0,0,0,0,14.92,14.80,14.16
$GC,3065,0.69,297.7,2953,2129,1689,1502,64.0,9.9,448,3073,0.00,2.42,0.00,0.000,2564,0.000,0.060,2964,722,1595,1689,1502,0,0,0,0,0,0,15.17,14.83,15.17
$GC,3096,0.69,297.7,2964,722,1685,1502,60.7,10.6,453,3104,0.00,2.40,0.00,0.000,3078,0.000,0.050,2964,2135,1593,1685,1502,0,0,0,0,0,0,14.98,14.85,15.00
$GC,3358,0.69,297.7,2964,2136,1685,1501,30.0,11.5,502,3366,0.00,2.42,0.00,0.000,2564,0.000,0.057,2975,722,1593,1685,1501,0,0,0,0,0,0,15.20,14.85,15.21
$GC,3374,0.69,297.7,2975,722,1685,1501,28.0,12.7,504,3382,0.00,2.40,0.00,0.000,5126,0.000,0.050,2975,2139,1593,1685,1501,0,0,0,0,0,0,15.00,14.87,15.02
$STATE,3562,end climb,SURFACE_DEPTH_REACHED
$STATE,3562,begin surface coast
$FINISH,0.3,1.023222
$STATE,3584,end surface coast,CONTROL_FINISHED_OK
$STATE,3584,begin surface
$SM_CCo,3600,43.65,0.185,0,0,1165,400.08
$SM_GC,1.21,6.28,0.20,43.65,0.027,0.089,0.185,178,2281,1165,-7.91,-0.88,400.08,0,0,0,0,0,0,14.93,14.95,14.68
$IRIDIUM_FIX,2237.01,-15802.37,270921,100122
$TT8_MAMPS,0.023219,0.31458
$HUMID,51.22
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.45,136.914
$10V_AH,13.07,0.000
$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,15.650,43.300,331.325,43.650,0.000,31.665,48.326,128.036,0.500,0.000,17.134,1345.736,610.697,402.500,1476.317,167.550,0.000,949.215,0.000,1290.990,0.000,0.555,0.000
$DEVICE_MAMPS,436.815,125.460,1077.885,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,360.736,392.610,841.836,692.749,800.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,47355,543
$CAP_FILE_SIZE,121228,0
$CFSIZE,1023623168,966344704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.092,242.05,1
$GPS,270921,110801,2245.045,-15800.091,8,0.9,31,9.8,0.3,38.7,8,6.7