version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 567
start: 9 27 121 13 23 31
data:
$ID,626
$MISSION,3
$DIVE,567
$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,33
$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,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
$GPS1,270921,131717,2245.0217,-15800.2578,8,0.8,18,9.8,0.4,130.9,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.3
$GPS2,270921,132242,2245.0146,-15800.3154,7,0.8,22,9.8,0.0,244.7,10,8.8
$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,63.7,540,-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,-116.8,124,2280,1201,1114,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,124,2280,3153,3120,3186,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,124,2280,3120,3187,3.6,-6.0,9,99,8.45,2.33,-1.98,0.000,19204,0.438,0.065,2557,3684,3279,3250,3309,0,0,0,0,0,0,14.26,13.45,14.55
$GC,112,-0.55,-116.8,2557,3684,3253,3306,19.1,-45.5,13,121,0.00,2.42,0.00,0.000,3078,0.000,0.049,2557,2264,3280,3257,3303,0,0,0,0,0,0,14.84,14.76,14.84
$GC,375,-0.55,-116.8,2556,2260,3262,3297,82.8,-18.2,62,383,0.05,2.38,0.00,0.000,2564,0.430,0.051,2573,848,3280,3264,3296,0,0,0,0,0,0,14.69,14.81,14.82
$GC,422,-0.55,-116.8,2572,848,3267,3295,90.0,-12.5,70,430,0.00,2.40,0.00,0.000,3078,0.000,0.054,2563,2260,3281,3267,3295,0,0,0,0,0,0,15.00,14.85,15.02
$GC,681,-0.55,-116.8,2563,2261,3267,3295,131.0,-16.4,119,689,0.00,2.38,0.00,0.000,2564,0.000,0.054,2563,846,3281,3267,3295,0,0,0,0,0,0,15.23,14.90,15.24
$GC,728,-0.55,-116.8,2563,845,3267,3295,138.0,-14.0,127,736,0.05,2.38,0.00,0.000,3078,0.387,0.053,2570,2268,3280,3267,3294,0,0,0,0,0,0,14.66,14.91,14.90
$GC,980,-0.55,-116.8,2569,2269,3268,3294,173.7,-12.8,159,985,0.00,2.35,0.00,0.000,2308,0.000,0.063,2561,3684,3281,3268,3294,0,0,0,0,0,0,15.28,14.92,15.29
$GC,1007,-0.55,-116.8,2561,3684,3267,3294,176.5,-12.4,161,1014,0.00,2.30,0.00,0.000,3078,0.000,0.038,2561,2261,3280,3267,3294,0,0,0,0,0,0,15.07,14.97,15.09
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1208,-0.13,0.0,2561,2071,3268,3294,200.7,-12.8,181,1306,0.38,0.10,92.90,1.083,10246,0.246,0.125,2703,2157,2798,2862,2734,0,0,0,0,0,0,14.52,14.66,14.06
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1309,0.55,116.8,2703,2157,2862,2734,205.6,0.0,191,1415,0.50,2.30,95.55,1.076,10500,0.157,0.059,2912,3504,2322,2405,2239,0,0,0,0,0,0,14.57,14.36,13.94
$GC,1697,0.56,141.5,2912,3504,2404,2239,179.5,8.8,229,1725,0.00,2.25,20.80,1.029,11270,0.000,0.041,2925,2127,2222,2309,2135,0,0,0,0,0,0,15.01,14.91,14.21
$GC,1965,0.63,250.1,2924,2127,2308,2131,161.7,4.5,256,2057,0.00,2.40,85.20,1.058,10500,0.000,0.061,2924,3504,1778,1860,1697,0,0,0,0,0,0,15.22,14.65,14.09
$GC,2159,0.63,250.1,2925,3504,1859,1698,144.3,10.8,279,2167,0.00,2.30,0.00,0.000,3078,0.000,0.047,2935,2128,1777,1860,1695,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2420,0.63,255.8,2935,2128,1860,1692,115.9,9.8,328,2435,0.00,2.40,5.50,0.846,10756,0.000,0.059,2946,712,1755,1838,1672,0,0,0,0,0,0,15.19,14.82,14.21
$GC,2474,0.63,255.8,2946,712,1834,1673,110.4,10.5,337,2480,0.00,2.33,0.00,0.000,3078,0.000,0.056,2946,2094,1753,1834,1672,0,0,0,0,0,0,15.01,14.90,15.02
$GC,2730,0.65,286.2,2946,2094,1834,1670,86.8,8.5,386,2764,0.00,2.42,24.95,0.963,10500,0.000,0.068,2946,3533,1631,1721,1542,0,0,0,0,0,0,15.22,14.85,14.28
$GC,2781,0.65,286.2,2946,3534,1722,1541,81.8,10.6,394,2790,0.00,2.40,0.00,0.000,1030,0.000,0.050,2957,2133,1631,1722,1541,0,0,0,0,0,0,14.82,14.77,14.85
$GC,3048,0.65,286.2,2957,2130,1722,1538,55.8,10.3,443,3057,0.00,2.42,0.00,0.000,260,0.000,0.063,2957,3539,1630,1722,1539,0,0,0,0,0,0,15.18,14.84,15.19
$GC,3122,0.65,288.9,2957,3541,1721,1539,48.6,10.0,456,3130,0.00,2.40,0.00,0.000,5126,0.000,0.050,2968,2122,1630,1722,1539,0,0,0,0,0,0,15.00,14.87,15.02
$GC,3386,0.65,288.9,2968,2120,1722,1538,18.0,12.8,505,3393,0.00,2.40,0.00,0.000,4612,0.000,0.060,2979,710,1629,1721,1538,0,0,0,0,0,0,15.21,14.84,15.21
$GC,3401,0.65,288.9,2979,709,1719,1538,16.2,11.9,507,3410,0.05,2.40,0.00,0.000,5126,0.371,0.052,2961,2124,1629,1720,1538,0,0,0,0,0,0,14.65,14.87,14.89
$STATE,3513,end climb,SURFACE_DEPTH_REACHED
$STATE,3513,begin surface coast
$FINISH,0.3,1.022974
$STATE,3541,end surface coast,CONTROL_FINISHED_OK
$STATE,3541,begin surface
$SM_CCo,3557,47.33,0.184,0,0,1166,400.08
$SM_GC,1.34,6.30,0.22,47.33,0.034,0.077,0.184,148,2288,1166,-7.94,-0.82,400.08,0,0,0,0,0,0,14.95,14.96,14.68
$IRIDIUM_FIX,2234.68,-15800.20,270921,131841
$TT8_MAMPS,0.023219,0.291361
$HUMID,51.18
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.45,137.434
$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,15.775,47.875,324.900,47.325,0.000,26.387,44.352,123.880,0.500,0.000,23.065,1323.130,620.933,408.961,1435.311,173.590,0.000,934.905,0.000,1259.263,0.000,0.555,0.000
$DEVICE_MAMPS,437.580,125.460,1083.240,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,353.624,384.007,828.774,684.077,796.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,47380,532
$CAP_FILE_SIZE,121305,0
$CFSIZE,1023623168,966098944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151,242.65,1
$GPS,270921,142500,2245.065,-15800.350,7,1.3,47,9.8,0.2,313.6,6,5.5