version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 554
start: 9 26 121 23 4 27
data:
$ID,626
$MISSION,3
$DIVE,554
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,260921,225755,2245.0427,-15800.0850,7,0.9,40,9.8,0.4,222.9,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.6
$GPS2,260921,230336,2245.0212,-15800.1260,8,0.9,21,9.8,0.7,97.3,10,9.1
$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,84.6,219,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.58,-116.8,124,2294,1196,1118,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,16386,0.000,0.000,123,2294,3177,3141,3213,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.58,-116.8,124,2294,3141,3214,3.9,-7.9,9,99,8.43,2.40,-1.55,0.000,18948,0.438,0.060,2567,841,3279,3251,3308,0,0,0,0,0,0,14.27,13.45,14.56
$GC,108,-0.58,-116.8,2567,839,3257,3301,17.1,-40.2,12,115,0.00,2.40,0.00,0.000,3078,0.000,0.046,2558,2266,3280,3260,3301,0,0,0,0,0,0,14.98,14.85,15.00
$GC,374,-0.58,-116.8,2557,2267,3264,3296,86.3,-21.9,61,381,0.00,2.38,0.00,0.000,2564,0.000,0.054,2558,855,3280,3265,3296,0,0,0,0,0,0,15.21,14.88,15.21
$GC,404,-0.58,-116.8,2558,854,3266,3295,92.7,-19.8,66,411,0.00,2.42,0.00,0.000,3078,0.000,0.054,2549,2257,3280,3266,3295,0,0,0,0,0,0,14.88,14.81,14.90
$GC,664,-0.58,-116.8,2549,2258,3267,3295,138.4,-17.4,115,672,0.00,2.35,0.00,0.000,2564,0.000,0.053,2547,853,3281,3267,3295,0,0,0,0,0,0,15.24,14.91,15.24
$GC,695,-0.58,-116.8,2549,854,3267,3295,143.5,-16.7,120,703,0.08,2.42,0.00,0.000,3078,0.350,0.054,2563,2277,3281,3267,3295,0,0,0,0,0,0,14.62,14.88,14.88
$GC,952,-0.58,-116.8,2563,2280,3268,3295,180.0,-13.4,149,961,0.00,2.35,0.00,0.000,516,0.000,0.050,2564,848,3281,3268,3295,0,0,0,0,0,0,15.28,14.94,15.29
$GC,985,-0.58,-116.8,2563,848,3268,3295,184.0,-12.5,152,990,0.00,2.38,0.00,0.000,3078,0.000,0.054,2554,2271,3281,3268,3294,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1121,-0.13,0.0,2554,2079,3268,3293,200.4,-13.3,165,1219,0.40,0.10,92.65,1.084,10246,0.253,0.126,2703,2164,2799,2864,2734,0,0,0,0,0,0,14.36,14.66,14.07
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1223,0.58,116.8,2703,2164,2863,2733,204.2,0.0,175,1328,0.52,2.40,95.38,1.070,10756,0.151,0.048,2935,742,2320,2402,2238,0,0,0,0,0,0,14.58,14.59,14.00
$GC,1367,0.62,179.9,2934,742,2394,2238,200.8,6.5,189,1425,0.00,2.35,50.80,1.058,11270,0.000,0.050,2935,2098,2065,2150,1980,0,0,0,0,0,0,14.71,14.65,13.98
$GC,1665,0.62,179.9,2935,2098,2150,1974,165.7,12.3,219,1674,0.00,2.38,0.00,0.000,2308,0.000,0.064,2935,3524,2062,2150,1975,0,0,0,0,0,0,15.18,14.62,15.17
$GC,1711,0.62,179.9,2934,3523,2150,1976,160.3,12.6,223,1718,0.00,2.22,0.00,0.000,1030,0.000,0.046,2945,2161,2063,2151,1975,0,0,0,0,0,0,15.00,14.91,15.02
$GC,1965,0.62,179.9,2945,2159,2150,1974,129.3,11.3,264,1973,0.00,2.40,0.00,0.000,516,0.000,0.055,2957,720,2061,2150,1973,0,0,0,0,0,0,15.23,14.89,15.23
$GC,2034,0.62,179.9,2956,720,2143,1974,121.6,11.5,276,2041,0.00,2.40,0.00,0.000,5126,0.000,0.054,2956,2131,2058,2143,1974,0,0,0,0,0,0,15.02,14.88,15.04
$GC,2294,0.63,207.6,2956,2131,2143,1974,94.6,8.5,325,2321,0.00,2.40,22.12,0.967,12548,0.000,0.067,2957,3537,1951,2031,1872,0,0,0,0,0,0,15.24,14.88,14.30
$GC,2418,0.64,216.3,2956,3536,2031,1872,82.1,9.6,347,2432,0.00,2.33,8.52,0.885,13318,0.000,0.046,2968,2127,1916,1996,1836,0,0,0,0,0,0,15.01,14.90,14.22
$GC,2685,0.65,233.0,2968,2127,1996,1833,58.3,9.1,397,2708,0.00,2.35,14.40,0.907,12804,0.000,0.054,2979,718,1846,1928,1765,0,0,0,0,0,0,15.19,14.64,14.21
$GC,2740,0.65,234.2,2979,717,1922,1765,53.3,10.0,405,2749,0.08,2.40,0.00,0.000,5126,0.323,0.052,2953,2133,1843,1922,1764,0,0,0,0,0,0,14.65,14.85,14.88
$GC,3008,0.66,246.2,2952,2134,1922,1762,27.8,9.4,454,3022,0.00,2.38,5.40,0.760,10500,0.000,0.065,2952,3531,1794,1876,1712,0,0,0,0,0,0,15.20,14.75,14.23
$GC,3040,0.66,246.2,2952,3531,1875,1711,24.4,10.9,459,3048,0.00,2.38,0.00,0.000,1030,0.000,0.047,2962,2131,1793,1875,1712,0,0,0,0,0,0,15.00,14.85,15.01
$STATE,3222,end climb,SURFACE_DEPTH_REACHED
$STATE,3223,begin surface coast
$FINISH,0.4,1.023027
$STATE,3245,end surface coast,CONTROL_FINISHED_OK
$STATE,3245,begin surface
$SM_CCo,3261,63.50,0.181,0,0,1167,400.08
$SM_GC,1.03,6.45,0.22,63.50,0.061,0.065,0.181,171,2307,1167,-7.91,-1.05,400.08,0,0,0,0,0,0,14.96,15.00,14.69
$IRIDIUM_FIX,2237.01,-15759.32,260921,225929
$TT8_MAMPS,0.02247,0.290612
$HUMID,51.22
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.45,135.172
$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,15.950,48.050,289.275,63.500,0.000,35.568,44.425,136.489,0.750,0.000,22.576,1239.451,541.697,397.380,1358.461,161.240,0.000,879.049,0.000,1147.768,0.000,0.555,0.000
$DEVICE_MAMPS,438.345,126.225,1084.005,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,330.087,423.661,769.290,658.376,766.686,0.000,0.000,0.000,0.000,0.000
$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,43942,497
$CAP_FILE_SIZE,112688,0
$CFSIZE,1023623168,967180288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,8
$CURRENT,0.099,208.55,1
$GPS,270921,000049,2244.841,-15759.827,7,1.1,21,9.8,0.0,282.8,8,9.6