version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 556
start: 9 27 121 1 9 10
data:
$ID,626
$MISSION,3
$DIVE,556
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,270921,010042,2244.8613,-15800.1514,7,0.9,23,9.8,0.0,274.4,9,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.1
$GPS2,270921,010821,2244.8289,-15800.2334,7,0.9,22,9.8,0.9,181.8,9,9.8
$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,35.8,509,-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,-116.8,124,2286,1196,1119,0.0,0.0,0,82,0.00,0.00,-63.70,0.000,16386,0.000,0.000,124,2286,3251,3214,3289,0,0,0,0,0,0,15.19,28.83,15.20
$GC,85,-0.55,-116.8,123,2286,3215,3289,4.3,-8.6,9,101,8.45,2.25,-0.35,0.000,18692,0.439,0.063,2553,3680,3277,3246,3309,0,0,0,0,0,0,14.28,13.96,14.55
$GC,161,-0.55,-116.8,2553,3681,3254,3302,32.4,-18.7,22,169,0.05,2.40,0.00,0.000,3078,0.373,0.047,2570,2249,3277,3257,3298,0,0,0,0,0,0,14.63,14.85,14.87
$GC,424,-0.55,-116.8,2570,2245,3261,3295,86.8,-16.0,71,431,0.00,2.33,0.00,0.000,2564,0.000,0.056,2570,849,3278,3262,3295,0,0,0,0,0,0,15.22,14.88,15.22
$GC,512,-0.55,-116.8,2570,848,3262,3294,99.4,-12.9,87,519,0.00,2.35,0.00,0.000,3078,0.000,0.054,2561,2250,3278,3264,3292,0,0,0,0,0,0,15.03,14.90,15.04
$GC,769,-0.55,-116.8,2561,2251,3265,3292,139.1,-14.3,136,777,0.00,2.42,0.00,0.000,2308,0.000,0.065,2550,3677,3278,3265,3292,0,0,0,0,0,0,15.25,14.85,15.26
$GC,809,-0.55,-116.8,2550,3677,3265,3292,144.4,-11.9,143,818,0.08,2.33,0.00,0.000,3078,0.310,0.042,2578,2249,3278,3265,3292,0,0,0,0,0,0,14.69,14.95,14.92
$GC,1063,-0.55,-116.8,2578,2245,3265,3292,172.2,-11.5,172,1072,0.00,2.25,0.00,0.000,516,0.000,0.054,2578,859,3279,3266,3292,0,0,0,0,0,0,15.28,14.81,15.29
$GC,1157,-0.55,-116.8,2578,859,3266,3291,182.8,-10.9,181,1166,0.00,2.33,0.00,0.000,3078,0.000,0.054,2569,2263,3278,3267,3290,0,0,0,0,0,0,14.85,14.81,14.88
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1300,-0.13,0.0,2570,2087,3266,3290,200.9,-13.7,195,1398,0.35,0.08,92.35,1.089,10246,0.233,0.151,2703,2147,2798,2862,2735,0,0,0,0,0,0,14.42,14.63,14.07
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1401,0.55,116.8,2704,2147,2862,2735,206.4,0.0,205,1507,0.50,2.35,95.53,1.079,10756,0.145,0.048,2927,749,2320,2399,2241,0,0,0,0,0,0,14.59,14.59,13.99
$GC,1532,0.61,224.7,2927,749,2392,2241,205.1,4.5,218,1624,0.00,2.30,85.53,1.073,11270,0.000,0.050,2926,2114,1882,1957,1807,0,0,0,0,0,0,14.78,14.68,13.96
$GC,1863,0.61,224.7,2927,2114,1957,1801,161.8,13.5,251,1864,0.00,0.00,0.00,0.000,2054,0.000,0.000,2927,2114,1879,1957,1801,0,0,0,0,0,0,15.17,15.18,15.17
$GC,2112,0.61,224.7,2927,2114,1957,1798,128.5,13.7,290,2120,0.00,2.35,0.00,0.000,2564,0.000,0.054,2938,755,1877,1955,1799,0,0,0,0,0,0,15.22,14.84,15.22
$GC,2148,0.61,224.7,2937,754,1952,1799,123.4,14.3,296,2156,0.00,2.35,0.00,0.000,3078,0.000,0.051,2938,2122,1875,1951,1799,0,0,0,0,0,0,14.91,14.85,15.02
$GC,2414,0.61,224.7,2938,2121,1952,1798,89.9,10.4,345,2421,0.00,2.38,0.00,0.000,2308,0.000,0.065,2938,3540,1875,1952,1798,0,0,0,0,0,0,15.24,14.90,15.24
$GC,2476,0.61,224.7,2938,3541,1952,1798,83.1,11.2,356,2484,0.00,2.35,0.00,0.000,5126,0.000,0.047,2949,2157,1875,1952,1798,0,0,0,0,0,0,14.92,14.86,15.03
$GC,2741,0.65,279.6,2949,2155,1952,1798,62.2,7.3,405,2793,0.00,2.45,43.25,0.950,10756,0.000,0.058,2960,715,1657,1747,1568,0,0,0,0,0,0,15.22,14.71,14.24
$GC,2865,0.65,279.6,2960,714,1739,1569,49.8,11.0,425,2873,0.00,2.40,0.00,0.000,5126,0.000,0.052,2961,2126,1653,1739,1567,0,0,0,0,0,0,14.93,14.81,14.95
$GC,3128,0.65,279.6,2959,2127,1739,1566,16.9,12.4,474,3136,0.00,2.40,0.00,0.000,4356,0.000,0.066,2961,3538,1652,1739,1565,0,0,0,0,0,0,15.19,14.83,15.19
$GC,3160,0.65,279.6,2960,3538,1739,1566,12.9,13.0,479,3168,0.00,2.40,0.00,0.000,5126,0.000,0.047,2972,2111,1652,1739,1565,0,0,0,0,0,0,14.99,14.86,15.02
$STATE,3232,end climb,SURFACE_DEPTH_REACHED
$STATE,3232,begin surface coast
$FINISH,0.2,0.999390
$STATE,3255,end surface coast,CONTROL_FINISHED_OK
$STATE,3255,begin surface
$SM_CCo,3271,49.62,0.181,0,0,1166,400.08
$SM_GC,1.23,6.35,0.28,49.62,0.036,0.070,0.181,137,2288,1166,-7.93,-0.88,400.08,0,0,0,0,0,0,14.97,14.95,14.68
$IRIDIUM_FIX,2234.68,-15802.37,270921,010433
$TT8_MAMPS,0.023219,0.343791
$HUMID,51.33
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,13.96,135.505
$10V_AH,12.02,0.000
$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,15.775,42.950,316.650,49.625,0.000,52.737,91.170,118.786,0.750,0.000,23.193,1220.454,631.218,398.998,1404.730,157.108,0.000,888.010,0.000,1147.258,0.000,0.556,0.000
$DEVICE_MAMPS,439.110,150.705,1089.360,180.540,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,329.451,357.699,765.742,655.574,761.079,0.000,0.000,0.000,0.000,0.000
$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,43996,496
$CAP_FILE_SIZE,111264,0
$CFSIZE,1023623168,967016448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.184,239.89,1
$GPS,270921,020555,2244.909,-15800.282,7,1.0,47,9.8,0.8,272.7,6,6.2