version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 578
start: 9 28 121 1 18 27
data:
$ID,626
$MISSION,3
$DIVE,578
$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,30
$R_STBD_OVSHOOT,72
$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
$GPS1,280921,011213,2245.0835,-15800.0938,6,0.8,19,9.8,0.0,262.5,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.8
$GPS2,280921,011735,2245.0540,-15800.1348,6,0.8,20,9.8,0.0,231.1,10,9.5
$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,80.7,251,-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,15,-0.58,-116.8,123,2212,1196,1119,0.0,0.0,0,81,0.00,0.00,-63.05,0.000,16386,0.000,0.000,123,2209,3202,3164,3240,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.58,-116.8,123,2209,3165,3240,3.9,-7.6,9,100,8.35,2.25,-1.17,0.000,18948,0.433,0.054,2562,819,3281,3252,3310,0,0,0,0,0,0,14.28,13.45,14.55
$GC,109,-0.58,-116.8,2561,819,3258,3304,17.5,-40.6,12,116,0.00,2.40,0.00,0.000,3078,0.000,0.046,2553,2247,3281,3261,3302,0,0,0,0,0,0,14.98,14.85,15.00
$GC,371,-0.58,-116.8,2552,2250,3266,3298,83.9,-18.2,61,378,0.00,2.35,0.00,0.000,2564,0.000,0.051,2553,845,3281,3266,3297,0,0,0,0,0,0,15.21,14.90,15.21
$GC,401,-0.58,-116.8,2552,843,3267,3295,89.3,-18.2,66,410,0.05,2.45,0.00,0.000,3078,0.345,0.052,2559,2265,3281,3267,3296,0,0,0,0,0,0,14.47,14.76,14.66
$GC,661,-0.58,-116.8,2559,2269,3268,3296,130.7,-16.2,115,669,0.00,2.35,0.00,0.000,2308,0.000,0.063,2548,3675,3282,3268,3296,0,0,0,0,0,0,15.24,14.89,15.24
$GC,682,-0.58,-116.8,2550,3675,3267,3296,134.0,-15.4,118,689,0.00,2.40,0.00,0.000,3078,0.000,0.043,2550,2234,3282,3268,3296,0,0,0,0,0,0,15.02,14.89,15.04
$GC,941,-0.58,-116.8,2549,2232,3268,3296,173.3,-15.7,153,951,0.00,2.28,0.00,0.000,2564,0.000,0.051,2550,844,3282,3268,3296,0,0,0,0,0,0,15.29,14.95,15.28
$GC,1064,-0.58,-116.8,2550,844,3269,3296,191.1,-13.9,165,1074,0.08,2.38,0.00,0.000,3078,0.347,0.051,2566,2274,3282,3270,3295,0,0,0,0,0,0,14.66,14.95,14.93
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1138,-0.13,0.0,2566,2061,3271,3295,200.2,-12.9,172,1236,0.35,0.12,92.85,1.089,10246,0.242,0.108,2702,2162,2798,2863,2734,0,0,0,0,0,0,14.55,14.66,14.07
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1239,0.58,116.8,2702,2162,2863,2734,204.7,0.0,182,1344,0.52,0.00,95.22,1.079,10758,0.145,0.000,2924,2162,2320,2403,2238,0,0,0,0,0,0,14.59,14.54,13.98
$GC,1585,0.59,135.5,2924,2162,2403,2234,183.4,9.0,217,1606,0.00,2.22,15.98,1.023,10500,0.000,0.061,2924,3507,2246,2333,2159,0,0,0,0,0,0,15.18,14.84,14.21
$GC,1707,0.59,135.5,2924,3507,2333,2160,171.3,10.2,229,1715,0.00,2.28,0.00,0.000,3078,0.000,0.044,2935,2116,2246,2333,2159,0,0,0,0,0,0,14.84,14.79,14.87
$GC,1956,0.60,152.4,2935,2116,2333,2157,148.8,9.1,255,1977,0.00,2.35,14.82,1.005,10756,0.000,0.054,2946,716,2177,2265,2089,0,0,0,0,0,0,15.24,14.92,14.27
$GC,2075,0.61,175.6,2946,716,2254,2090,138.9,8.8,276,2102,0.00,2.35,19.33,1.013,9222,0.000,0.051,2947,2089,2081,2168,1995,0,0,0,0,0,0,14.91,14.85,14.23
$GC,2362,0.62,176.5,2946,2089,2167,1992,109.9,10.0,328,2370,0.00,2.42,0.00,0.000,260,0.000,0.064,2947,3530,2080,2168,1992,0,0,0,0,0,0,15.20,14.87,15.21
$GC,2553,0.62,176.5,2946,3530,2167,1992,87.7,11.1,363,2560,0.00,2.33,0.00,0.000,5126,0.000,0.046,2957,2121,2080,2168,1992,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2821,0.68,278.1,2957,2121,2168,1991,67.0,4.3,412,2910,0.00,2.40,78.68,0.965,10756,0.000,0.057,2968,716,1664,1753,1575,0,0,0,0,0,0,15.21,14.62,14.17
$GC,2955,0.68,289.3,2968,715,1746,1575,57.2,9.5,432,2972,0.00,2.40,9.82,0.872,9222,0.000,0.050,2969,2124,1618,1707,1529,0,0,0,0,0,0,14.85,14.74,14.14
$GC,3227,0.68,289.3,2968,2123,1707,1524,24.3,13.7,482,3236,0.00,2.38,0.00,0.000,260,0.000,0.063,2969,3533,1615,1707,1524,0,0,0,0,0,0,15.16,14.82,15.16
$GC,3275,0.68,289.3,2968,3533,1707,1524,17.5,14.3,490,3284,0.00,2.40,0.00,0.000,5126,0.000,0.048,2980,2111,1616,1707,1525,0,0,0,0,0,0,14.98,14.85,15.00
$STATE,3378,end climb,SURFACE_DEPTH_REACHED
$STATE,3378,begin surface coast
$FINISH,0.3,1.023007
$STATE,3401,end surface coast,CONTROL_FINISHED_OK
$STATE,3401,begin surface
$SM_CCo,3418,45.65,0.187,0,0,1168,400.08
$SM_GC,1.26,6.50,0.25,45.65,0.063,0.058,0.187,151,2317,1168,-7.91,-1.19,400.08,0,0,0,0,0,0,14.99,15.00,14.67
$IRIDIUM_FIX,2234.68,-15759.32,280921,011337
$TT8_MAMPS,0.020972,0.286118
$HUMID,51.37
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,13.45,139.278
$10V_AH,12.92,0.000
$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,15.850,43.075,326.700,45.650,0.000,23.843,42.028,131.293,1.000,0.000,21.160,1260.312,626.049,400.052,1365.526,165.779,0.000,911.133,0.000,1193.837,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,131.580,1088.595,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,340.289,369.431,796.539,667.219,782.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,44099,513
$CAP_FILE_SIZE,114007,0
$CFSIZE,1023623168,965246976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,218.46,1
$GPS,280921,021725,2244.860,-15759.977,7,0.8,38,9.8,0.7,230.3,10,5.7