version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 583
start: 9 28 121 7 2 4
data:
$ID,626
$MISSION,3
$DIVE,583
$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,34
$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
$GPS1,280921,065605,2245.2520,-15800.4648,21,0.8,44,9.8,0.6,273.8,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.5
$GPS2,280921,070114,2245.2532,-15800.5127,6,0.8,17,9.8,0.0,264.3,10,8.2
$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,106.7,993,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,124,2299,1204,1112,0.0,0.0,0,81,0.00,0.00,-62.28,0.000,16386,0.000,0.000,124,2300,3204,3166,3242,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2299,3167,3243,4.2,-8.6,9,100,8.40,2.40,-1.10,0.000,18948,0.434,0.058,2576,838,3280,3250,3311,0,0,0,0,0,0,14.26,13.45,14.54
$GC,145,-0.55,-116.8,2575,838,3265,3298,30.0,-25.6,19,154,0.00,2.40,0.00,0.000,3078,0.000,0.050,2566,2254,3281,3267,3296,0,0,0,0,0,0,14.97,14.84,15.00
$GC,407,-0.55,-116.8,2566,2254,3267,3296,82.7,-17.5,68,415,0.00,2.40,0.00,0.000,2564,0.000,0.049,2566,855,3281,3267,3296,0,0,0,0,0,0,15.21,14.81,15.21
$GC,438,-0.55,-116.8,2566,854,3267,3296,88.1,-17.3,73,446,0.05,2.38,0.00,0.000,3078,0.383,0.052,2574,2274,3281,3268,3295,0,0,0,0,0,0,14.65,14.89,14.90
$GC,695,-0.55,-116.8,2573,2277,3268,3294,128.0,-13.9,122,704,0.00,2.42,0.00,0.000,260,0.000,0.068,2564,3675,3281,3268,3295,0,0,0,0,0,0,15.23,14.73,15.24
$GC,739,-0.55,-116.8,2563,3675,3268,3295,133.5,-12.5,129,746,0.00,2.33,0.00,0.000,3078,0.000,0.041,2564,2252,3281,3268,3295,0,0,0,0,0,0,15.04,14.93,15.06
$GC,999,-0.55,-116.8,2564,2250,3268,3295,168.5,-12.7,165,1008,0.00,2.30,0.00,0.000,2564,0.000,0.050,2564,848,3282,3269,3295,0,0,0,0,0,0,15.28,14.95,15.29
$GC,1061,-0.55,-116.8,2564,847,3269,3295,175.6,-10.9,171,1072,0.05,2.35,0.00,0.000,3078,0.379,0.052,2572,2266,3282,3270,3294,0,0,0,0,0,0,14.70,14.95,14.94
$GC,1313,-0.55,-116.8,2572,2269,3270,3294,199.7,-9.0,196,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2269,3282,3270,3294,0,0,0,0,0,0,15.29,15.30,15.30
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1325,-0.13,0.0,2572,2072,3270,3294,200.6,-9.3,197,1423,0.32,0.10,93.12,1.086,10246,0.223,0.125,2702,2160,2798,2862,2734,0,0,0,0,0,0,14.58,14.66,14.06
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1426,0.55,116.8,2702,2160,2863,2734,204.3,0.0,207,1531,0.50,0.00,95.72,1.075,10758,0.155,0.000,2913,2160,2321,2404,2238,0,0,0,0,0,0,14.57,14.55,13.98
$GC,1772,0.57,153.4,2912,2160,2403,2234,187.4,8.2,242,1811,0.00,2.28,30.08,1.054,10500,0.000,0.060,2913,3501,2172,2260,2085,0,0,0,0,0,0,15.17,14.73,14.17
$GC,1880,0.59,180.8,2913,3501,2260,2085,178.9,8.7,252,1908,0.00,2.33,23.30,1.039,11270,0.000,0.045,2925,2130,2061,2148,1974,0,0,0,0,0,0,14.85,14.80,14.14
$GC,2157,0.59,180.8,2925,2130,2146,1969,150.5,10.2,280,2165,0.00,2.30,0.00,0.000,2308,0.000,0.061,2925,3499,2057,2146,1969,0,0,0,0,0,0,15.21,14.77,15.21
$GC,2183,0.59,180.8,2925,3499,2146,1969,147.5,11.0,284,2191,0.00,2.35,0.00,0.000,1030,0.000,0.048,2936,2125,2057,2145,1969,0,0,0,0,0,0,14.85,14.79,14.88
$GC,2444,0.63,243.2,2935,2124,2146,1967,124.9,6.9,333,2504,0.00,2.38,49.38,1.018,10500,0.000,0.063,2936,3500,1806,1888,1725,0,0,0,0,0,0,15.23,14.70,14.21
$GC,2549,0.63,243.2,2936,3500,1888,1724,115.3,11.3,350,2557,0.00,2.35,0.00,0.000,1030,0.000,0.047,2946,2129,1806,1888,1724,0,0,0,0,0,0,14.81,14.76,14.90
$GC,2810,0.65,283.7,2946,2129,1888,1719,88.8,8.0,399,2849,0.00,2.38,32.20,0.972,10756,0.000,0.054,2958,713,1643,1734,1552,0,0,0,0,0,0,15.19,14.62,14.19
$GC,2869,0.66,296.5,2957,713,1728,1553,83.8,9.4,408,2890,0.00,2.38,11.90,0.915,9222,0.000,0.051,2958,2090,1587,1679,1496,0,0,0,0,0,0,14.91,14.77,14.10
$GC,3146,0.68,337.4,2958,2090,1680,1491,57.9,8.0,459,3188,0.00,2.47,32.33,0.933,10500,0.000,0.066,2958,3533,1422,1516,1328,0,0,0,0,0,0,15.16,14.69,14.23
$GC,3223,0.69,349.2,2957,3534,1516,1328,50.7,9.5,471,3246,0.00,2.40,10.80,0.874,9222,0.000,0.050,2968,2119,1373,1470,1277,0,0,0,0,0,0,14.90,14.80,14.11
$GC,3504,0.69,349.2,2968,2118,1470,1274,20.1,11.8,522,3512,0.00,2.38,0.00,0.000,516,0.000,0.055,2978,718,1371,1469,1274,0,0,0,0,0,0,15.16,14.74,15.17
$GC,3541,0.69,349.2,2978,718,1465,1274,15.6,11.9,528,3549,0.00,2.40,0.00,0.000,5126,0.000,0.049,2978,2136,1369,1465,1274,0,0,0,0,0,0,14.98,14.84,15.00
$STATE,3638,end climb,SURFACE_DEPTH_REACHED
$STATE,3638,begin surface coast
$FINISH,0.2,1.002345
$STATE,3654,end surface coast,CONTROL_FINISHED_OK
$STATE,3655,begin surface
$SM_CCo,3671,20.75,0.191,0,0,1165,400.08
$SM_GC,1.46,6.38,0.20,20.75,0.035,0.087,0.191,158,2283,1165,-7.96,-0.99,400.08,0,0,0,0,0,0,14.93,14.93,14.68
$IRIDIUM_FIX,2237.01,-15802.37,280921,065730
$TT8_MAMPS,0.02247,0.313082
$HUMID,51.69
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.45,140.179
$10V_AH,13.03,0.000
$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,15.700,47.875,378.825,20.750,0.000,24.708,42.727,119.339,0.500,0.000,20.005,1331.674,678.910,429.000,1412.446,179.518,0.000,974.861,0.000,1253.735,0.000,0.555,0.000
$DEVICE_MAMPS,433.755,125.460,1085.535,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,363.586,440.372,847.614,703.956,816.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,47362,549
$CAP_FILE_SIZE,121391,0
$CFSIZE,1023623168,964820992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.094,311.51,1
$GPS,280921,080435,2245.208,-15800.264,6,0.9,22,9.8,0.8,324.0,8,9.9