version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 599
start: 9 29 121 1 4 7
data:
$ID,626
$MISSION,3
$DIVE,599
$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,78
$R_STBD_OVSHOOT,59
$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
$GPS1,290921,005746,2245.0784,-15800.2588,8,0.9,27,9.8,0.4,265.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.9
$GPS2,290921,010317,2245.0403,-15800.3047,7,0.9,27,9.8,0.2,252.2,8,10.0
$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,60.7,526,-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,-116.8,124,2217,1196,1116,0.0,0.0,0,82,0.00,0.00,-63.75,0.000,16386,0.000,0.000,124,2216,3242,3204,3281,0,0,0,0,0,0,15.19,28.83,15.19
$GC,86,-0.55,-116.8,124,2216,3204,3281,4.1,-7.8,9,102,8.43,2.40,-0.52,0.000,19204,0.436,0.068,2555,3661,3281,3250,3312,0,0,0,0,0,0,14.26,13.45,14.54
$GC,110,-0.55,-116.8,2555,3661,3253,3307,18.6,-44.3,12,118,0.00,2.28,0.00,0.000,3078,0.000,0.044,2560,2312,3281,3256,3306,0,0,0,0,0,0,14.86,14.79,14.89
$GC,373,-0.55,-116.8,2560,2308,3265,3298,85.1,-20.5,61,380,0.00,2.42,0.00,0.000,2564,0.000,0.055,2561,853,3281,3266,3296,0,0,0,0,0,0,15.20,14.88,15.21
$GC,455,-0.55,-116.8,2560,852,3267,3296,99.1,-15.8,76,464,0.08,2.38,0.00,0.000,3078,0.348,0.049,2577,2237,3280,3265,3295,0,0,0,0,0,0,14.60,14.83,14.87
$GC,717,-0.55,-116.8,2577,2240,3268,3295,138.4,-12.5,125,724,0.00,2.40,0.00,0.000,260,0.000,0.065,2567,3674,3281,3268,3295,0,0,0,0,0,0,15.23,14.88,15.24
$GC,746,-0.55,-116.8,2567,3674,3267,3295,142.3,-11.9,130,754,0.00,2.38,0.00,0.000,3078,0.000,0.045,2567,2271,3281,3268,3295,0,0,0,0,0,0,15.02,14.85,15.04
$GC,1004,-0.55,-116.8,2567,2269,3268,3295,172.1,-11.8,161,1013,0.00,2.33,0.00,0.000,2564,0.000,0.054,2567,852,3282,3269,3295,0,0,0,0,0,0,15.28,14.87,15.28
$GC,1109,-0.55,-116.8,2567,852,3269,3295,184.5,-11.1,171,1117,0.05,2.40,0.00,0.000,3078,0.369,0.053,2575,2273,3282,3270,3295,0,0,0,0,0,0,14.69,14.90,14.92
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1242,-0.13,0.0,2576,2052,3270,3294,200.5,-12.4,184,1340,0.32,0.15,92.90,1.088,10246,0.236,0.091,2703,2162,2799,2863,2735,0,0,0,0,0,0,14.55,14.66,14.05
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,0.55,116.8,2702,2162,2863,2735,206.5,0.0,194,1448,0.50,2.47,95.68,1.082,10756,0.151,0.045,2926,708,2321,2403,2239,0,0,0,0,0,0,14.58,14.39,13.95
$GC,1484,0.62,229.6,2925,707,2392,2240,206.8,4.3,208,1584,0.00,2.33,89.62,1.075,11270,0.000,0.047,2925,2100,1861,1938,1785,0,0,0,0,0,0,14.66,14.60,13.95
$GC,1823,0.62,229.6,2925,2100,1938,1780,160.4,14.0,242,1832,0.00,2.38,0.00,0.000,2308,0.000,0.061,2926,3530,1858,1938,1779,0,0,0,0,0,0,15.18,14.73,15.18
$GC,1889,0.62,229.6,2925,3531,1938,1780,152.1,12.2,248,1896,0.00,2.33,0.00,0.000,3078,0.000,0.048,2937,2126,1859,1938,1780,0,0,0,0,0,0,15.01,14.90,15.02
$GC,2153,0.62,229.6,2936,2126,1938,1779,120.5,11.5,296,2161,0.00,2.40,0.00,0.000,2564,0.000,0.056,2948,705,1858,1938,1778,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2185,0.62,229.6,2948,706,1934,1779,117.0,11.4,301,2192,0.00,2.38,0.00,0.000,1030,0.000,0.049,2948,2129,1856,1933,1779,0,0,0,0,0,0,15.02,14.92,15.05
$GC,2452,0.62,229.6,2948,2129,1933,1779,84.0,12.3,350,2461,0.00,2.40,0.00,0.000,260,0.000,0.063,2948,3528,1855,1933,1778,0,0,0,0,0,0,15.23,14.81,15.24
$GC,2543,0.62,229.6,2948,3528,1933,1779,72.6,12.1,366,2552,0.00,2.40,0.00,0.000,5126,0.000,0.050,2958,2109,1856,1933,1779,0,0,0,0,0,0,15.02,14.89,15.04
$GC,2810,0.63,254.3,2959,2108,1933,1779,45.1,8.8,415,2839,0.00,2.35,19.95,0.921,12804,0.000,0.057,2970,711,1762,1844,1680,0,0,0,0,0,0,15.22,14.64,14.20
$GC,2858,0.64,267.2,2970,712,1840,1680,40.7,9.4,422,2875,0.05,2.40,11.98,0.877,13318,0.352,0.049,2950,2131,1709,1796,1623,0,0,0,0,0,0,14.66,14.85,14.21
$GC,3134,0.64,269.9,2950,2132,1794,1617,13.8,10.0,472,3141,0.00,2.40,0.00,0.000,2308,0.000,0.063,2950,3540,1705,1794,1617,0,0,0,0,0,0,15.18,14.82,15.18
$GC,3177,0.64,269.9,2950,3540,1794,1617,9.2,10.7,479,3185,0.00,2.40,0.00,0.000,5126,0.000,0.048,2960,2115,1706,1794,1618,0,0,0,0,0,0,14.99,14.86,15.01
$STATE,3232,end climb,SURFACE_DEPTH_REACHED
$STATE,3232,begin surface coast
$FINISH,0.6,1.023003
$STATE,3261,end surface coast,CONTROL_FINISHED_OK
$STATE,3261,begin surface
$SM_CCo,3278,55.10,0.185,0,0,1167,400.08
$SM_GC,1.20,6.50,0.25,55.10,0.066,0.064,0.185,148,2282,1167,-7.95,-1.13,400.08,0,0,0,0,0,0,14.94,15.00,14.67
$IRIDIUM_FIX,2237.01,-15759.32,290921,005913
$TT8_MAMPS,0.023219,0.31458
$HUMID,51.57
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.45,142.973
$10V_AH,12.70,0.000
$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,15.925,48.300,310.125,55.100,0.000,25.643,44.736,123.538,0.250,0.000,28.340,1228.588,546.605,405.502,1345.837,168.770,0.000,899.356,0.000,1157.786,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,184.365,1087.830,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.766,358.256,761.352,650.817,760.809,0.000,0.000,0.000,0.000,0.000
$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,44021,494
$CAP_FILE_SIZE,111250,0
$CFSIZE,1023623168,963559424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.124,229.50,1
$GPS,290921,020106,2245.092,-15800.202,8,0.9,49,9.8,0.7,125.4,7,5.7