version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 600
start: 9 29 121 2 7 25
data:
$ID,626
$MISSION,3
$DIVE,600
$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,52
$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
$GPS1,290921,020106,2245.0923,-15800.2021,8,0.9,49,9.8,0.7,125.4,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.8
$GPS2,290921,020634,2245.0659,-15800.2549,7,0.9,19,9.8,0.0,158.9,9,9.1
$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,67.6,452,-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,14,begin dive
$GC,16,-0.58,-116.8,124,2291,1198,1118,0.0,0.0,0,73,0.00,0.00,-54.65,0.000,16386,0.000,0.000,124,2291,2892,2877,2907,0,0,0,0,0,0,15.19,28.83,15.19
$GC,77,-0.58,-116.8,124,2291,2877,2907,3.1,-6.5,8,100,8.38,2.28,-6.70,0.000,18692,0.435,0.073,2546,3665,3276,3257,3295,0,0,0,0,0,0,14.26,13.97,14.54
$GC,149,-0.58,-116.8,2546,3665,3256,3295,24.4,-19.9,20,158,0.03,2.38,0.00,0.000,3078,0.399,0.047,2555,2263,3276,3259,3294,0,0,0,0,0,0,14.59,14.81,14.71
$GC,416,-0.58,-116.8,2555,2260,3261,3291,82.5,-17.6,69,423,0.00,2.35,0.00,0.000,2564,0.000,0.055,2556,851,3276,3262,3290,0,0,0,0,0,0,15.21,14.88,15.22
$GC,507,-0.58,-116.8,2556,850,3263,3290,96.6,-13.1,85,514,0.05,2.33,0.00,0.000,3078,0.405,0.051,2563,2243,3276,3264,3289,0,0,0,0,0,0,14.64,14.90,14.89
$GC,772,-0.58,-116.8,2563,2246,3266,3289,136.9,-14.8,134,780,0.00,2.40,0.00,0.000,260,0.000,0.064,2554,3675,3277,3265,3289,0,0,0,0,0,0,15.24,14.86,15.25
$GC,798,-0.58,-116.8,2553,3675,3265,3289,140.7,-14.5,138,807,0.00,2.38,0.00,0.000,3078,0.000,0.044,2554,2269,3276,3265,3288,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1058,-0.58,-116.8,2553,2267,3266,3290,177.5,-14.6,169,1068,0.00,2.33,0.00,0.000,2564,0.000,0.054,2553,853,3277,3266,3288,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1154,-0.58,-116.8,2553,853,3266,3289,189.4,-11.3,178,1162,0.05,2.35,0.00,0.000,3078,0.399,0.051,2560,2266,3276,3266,3287,0,0,0,0,0,0,14.67,14.94,14.92
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1256,-0.13,0.0,2560,2071,3267,3288,200.2,-10.8,188,1353,0.38,0.10,92.65,1.087,10246,0.247,0.126,2704,2160,2798,2863,2734,0,0,0,0,0,0,14.51,14.66,14.04
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1357,0.58,116.8,2704,2160,2863,2734,203.5,0.0,198,1462,0.52,0.00,95.85,1.074,10758,0.151,0.000,2924,2160,2322,2405,2240,0,0,0,0,0,0,14.58,14.55,13.97
$GC,1703,0.62,176.3,2924,2160,2404,2235,185.1,6.7,233,1757,0.00,2.28,48.03,1.057,10500,0.000,0.063,2924,3496,2079,2166,1993,0,0,0,0,0,0,15.18,14.70,14.13
$GC,1918,0.62,176.3,2924,3496,2166,1993,164.7,10.7,254,1925,0.00,2.28,0.00,0.000,3078,0.000,0.047,2935,2123,2080,2167,1993,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2167,0.62,176.3,2934,2123,2167,1989,139.9,11.3,288,2175,0.00,2.40,0.00,0.000,2564,0.000,0.056,2946,703,2077,2166,1988,0,0,0,0,0,0,15.22,14.87,15.22
$GC,2251,0.62,176.3,2946,703,2157,1988,130.0,13.1,303,2259,0.00,2.33,0.00,0.000,1030,0.000,0.049,2946,2099,2072,2157,1988,0,0,0,0,0,0,15.02,14.92,15.05
$GC,2512,0.62,188.8,2945,2099,2157,1988,101.2,9.4,352,2532,0.00,2.42,10.62,0.934,10500,0.000,0.065,2946,3534,2028,2112,1945,0,0,0,0,0,0,15.24,14.78,14.26
$GC,2642,0.62,188.8,2946,3533,2112,1945,86.5,11.5,375,2649,0.00,2.35,0.00,0.000,5126,0.000,0.047,2957,2117,2028,2112,1945,0,0,0,0,0,0,15.03,14.92,15.05
$GC,2906,0.67,266.4,2956,2117,2113,1944,65.8,5.7,424,2974,0.00,2.38,60.60,0.955,10756,0.000,0.055,2968,707,1712,1799,1626,0,0,0,0,0,0,15.22,14.58,14.18
$GC,3004,0.67,271.2,2968,707,1793,1626,58.7,9.8,438,3020,0.00,2.42,5.07,0.779,9222,0.000,0.051,2968,2128,1692,1779,1606,0,0,0,0,0,0,14.86,14.76,14.04
$GC,3276,0.67,271.2,2968,2128,1779,1602,26.6,13.3,488,3283,0.00,2.40,0.00,0.000,260,0.000,0.067,2968,3531,1690,1779,1602,0,0,0,0,0,0,15.16,14.81,15.16
$GC,3313,0.67,271.2,2968,3531,1779,1602,21.2,14.2,494,3321,0.00,2.40,0.00,0.000,5126,0.000,0.048,2979,2109,1690,1779,1601,0,0,0,0,0,0,14.97,14.85,15.00
$STATE,3446,end climb,SURFACE_DEPTH_REACHED
$STATE,3446,begin surface coast
$FINISH,0.2,1.000309
$STATE,3465,end surface coast,CONTROL_FINISHED_OK
$STATE,3465,begin surface
$SM_CCo,3481,53.15,0.181,0,0,1166,400.08
$SM_GC,1.35,6.45,0.28,53.15,0.050,0.065,0.181,162,2312,1166,-7.94,-0.82,400.08,0,0,0,0,0,0,14.95,14.97,14.67
$IRIDIUM_FIX,2237.01,-15802.37,290921,020241
$TT8_MAMPS,0.02247,0.28462
$HUMID,51.77
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.97,143.140
$10V_AH,12.88,0.000
$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,15.850,43.025,312.825,53.150,0.000,36.047,42.178,125.926,0.750,0.000,20.768,1290.755,631.300,405.769,1396.342,171.135,0.000,911.544,0.000,1217.425,0.000,0.556,0.000
$DEVICE_MAMPS,434.520,126.225,1087.065,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,346.647,373.914,808.286,681.552,793.074,0.000,0.000,0.000,0.000,0.000
$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,47459,522
$CAP_FILE_SIZE,114487,0
$CFSIZE,1023623168,963477504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,235.27,1
$GPS,290921,030710,2245.059,-15800.203,7,0.8,15,9.8,0.0,299.6,9,9.9