version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 601
start: 9 29 121 3 13 32
data:
$ID,626
$MISSION,3
$DIVE,601
$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,79
$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
$GPS1,290921,030710,2245.0591,-15800.2031,7,0.8,15,9.8,0.0,299.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.6
$GPS2,290921,031242,2245.0393,-15800.2637,7,0.8,15,9.8,0.5,207.3,9,9.7
$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,63.3,456,-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,-116.8,124,2214,1198,1116,0.0,0.0,0,73,0.00,0.00,-54.78,0.000,16386,0.000,0.000,123,2213,2893,2878,2909,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,124,2213,2878,2910,3.1,-6.2,8,98,8.43,0.00,-6.72,0.000,18694,0.436,0.000,2565,2212,3279,3262,3296,0,0,0,0,0,0,14.26,14.02,14.54
$GC,355,-0.55,-116.8,2565,2212,3267,3293,71.1,-20.3,59,362,0.00,2.42,0.00,0.000,2308,0.000,0.060,2556,3635,3280,3267,3293,0,0,0,0,0,0,15.21,14.83,15.21
$GC,375,-0.55,-116.8,2555,3635,3267,3293,75.0,-18.6,62,384,0.03,2.25,0.00,0.000,3078,0.404,0.044,2564,2298,3280,3267,3293,0,0,0,0,0,0,14.60,14.78,14.71
$GC,643,-0.55,-116.8,2564,2295,3267,3294,114.8,-14.0,111,650,0.00,2.40,0.00,0.000,2564,0.000,0.055,2565,855,3279,3268,3291,0,0,0,0,0,0,15.24,14.89,15.24
$GC,722,-0.55,-116.8,2565,855,3269,3291,124.5,-10.4,125,730,0.05,2.28,0.00,0.000,3078,0.392,0.050,2573,2226,3279,3270,3289,0,0,0,0,0,0,14.66,14.91,14.90
$GC,990,-0.55,-116.8,2573,2228,3271,3290,158.1,-12.5,169,999,0.00,2.25,0.00,0.000,516,0.000,0.050,2573,850,3280,3271,3290,0,0,0,0,0,0,15.27,14.86,15.27
$GC,1033,-0.55,-116.8,2573,850,3271,3290,163.3,-12.1,173,1043,0.00,2.35,0.00,0.000,3078,0.000,0.053,2564,2265,3280,3272,3289,0,0,0,0,0,0,15.06,14.93,15.07
$GC,1287,-0.55,-116.8,2564,2266,3271,3290,195.3,-13.2,198,1296,0.00,2.33,0.00,0.000,2308,0.000,0.066,2554,3666,3280,3271,3290,0,0,0,0,0,0,15.28,14.60,15.29
$GC,1311,-0.55,-116.8,2553,3666,3271,3290,198.8,-13.3,200,1319,0.05,2.28,0.00,0.000,3078,0.340,0.042,2574,2269,3280,3271,3290,0,0,0,0,0,0,14.73,14.97,14.95
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1328,begin apogee
$GC,1334,-0.13,0.0,2574,2077,3272,3290,201.2,-13.0,202,1431,0.32,0.10,92.95,1.093,10246,0.229,0.125,2702,2158,2798,2863,2733,0,0,0,0,0,0,14.55,14.65,14.05
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1435,0.55,116.8,2702,2159,2864,2734,206.5,0.0,212,1540,0.50,0.00,96.03,1.082,10502,0.148,0.000,2914,2159,2322,2405,2239,0,0,0,0,0,0,14.57,14.36,13.93
$GC,1781,0.57,146.8,2915,2159,2405,2233,191.8,8.6,247,1812,0.00,2.30,25.05,1.049,10500,0.000,0.062,2915,3511,2199,2287,2112,0,0,0,0,0,0,15.17,14.78,14.18
$GC,2005,0.57,146.8,2914,3512,2287,2113,167.2,11.0,269,2012,0.00,2.20,0.00,0.000,3078,0.000,0.045,2925,2173,2200,2287,2113,0,0,0,0,0,0,15.02,14.90,15.02
$GC,2257,0.59,178.4,2925,2173,2287,2109,142.7,8.5,302,2290,0.00,2.45,26.23,1.024,10756,0.000,0.056,2937,717,2069,2157,1982,0,0,0,0,0,0,15.23,14.65,14.21
$GC,2336,0.60,198.6,2936,717,2150,1982,136.0,9.1,315,2363,0.00,2.33,16.90,0.988,11270,0.000,0.052,2936,2103,1988,2070,1907,0,0,0,0,0,0,14.98,14.87,14.12
$GC,2616,0.60,198.6,2936,2103,2070,1901,105.1,11.0,367,2623,0.00,2.40,0.00,0.000,2308,0.000,0.065,2937,3531,1986,2070,1902,0,0,0,0,0,0,15.19,14.86,15.20
$GC,2696,0.60,198.6,2936,3531,2070,1902,95.6,11.8,381,2702,0.00,2.33,0.00,0.000,5126,0.000,0.047,2948,2129,1985,2069,1902,0,0,0,0,0,0,15.02,14.91,15.04
$GC,2957,0.62,230.8,2947,2129,2070,1901,67.1,8.4,430,2992,0.00,2.40,25.83,0.946,8708,0.000,0.060,2958,717,1855,1936,1775,0,0,0,0,0,0,15.21,14.73,14.28
$GC,3017,0.63,246.3,2958,717,1932,1775,61.9,9.3,439,3040,0.00,2.40,13.43,0.904,13318,0.000,0.050,2959,2129,1793,1876,1711,0,0,0,0,0,0,14.95,14.83,14.15
$GC,3298,0.63,246.5,2959,2129,1876,1706,33.3,10.1,490,3305,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,2129,1790,1876,1705,0,0,0,0,0,0,15.18,15.18,15.18
$GC,3560,0.63,246.5,2959,2130,1876,1705,5.4,10.6,539,3568,0.00,2.40,0.00,0.000,4356,0.000,0.066,2958,3533,1790,1876,1705,0,0,0,0,0,0,15.19,14.82,15.20
$STATE,3579,end climb,SURFACE_DEPTH_REACHED
$STATE,3579,begin surface coast
$FINISH,0.2,1.010854
$STATE,3608,end surface coast,CONTROL_FINISHED_OK
$STATE,3608,begin surface
$SM_CCo,3626,63.70,0.182,0,0,1167,400.08
$SM_GC,1.07,6.45,2.10,63.70,0.063,0.036,0.182,159,2256,1167,-7.91,1.02,400.08,0,0,0,0,0,0,14.96,14.92,14.66
$IRIDIUM_FIX,2234.68,-15802.37,290921,030839
$TT8_MAMPS,0.023219,0.28462
$HUMID,51.53
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,13.93,143.307
$10V_AH,12.91,0.000
$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,15.825,42.225,296.400,63.700,0.000,26.633,45.143,140.132,0.500,0.000,16.337,1346.521,659.251,423.231,1444.143,179.354,0.000,934.501,0.000,1264.506,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,129.285,1093.185,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,363.698,395.588,847.588,716.889,836.724,0.000,0.000,0.000,0.000,0.000
$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,47189,547
$CAP_FILE_SIZE,120577,0
$CFSIZE,1023623168,963379200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174,243.68,1
$GPS,290921,041619,2245.054,-15800.217,10,0.9,40,9.8,0.8,91.2,9,5.4