version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 602
start: 9 29 121 4 22 47
data:
$ID,626
$MISSION,3
$DIVE,602
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,290921,041619,2245.0537,-15800.2168,10,0.9,40,9.8,0.8,91.2,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.0
$GPS2,290921,042158,2245.0325,-15800.2891,7,0.8,19,9.8,0.6,259.0,10,9.5
$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,62.2,498,-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,-116.8,124,2248,1201,1113,0.0,0.0,0,75,0.00,0.00,-56.05,0.000,16386,0.000,0.000,124,2249,2934,2914,2954,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,124,2249,2915,2953,3.2,-6.2,8,101,8.48,2.38,-5.82,0.000,18692,0.440,0.070,2558,3681,3277,3257,3297,0,0,0,0,0,0,14.26,13.94,14.54
$GC,140,-0.55,-116.8,2558,3682,3257,3298,23.9,-21.9,18,149,0.00,2.40,0.00,0.000,3078,0.000,0.047,2558,2257,3278,3261,3295,0,0,0,0,0,0,14.97,14.84,14.99
$GC,406,-0.55,-116.8,2558,2254,3264,3292,83.5,-19.2,67,413,0.00,2.33,0.00,0.000,2564,0.000,0.055,2558,855,3278,3265,3291,0,0,0,0,0,0,15.21,14.87,15.21
$GC,474,-0.55,-116.8,2558,854,3267,3291,94.0,-13.5,79,482,0.08,2.35,0.00,0.000,3078,0.345,0.052,2574,2263,3278,3267,3290,0,0,0,0,0,0,14.62,14.89,14.88
$GC,739,-0.55,-116.8,2573,2266,3267,3290,132.0,-14.3,128,747,0.00,2.40,0.00,0.000,260,0.000,0.065,2564,3671,3278,3267,3290,0,0,0,0,0,0,15.23,14.79,15.24
$GC,761,-0.55,-116.8,2564,3671,3267,3290,134.9,-14.0,131,767,0.00,2.30,0.00,0.000,3078,0.000,0.041,2564,2259,3278,3267,3290,0,0,0,0,0,0,15.04,14.93,15.06
$GC,1023,-0.55,-116.8,2563,2257,3267,3290,175.9,-17.6,166,1027,0.00,2.38,0.00,0.000,2308,0.000,0.063,2553,3675,3278,3267,3289,0,0,0,0,0,0,15.28,14.91,15.28
$GC,1116,-0.55,-116.8,2553,3675,3267,3290,189.2,-13.1,175,1126,0.05,2.28,0.00,0.000,3078,0.301,0.041,2571,2257,3278,3267,3290,0,0,0,0,0,0,14.54,14.83,14.69
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1199,-0.13,0.0,2572,2083,3267,3290,200.6,-14.9,183,1298,0.35,0.08,92.53,1.085,10246,0.260,0.149,2703,2150,2798,2863,2733,0,0,0,0,0,0,14.36,14.64,14.05
$STATE,1299,end apogee,CONTROL_FINISHED_OK
$STATE,1299,begin climb
$GC,1301,0.55,116.8,2703,2150,2863,2733,206.8,0.0,193,1407,0.50,2.30,96.22,1.079,10500,0.152,0.056,2914,3517,2320,2401,2240,0,0,0,0,0,0,14.57,14.40,13.95
$GC,1586,0.60,202.0,2914,3517,2402,2241,197.6,5.7,221,1665,0.00,2.20,67.95,1.071,11270,0.000,0.041,2925,2170,1975,2056,1894,0,0,0,0,0,0,14.96,14.86,14.02
$GC,1904,0.62,234.5,2924,2170,2056,1888,173.8,8.4,253,1937,0.00,2.30,26.45,1.040,10500,0.000,0.064,2925,3509,1842,1923,1762,0,0,0,0,0,0,15.18,14.79,14.19
$GC,2165,0.62,234.5,2925,3509,1923,1762,144.3,13.7,282,2173,0.00,2.35,0.00,0.000,3078,0.000,0.049,2935,2135,1842,1923,1762,0,0,0,0,0,0,14.90,14.84,15.00
$GC,2435,0.67,321.1,2935,2133,1923,1760,122.5,5.6,331,2516,0.00,2.38,69.25,1.016,11012,0.000,0.063,2936,3502,1489,1580,1398,0,0,0,0,0,0,15.23,14.61,14.15
$GC,2664,0.67,323.3,2935,3502,1581,1397,103.3,10.0,370,2672,0.00,2.38,0.00,0.000,3078,0.000,0.052,2946,2126,1488,1580,1397,0,0,0,0,0,0,14.95,14.78,14.96
$GC,2931,0.68,336.3,2946,2126,1579,1394,75.5,9.4,419,2954,0.00,2.38,13.05,0.924,10500,0.000,0.064,2946,3509,1427,1522,1332,0,0,0,0,0,0,15.20,14.75,14.26
$GC,3032,0.69,351.7,2945,3509,1522,1331,65.9,9.3,436,3056,0.00,2.38,13.25,0.913,11270,0.000,0.051,2956,2127,1365,1461,1269,0,0,0,0,0,0,14.83,14.76,14.17
$GC,3317,0.72,396.9,2956,2127,1460,1264,45.4,7.8,487,3361,0.00,2.38,35.28,0.924,10756,0.000,0.057,2967,713,1179,1278,1080,0,0,0,0,0,0,15.18,14.66,14.24
$GC,3416,0.73,413.2,2967,713,1272,1081,37.6,9.3,503,3439,0.00,2.40,13.48,0.874,11270,0.000,0.054,2967,2124,1114,1212,1017,0,0,0,0,0,0,14.92,14.80,14.14
$GC,3698,0.74,424.0,2965,2125,1212,1014,13.3,9.5,554,3713,0.00,2.40,4.47,0.269,10500,0.000,0.063,2967,3531,1068,1167,969,0,0,0,0,0,0,15.17,14.65,14.59
$GC,3769,0.74,432.5,2967,3531,1167,969,5.8,9.7,566,3778,0.00,2.40,3.53,0.249,11270,0.000,0.045,2977,2095,1034,1139,929,0,0,0,0,0,0,14.99,14.85,14.64
$STATE,3794,end climb,SURFACE_DEPTH_REACHED
$STATE,3794,begin surface coast
$FINISH,0.3,1.023041
$STATE,3823,end surface coast,CONTROL_FINISHED_OK
$STATE,3823,begin surface
$SM_CCo,3899,0.00,0.000,0,0,1030,433.93
$SM_GC,1.13,6.47,0.30,0.00,0.059,0.055,0.000,163,2330,1030,-7.92,-0.76,433.93,0,0,0,0,0,0,14.95,14.97,15.00
$IRIDIUM_FIX,2234.68,-15759.32,290921,041747
$TT8_MAMPS,0.021721,0.285369
$HUMID,51.81
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,13.94,143.512
$10V_AH,12.11,0.000
$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,15.925,47.575,435.450,0.000,0.000,26.552,46.800,131.654,0.000,0.000,20.904,1401.346,684.714,444.378,1551.423,182.126,0.000,1027.101,0.000,1362.141,0.000,0.555,0.000
$DEVICE_MAMPS,439.875,149.175,1084.770,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,380.780,412.466,881.865,752.469,878.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,50606,575
$CAP_FILE_SIZE,124035,0
$CFSIZE,1023623168,963280896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.194,246.22,1
$GPS,290921,052836,2245.038,-15800.611,8,1.0,17,9.8,0.0,234.7,8,9.7