version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 604
start: 9 29 121 6 43 41
data:
$ID,626
$MISSION,3
$DIVE,604
$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,63
$R_STBD_OVSHOOT,64
$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
$GPS1,290921,063731,2245.2031,-15800.7393,8,0.8,33,9.8,0.6,38.6,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.6
$GPS2,290921,064251,2245.2144,-15800.7949,7,0.8,15,9.8,0.7,250.8,10,9.5
$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,83.2,1414,-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,-116.8,123,2227,1206,1114,0.0,0.0,0,76,0.00,0.00,-58.40,0.000,16386,0.000,0.000,123,2227,3000,2980,3020,0,0,0,0,0,0,15.17,28.83,15.19
$GC,80,-0.55,-116.8,123,2227,2980,3020,3.1,-5.3,8,101,8.43,0.00,-4.78,0.000,18950,0.436,0.000,2562,2226,3278,3257,3299,0,0,0,0,0,0,14.24,14.01,14.53
$GC,360,-0.55,-116.8,2562,2226,3263,3294,74.6,-17.5,59,369,0.00,2.30,0.00,0.000,2564,0.000,0.051,2563,882,3279,3265,3293,0,0,0,0,0,0,15.20,14.79,15.21
$GC,393,-0.55,-116.8,2563,883,3266,3293,79.6,-16.2,64,401,0.03,2.33,0.00,0.000,3078,0.405,0.057,2565,2224,3279,3267,3291,0,0,0,0,0,0,14.57,14.79,14.90
$GC,653,-0.55,-116.8,2564,2226,3267,3291,120.7,-15.8,113,659,0.00,2.45,0.00,0.000,2308,0.000,0.067,2555,3682,3279,3267,3291,0,0,0,0,0,0,15.23,14.87,15.23
$GC,694,-0.55,-116.8,2554,3682,3267,3291,126.3,-12.8,120,702,0.03,2.35,0.00,0.000,3078,0.201,0.044,2581,2283,3278,3267,3290,0,0,0,0,0,0,14.63,14.85,14.88
$GC,958,-0.55,-116.8,2581,2281,3267,3291,158.4,-11.2,163,962,0.00,2.35,0.00,0.000,4612,0.000,0.054,2581,861,3278,3267,3290,0,0,0,0,0,0,15.27,14.91,15.27
$GC,1041,-0.55,-116.8,2581,861,3267,3290,166.8,-9.5,171,1046,0.00,2.35,0.00,0.000,1030,0.000,0.053,2572,2270,3279,3268,3290,0,0,0,0,0,0,15.04,14.93,15.07
$GC,1296,-0.55,-116.8,2572,2270,3268,3289,192.1,-9.0,196,1305,0.00,2.33,0.00,0.000,260,0.000,0.068,2561,3667,3279,3268,3290,0,0,0,0,0,0,15.28,14.77,15.28
$GC,1329,-0.55,-116.8,2561,3668,3268,3290,194.7,-7.9,199,1334,0.00,2.28,0.00,0.000,3078,0.000,0.044,2562,2272,3278,3268,3289,0,0,0,0,0,0,15.08,14.97,15.10
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1406,-0.13,0.0,2561,2076,3268,3289,200.6,-8.0,206,1503,0.35,0.10,93.05,1.089,10246,0.223,0.129,2699,2154,2798,2863,2734,0,0,0,0,0,0,14.55,14.65,14.04
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,0.55,116.8,2699,2154,2862,2734,202.2,0.0,216,1612,0.52,2.30,96.07,1.076,10500,0.155,0.059,2918,3512,2321,2403,2240,0,0,0,0,0,0,14.57,14.38,13.94
$GC,1966,0.59,183.0,2918,3512,2403,2240,177.8,6.7,261,2026,0.00,2.28,52.95,1.063,11270,0.000,0.043,2929,2170,2052,2138,1967,0,0,0,0,0,0,14.85,14.80,14.13
$GC,2270,0.60,197.1,2929,2170,2137,1960,146.6,9.4,294,2292,0.00,2.47,11.70,0.981,10756,0.000,0.059,2940,712,1994,2076,1913,0,0,0,0,0,0,15.19,14.75,14.20
$GC,2512,0.61,219.4,2940,712,2066,1913,123.2,9.0,339,2539,0.00,2.33,18.42,0.996,11270,0.000,0.053,2940,2102,1904,1982,1827,0,0,0,0,0,0,15.02,14.90,14.23
$GC,2794,0.64,272.2,2940,2103,1982,1822,100.2,7.4,391,2842,0.00,2.45,42.62,0.994,10500,0.000,0.066,2940,3529,1688,1777,1600,0,0,0,0,0,0,15.21,14.77,14.20
$GC,2978,0.65,289.7,2940,3530,1777,1600,83.4,9.2,423,2999,0.00,2.35,15.32,0.939,11270,0.000,0.049,2952,2122,1616,1710,1523,0,0,0,0,0,0,14.97,14.85,14.19
$GC,3260,0.68,335.0,2951,2122,1710,1520,59.7,7.8,474,3306,0.00,2.42,35.67,0.941,10756,0.000,0.058,2962,714,1431,1526,1337,0,0,0,0,0,0,15.17,14.57,14.16
$GC,3342,0.70,366.9,2962,714,1521,1337,53.3,8.5,486,3377,0.00,2.40,25.23,0.916,11270,0.000,0.052,2962,2124,1303,1400,1206,0,0,0,0,0,0,14.90,14.78,14.09
$GC,3636,0.71,375.2,2962,2125,1400,1201,26.5,9.7,539,3647,0.00,2.42,3.55,0.669,10500,0.000,0.064,2962,3535,1267,1366,1168,0,0,0,0,0,0,15.16,14.83,14.15
$GC,3695,0.71,383.2,2962,3534,1365,1168,20.5,9.7,548,3704,0.00,2.40,3.55,0.641,11270,0.000,0.049,2973,2113,1234,1334,1134,0,0,0,0,0,0,14.98,14.85,14.15
$STATE,3859,end climb,SURFACE_DEPTH_REACHED
$STATE,3859,begin surface coast
$FINISH,0.3,1.022052
$STATE,3882,end surface coast,CONTROL_FINISHED_OK
$STATE,3883,begin surface
$SM_CCo,3899,6.53,0.210,0,0,1167,400.08
$SM_GC,2.01,6.45,0.28,6.53,0.050,0.059,0.210,142,2327,1167,-7.95,-0.76,400.08,0,0,0,0,0,0,14.99,14.97,14.68
$IRIDIUM_FIX,2234.68,-15800.20,290921,063900
$TT8_MAMPS,0.02247,0.313831
$HUMID,51.49
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.94,143.899
$10V_AH,12.99,0.000
$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,15.800,43.200,398.150,6.525,0.000,27.181,50.121,120.599,0.250,0.000,16.352,1432.509,679.552,405.191,1551.853,186.569,0.000,981.560,0.000,1378.901,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,185.130,1088.595,209.610,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,386.407,444.399,898.102,751.917,878.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,50540,582
$CAP_FILE_SIZE,125419,0
$CFSIZE,1023623168,963117056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.125,287.32,1
$GPS,290921,074942,2245.329,-15800.779,7,0.8,19,9.8,0.5,304.2,11,9.9