version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 605
start: 9 29 121 7 55 53
data:
$ID,626
$MISSION,3
$DIVE,605
$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,70
$R_STBD_OVSHOOT,32
$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
$GPS1,290921,074942,2245.3289,-15800.7793,7,0.8,19,9.8,0.5,304.2,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.2
$GPS2,290921,075503,2245.3433,-15800.8418,7,0.8,16,9.8,0.5,329.1,10,10.0
$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,100.5,1571,-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,-116.8,121,2224,1210,1111,0.0,0.0,0,81,0.00,0.00,-62.55,0.000,16386,0.000,0.000,122,2222,3179,3141,3217,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,122,2221,3141,3217,3.7,-7.3,9,99,8.43,0.00,-1.55,0.000,18950,0.437,0.000,2561,2221,3278,3247,3310,0,0,0,0,0,0,14.24,13.47,14.55
$GC,355,-0.55,-116.8,2561,2221,3262,3296,71.3,-16.8,59,363,0.00,2.28,0.00,0.000,2564,0.000,0.050,2562,888,3280,3264,3296,0,0,0,0,0,0,15.20,14.78,15.21
$GC,387,-0.55,-116.8,2562,887,3266,3295,76.3,-15.1,64,395,0.05,2.38,0.00,0.000,3078,0.391,0.055,2571,2262,3280,3267,3294,0,0,0,0,0,0,14.62,14.81,14.88
$GC,647,-0.55,-116.8,2570,2264,3267,3294,115.0,-15.0,113,654,0.00,2.38,0.00,0.000,2308,0.000,0.066,2561,3681,3280,3267,3294,0,0,0,0,0,0,15.23,14.88,15.23
$GC,683,-0.55,-116.8,2561,3681,3267,3294,119.7,-12.6,119,691,0.00,2.28,0.00,0.000,3078,0.000,0.044,2561,2289,3280,3266,3294,0,0,0,0,0,0,15.04,14.93,15.06
$GC,940,-0.55,-116.8,2561,2286,3267,3294,154.0,-12.7,165,950,0.00,2.38,0.00,0.000,2564,0.000,0.054,2561,854,3279,3265,3294,0,0,0,0,0,0,15.26,14.90,15.27
$GC,1027,-0.55,-116.8,2561,853,3268,3294,163.3,-10.9,173,1035,0.08,2.35,0.00,0.000,3078,0.324,0.054,2578,2266,3279,3268,3291,0,0,0,0,0,0,14.68,14.92,14.92
$GC,1275,-0.55,-116.8,2578,2270,3268,3291,187.5,-9.2,198,1279,0.00,2.35,0.00,0.000,4356,0.000,0.067,2568,3675,3279,3268,3290,0,0,0,0,0,0,15.29,14.92,15.29
$GC,1318,-0.55,-116.8,2568,3675,3268,3292,191.1,-8.3,202,1323,0.00,2.30,0.00,0.000,3078,0.000,0.043,2568,2262,3279,3268,3291,0,0,0,0,0,0,15.09,14.97,15.10
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.13,0.0,2568,2079,3268,3290,200.7,-8.3,213,1533,0.35,0.10,92.70,1.091,10246,0.211,0.126,2706,2164,2798,2863,2733,0,0,0,0,0,0,14.45,14.65,14.04
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1537,0.55,116.8,2706,2164,2863,2733,203.4,0.0,223,1642,0.50,2.28,95.75,1.081,10500,0.142,0.060,2921,3508,2322,2405,2240,0,0,0,0,0,0,14.59,14.39,13.94
$GC,2036,0.59,185.1,2920,3508,2404,2241,173.8,6.6,272,2096,0.00,2.20,54.75,1.062,11270,0.000,0.044,2931,2167,2044,2130,1959,0,0,0,0,0,0,15.03,14.93,14.14
$GC,2341,0.61,221.9,2931,2167,2127,1953,147.2,8.2,305,2381,0.00,2.47,29.55,1.024,10756,0.000,0.058,2943,718,1892,1970,1814,0,0,0,0,0,0,15.18,14.71,14.19
$GC,2524,0.61,221.9,2942,717,1960,1815,128.1,10.8,337,2531,0.00,2.33,0.00,0.000,3078,0.000,0.054,2943,2100,1886,1960,1813,0,0,0,0,0,0,14.98,14.86,15.00
$GC,2790,0.64,266.0,2943,2099,1959,1812,104.0,7.8,386,2830,0.00,2.47,35.28,0.995,10500,0.000,0.067,2943,3539,1713,1799,1627,0,0,0,0,0,0,15.21,14.81,14.23
$GC,2958,0.65,290.3,2942,3539,1799,1626,88.2,8.8,415,2986,0.00,2.35,20.52,0.956,11270,0.000,0.049,2954,2127,1613,1706,1521,0,0,0,0,0,0,14.97,14.86,14.20
$GC,3248,0.67,313.7,2953,2127,1707,1516,61.0,8.9,467,3277,0.00,2.42,19.08,0.930,10756,0.000,0.062,2965,713,1519,1612,1426,0,0,0,0,0,0,15.18,14.80,14.23
$GC,3317,0.70,370.7,2965,713,1608,1426,55.7,7.2,478,3368,0.00,2.42,44.75,0.941,11270,0.000,0.054,2964,2133,1286,1383,1190,0,0,0,0,0,0,14.95,14.83,14.16
$GC,3627,0.72,395.2,2964,2133,1382,1186,30.8,8.8,533,3653,0.00,2.40,19.45,0.890,10500,0.000,0.067,2965,3532,1186,1284,1088,0,0,0,0,0,0,15.16,14.81,14.25
$GC,3666,0.72,403.9,2964,3532,1284,1088,26.8,9.7,538,3678,0.00,2.42,3.90,0.679,11270,0.000,0.056,2974,2132,1151,1248,1054,0,0,0,0,0,0,14.79,14.73,14.14
$STATE,3899,end climb,SURFACE_DEPTH_REACHED
$STATE,3899,begin surface coast
$FINISH,0.2,1.013252
$STATE,3927,end surface coast,CONTROL_FINISHED_OK
$STATE,3927,begin surface
$SM_CCo,4003,0.00,0.000,0,0,1148,405.23
$SM_GC,1.18,6.43,0.22,0.00,0.050,0.068,0.000,157,2315,1148,-7.91,-1.10,405.23,0,0,0,0,0,0,14.97,14.95,15.01
$IRIDIUM_FIX,2234.68,-15802.37,290921,075110
$TT8_MAMPS,0.02247,0.289114
$HUMID,51.69
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.47,144.099
$10V_AH,12.96,0.000
$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,15.825,43.075,415.725,0.000,0.000,25.967,42.180,128.888,0.250,0.000,17.694,1433.062,763.409,410.431,1560.611,182.711,0.000,994.937,0.000,1394.031,0.000,0.555,0.000
$DEVICE_MAMPS,436.815,126.225,1090.890,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,388.232,421.199,905.077,763.388,889.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,50628,585
$CAP_FILE_SIZE,125762,0
$CFSIZE,1023623168,963035136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.104,289.56,1
$GPS,290921,090330,2245.341,-15800.736,8,1.0,20,9.8,0.0,188.6,8,9.7