version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 609
start: 9 29 121 12 45 20
data:
$ID,626
$MISSION,3
$DIVE,609
$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,85
$R_STBD_OVSHOOT,68
$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
$GPS1,290921,123846,2244.8545,-15800.5098,8,1.1,48,9.8,0.4,37.6,6,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,290921,124431,2244.8398,-15800.5439,8,0.8,39,9.8,1.0,274.7,9,5.7
$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,50.6,975,-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,-116.8,112,2311,1158,1030,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,16386,0.000,0.000,111,2312,3066,3034,3098,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,112,2312,3035,3098,3.5,-7.2,9,106,8.43,2.22,-3.47,0.000,19204,0.435,0.070,2554,3645,3280,3253,3307,0,0,0,0,0,0,14.27,13.39,14.53
$GC,114,-0.55,-116.8,2553,3646,3255,3306,17.8,-39.2,13,125,0.05,2.25,0.00,0.000,3078,0.370,0.053,2569,2316,3280,3258,3303,0,0,0,0,0,0,14.52,14.78,14.69
$GC,383,-0.55,-116.8,2568,2310,3266,3296,75.0,-19.1,62,390,0.00,2.40,0.00,0.000,2564,0.000,0.054,2568,894,3281,3267,3296,0,0,0,0,0,0,15.21,14.84,15.21
$GC,502,-0.55,-116.8,2568,893,3267,3295,93.1,-13.6,84,510,0.00,2.30,0.00,0.000,3078,0.000,0.055,2560,2224,3280,3266,3295,0,0,0,0,0,0,14.88,14.81,14.90
$GC,764,-0.55,-116.8,2560,2225,3268,3295,134.7,-15.0,133,770,0.00,2.20,0.00,0.000,2564,0.000,0.050,2560,899,3281,3268,3295,0,0,0,0,0,0,15.24,14.92,15.25
$GC,788,-0.55,-116.8,2560,900,3268,3295,138.7,-16.4,137,796,0.08,2.30,0.00,0.000,3078,0.327,0.057,2575,2270,3281,3268,3294,0,0,0,0,0,0,14.66,14.90,14.90
$GC,1047,-0.55,-116.8,2577,2273,3269,3295,171.5,-12.2,170,1056,0.00,2.35,0.00,0.000,260,0.000,0.067,2568,3679,3281,3269,3294,0,0,0,0,0,0,15.27,14.90,15.28
$GC,1070,-0.55,-116.8,2567,3680,3269,3295,174.0,-11.4,172,1080,0.00,2.20,0.00,0.000,3078,0.000,0.042,2567,2310,3281,3269,3294,0,0,0,0,0,0,14.88,14.81,14.91
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1309,begin apogee
$GC,1315,-0.13,0.0,2567,2068,3269,3294,200.0,-11.1,196,1413,0.35,0.10,93.47,1.086,10246,0.226,0.127,2704,2155,2798,2863,2733,0,0,0,0,0,0,14.57,14.66,14.04
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,0.55,116.8,2704,2155,2863,2733,204.8,0.0,206,1521,0.50,2.50,95.85,1.078,10756,0.141,0.050,2930,717,2321,2405,2238,0,0,0,0,0,0,14.59,14.58,13.97
$GC,1731,0.59,185.0,2930,717,2389,2237,193.0,6.6,237,1792,0.00,2.28,54.50,1.070,11270,0.000,0.049,2930,2091,2043,2130,1957,0,0,0,0,0,0,14.70,14.66,14.08
$GC,2041,0.60,195.9,2930,2092,2128,1950,163.1,9.5,268,2060,0.00,2.42,9.43,0.965,10500,0.000,0.066,2930,3522,2000,2086,1914,0,0,0,0,0,0,15.19,14.80,14.19
$GC,2550,0.61,222.4,2930,3522,2086,1914,116.9,8.7,354,2578,0.00,2.38,22.05,0.993,11270,0.000,0.047,2941,2129,1892,1975,1809,0,0,0,0,0,0,14.88,14.83,14.24
$GC,2829,0.64,261.1,2940,2129,1975,1804,93.8,8.1,406,2870,0.00,2.38,31.55,0.977,10500,0.000,0.065,2941,3534,1733,1823,1644,0,0,0,0,0,0,15.21,14.81,14.23
$GC,2947,0.66,291.5,2940,3534,1822,1644,83.7,8.5,426,2981,0.00,2.40,25.25,0.953,11270,0.000,0.050,2951,2117,1609,1705,1514,0,0,0,0,0,0,14.95,14.83,14.16
$GC,3243,0.70,362.9,2951,2116,1705,1509,63.2,6.4,479,3308,0.00,2.40,55.50,0.937,10756,0.000,0.062,2962,720,1318,1415,1221,0,0,0,0,0,0,15.16,14.63,14.19
$GC,3380,0.70,366.4,2962,720,1409,1221,52.7,9.9,501,3388,0.00,2.40,0.00,0.000,3078,0.000,0.052,2963,2125,1314,1409,1220,0,0,0,0,0,0,14.90,14.77,14.91
$GC,3646,0.71,376.2,2962,2125,1409,1217,27.7,9.6,550,3663,0.00,2.42,5.35,0.757,10500,0.000,0.067,2963,3535,1264,1362,1166,0,0,0,0,0,0,15.17,14.71,14.19
$GC,3677,0.72,401.1,2962,3535,1362,1166,25.0,8.8,554,3694,0.00,2.42,10.98,0.817,11270,0.000,0.051,2972,2122,1162,1259,1065,0,0,0,0,0,0,14.83,14.78,14.25
$STATE,3896,end climb,SURFACE_DEPTH_REACHED
$STATE,3897,begin surface coast
$FINISH,0.2,1.022858
$STATE,3923,end surface coast,CONTROL_FINISHED_OK
$STATE,3923,begin surface
$SM_CCo,4000,0.00,0.000,0,0,1158,402.78
$SM_GC,1.09,6.45,0.25,0.00,0.052,0.070,0.000,147,2297,1158,-7.94,-0.99,402.78,0,0,0,0,0,0,14.97,14.95,15.01
$IRIDIUM_FIX,2234.68,-15800.20,290921,124014
$TT8_MAMPS,0.023219,0.343791
$HUMID,52.04
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,13.39,144.887
$10V_AH,12.89,0.000
$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,15.850,42.850,403.925,0.000,0.000,26.501,45.500,127.259,0.250,0.000,40.737,1451.645,719.001,408.255,1602.995,189.381,0.000,996.311,0.000,1410.631,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,126.990,1085.535,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,397.444,430.005,930.984,790.915,929.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,54070,599
$CAP_FILE_SIZE,129688,0
$CFSIZE,1023623168,962707456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,114.41,0x236098,0,24
$CURRENT,0.149,234.97,1
$GPS,290921,135301,2244.799,-15800.724,8,1.0,27,9.8,0.5,270.2,8,8.0