version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 612
start: 9 29 121 16 22 22
data:
$ID,626
$MISSION,3
$DIVE,612
$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,33
$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
$GPS1,290921,161431,2244.8196,-15800.8564,8,0.9,33,9.8,1.0,343.5,9,6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.1
$GPS2,290921,162132,2244.7976,-15800.9111,7,0.9,16,9.8,0.0,130.5,9,9.3
$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,60.6,1600,-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,-116.8,123,2289,1203,1111,0.0,0.0,0,81,0.00,0.00,-62.58,0.000,16386,0.000,0.000,123,2289,3161,3125,3197,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2289,3125,3197,3.5,-6.3,9,100,8.43,2.33,-1.85,0.000,18692,0.437,0.066,2553,3692,3279,3248,3311,0,0,0,0,0,0,14.26,13.43,14.56
$GC,140,-0.55,-116.8,2552,3695,3255,3306,26.6,-24.5,18,150,0.05,2.45,0.00,0.000,3078,0.314,0.050,2571,2262,3280,3259,3302,0,0,0,0,0,0,14.50,14.75,14.66
$GC,409,-0.55,-116.8,2570,2258,3263,3297,83.6,-19.8,67,416,0.00,2.35,0.00,0.000,2564,0.000,0.057,2571,851,3280,3265,3296,0,0,0,0,0,0,15.21,14.87,15.22
$GC,503,-0.55,-116.8,2571,851,3267,3295,100.1,-14.7,84,511,0.00,2.40,0.00,0.000,3078,0.000,0.054,2562,2263,3281,3267,3295,0,0,0,0,0,0,15.00,14.85,15.02
$GC,762,-0.55,-116.8,2561,2264,3267,3295,142.1,-14.3,133,769,0.00,2.38,0.00,0.000,2564,0.000,0.052,2562,846,3281,3267,3296,0,0,0,0,0,0,15.24,14.91,15.24
$GC,810,-0.55,-116.8,2562,846,3267,3295,147.8,-11.5,141,818,0.05,2.38,0.00,0.000,3078,0.388,0.054,2569,2267,3281,3268,3294,0,0,0,0,0,0,14.66,14.91,14.91
$GC,1062,-0.55,-116.8,2569,2269,3267,3295,177.6,-12.3,167,1063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2569,2269,3281,3267,3295,0,0,0,0,0,0,15.29,15.30,15.30
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1256,-0.13,0.0,2569,2061,3267,3294,200.9,-12.2,186,1354,0.35,0.12,93.43,1.086,10246,0.239,0.108,2704,2161,2798,2862,2735,0,0,0,0,0,0,14.42,14.66,14.05
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1358,0.55,116.8,2704,2162,2862,2735,205.2,0.0,196,1463,0.50,2.25,96.05,1.081,10500,0.150,0.054,2917,3505,2321,2403,2239,0,0,0,0,0,0,14.57,14.40,13.95
$GC,1570,0.55,117.5,2917,3505,2403,2239,195.3,10.1,217,1579,0.00,2.25,0.00,0.000,5126,0.000,0.043,2928,2126,2320,2404,2237,0,0,0,0,0,0,14.75,14.70,14.76
$GC,1822,0.60,193.9,2927,2125,2403,2233,175.0,6.2,242,1889,0.00,2.40,61.10,1.058,10756,0.000,0.055,2939,726,2007,2090,1925,0,0,0,0,0,0,15.21,14.71,14.12
$GC,1928,0.60,196.0,2939,725,2080,1924,166.7,10.0,252,1935,0.00,2.35,0.00,0.000,1030,0.000,0.051,2940,2090,2002,2081,1924,0,0,0,0,0,0,14.86,14.73,14.88
$GC,2180,0.60,196.0,2939,2091,2080,1921,138.1,10.9,287,2187,0.00,2.40,0.00,0.000,260,0.000,0.065,2940,3534,2000,2080,1921,0,0,0,0,0,0,15.19,14.87,15.19
$GC,2304,0.60,196.0,2939,3534,2080,1921,123.6,11.5,309,2311,0.00,2.33,0.00,0.000,5126,0.000,0.047,2951,2132,2000,2080,1921,0,0,0,0,0,0,15.03,14.91,15.04
$GC,2567,0.60,196.0,2950,2131,2080,1920,94.0,10.6,358,2576,0.00,2.40,0.00,0.000,4612,0.000,0.060,2962,719,2000,2080,1920,0,0,0,0,0,0,15.23,14.86,15.23
$GC,2664,0.61,224.9,2962,719,2076,1919,85.2,8.6,375,2697,0.03,2.38,23.80,0.964,13318,0.516,0.053,2951,2136,1882,1962,1803,0,0,0,0,0,0,14.73,14.91,14.24
$GC,2953,0.63,251.3,2950,2137,1962,1797,57.8,8.7,428,2982,0.00,2.38,21.95,0.925,8452,0.000,0.067,2950,3540,1773,1858,1689,0,0,0,0,0,0,15.19,14.64,14.21
$GC,3039,0.63,251.3,2950,3541,1857,1689,49.0,12.2,442,3047,0.00,2.40,0.00,0.000,5126,0.000,0.050,2960,2121,1773,1857,1689,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3307,0.64,260.6,2959,2121,1858,1687,22.8,9.6,491,3316,0.00,2.40,4.10,0.685,12804,0.000,0.059,2971,709,1734,1820,1648,0,0,0,0,0,0,15.20,14.87,14.18
$GC,3344,0.64,260.6,2970,708,1816,1649,18.6,11.7,497,3352,0.05,2.42,0.00,0.000,5126,0.355,0.054,2952,2132,1732,1816,1648,0,0,0,0,0,0,14.68,14.87,14.90
$STATE,3504,end climb,SURFACE_DEPTH_REACHED
$STATE,3505,begin surface coast
$FINISH,0.3,1.002800
$STATE,3534,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3550,57.47,0.183,0,0,1165,400.08
$SM_GC,1.12,6.47,0.20,57.47,0.068,0.084,0.183,150,2280,1165,-7.94,-1.07,400.08,0,0,0,0,0,0,14.95,14.95,14.67
$IRIDIUM_FIX,2234.68,-15804.53,290921,161746
$TT8_MAMPS,0.02247,0.313831
$HUMID,51.49
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,13.43,145.437
$10V_AH,12.84,0.000
$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,15.925,43.200,300.425,57.475,0.000,67.439,49.002,120.988,0.500,0.000,18.300,1319.515,724.305,394.534,1444.585,176.710,0.000,895.605,0.000,1236.023,0.000,0.554,0.000
$DEVICE_MAMPS,515.610,107.865,1086.300,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,353.906,386.259,825.112,702.063,822.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,47416,532
$CAP_FILE_SIZE,116400,0
$CFSIZE,1023623168,962478080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.119,274.84,1
$GPS,290921,172325,2245.021,-15800.887,7,1.1,17,9.8,1.0,307.0,8,9.9