version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 621
start: 9 30 121 2 8 36
data:
$ID,626
$MISSION,3
$DIVE,621
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,300921,020223,2244.8347,-15800.1992,7,0.9,20,9.8,0.0,216.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.5
$GPS2,300921,020745,2244.8040,-15800.2422,7,0.9,18,9.8,0.5,248.0,9,9.9
$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,42.0,551,-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,-116.8,123,2294,1198,1120,0.0,0.0,0,80,0.00,0.00,-62.40,0.000,16386,0.000,0.000,123,2294,3186,3150,3222,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2294,3150,3222,3.9,-8.1,9,100,8.45,2.28,-1.45,0.000,18692,0.437,0.067,2554,3666,3281,3251,3311,0,0,0,0,0,0,14.25,13.43,14.54
$GC,123,-0.55,-116.8,2554,3667,3256,3307,23.7,-48.0,15,131,0.05,2.40,0.00,0.000,3078,0.393,0.053,2569,2255,3282,3261,3303,0,0,0,0,0,0,14.60,14.83,14.85
$GC,386,-0.55,-116.8,2569,2252,3266,3297,82.5,-18.3,64,394,0.00,2.40,0.00,0.000,2564,0.000,0.054,2570,835,3281,3267,3296,0,0,0,0,0,0,15.21,14.83,15.21
$GC,498,-0.55,-116.8,2570,834,3267,3296,99.8,-13.0,84,506,0.00,2.40,0.00,0.000,3078,0.000,0.054,2561,2243,3281,3268,3295,0,0,0,0,0,0,15.00,14.85,15.02
$GC,765,-0.55,-116.8,2561,2244,3269,3295,142.2,-16.8,133,771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2244,3282,3269,3295,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1021,-0.55,-116.8,2560,2243,3269,3295,182.5,-13.9,162,1032,0.00,2.33,0.00,0.000,2564,0.000,0.054,2561,851,3283,3270,3296,0,0,0,0,0,0,15.28,14.65,15.29
$GC,1067,-0.55,-116.8,2561,851,3270,3295,188.3,-13.1,166,1076,0.05,2.35,0.00,0.000,3078,0.307,0.055,2569,2261,3283,3271,3295,0,0,0,0,0,0,14.50,14.77,14.66
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1190,-0.13,0.0,2569,2066,3271,3295,200.8,-10.6,178,1288,0.35,0.12,93.62,1.082,10246,0.243,0.107,2705,2165,2798,2864,2733,0,0,0,0,0,0,14.53,14.66,14.04
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1292,0.55,116.8,2705,2165,2864,2733,204.2,0.0,188,1397,0.50,0.00,96.78,1.073,10246,0.147,0.000,2917,2165,2320,2403,2238,0,0,0,0,0,0,14.53,14.37,13.94
$GC,1637,0.59,182.3,2916,2165,2402,2232,188.9,6.7,223,1697,0.00,2.28,52.80,1.063,10500,0.000,0.061,2916,3510,2052,2138,1967,0,0,0,0,0,0,15.18,14.53,14.09
$GC,1855,0.59,182.3,2916,3510,2140,1967,165.7,11.6,244,1864,0.00,2.28,0.00,0.000,3078,0.000,0.047,2928,2123,2053,2140,1967,0,0,0,0,0,0,14.81,14.81,14.83
$GC,2109,0.59,191.7,2928,2123,2139,1963,139.5,9.6,278,2122,0.00,0.00,8.35,0.934,10246,0.000,0.000,2926,2123,2016,2102,1931,0,0,0,0,0,0,15.23,14.88,14.23
$GC,2374,0.60,206.9,2928,2123,2102,1929,112.9,9.3,328,2395,0.00,2.38,13.10,0.960,10756,0.000,0.059,2939,716,1953,2033,1874,0,0,0,0,0,0,15.22,14.64,14.19
$GC,2414,0.61,222.2,2938,716,2030,1875,109.3,9.3,334,2435,0.00,2.38,13.32,0.945,11270,0.000,0.053,2939,2088,1892,1971,1813,0,0,0,0,0,0,14.83,14.78,14.21
$GC,2686,0.62,237.8,2939,2088,1971,1809,82.3,9.3,385,2707,0.00,2.45,13.25,0.929,10500,0.000,0.066,2938,3545,1830,1912,1749,0,0,0,0,0,0,15.21,14.67,14.21
$GC,2743,0.62,237.8,2939,3545,1911,1749,76.8,10.7,394,2751,0.00,2.40,0.00,0.000,1030,0.000,0.050,2951,2125,1830,1911,1749,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3008,0.63,254.0,2950,2124,1911,1747,50.8,9.3,443,3030,0.00,2.38,14.32,0.902,8708,0.000,0.060,2962,713,1762,1846,1679,0,0,0,0,0,0,15.20,14.66,14.21
$GC,3077,0.63,255.5,2961,713,1841,1679,44.2,10.0,454,3085,0.00,2.40,0.00,0.000,5126,0.000,0.055,2962,2127,1759,1841,1678,0,0,0,0,0,0,14.97,14.83,14.99
$GC,3340,0.63,255.5,2962,2127,1841,1677,15.4,10.8,503,3348,0.00,2.45,0.00,0.000,4356,0.000,0.069,2961,3541,1759,1841,1677,0,0,0,0,0,0,15.19,14.73,15.19
$GC,3389,0.63,255.5,2961,3541,1841,1677,9.8,12.1,511,3397,0.05,2.40,0.00,0.000,5126,0.389,0.049,2955,2114,1758,1840,1677,0,0,0,0,0,0,14.64,14.86,14.88
$STATE,3452,end climb,SURFACE_DEPTH_REACHED
$STATE,3452,begin surface coast
$FINISH,0.3,1.023030
$STATE,3480,end surface coast,CONTROL_FINISHED_OK
$STATE,3480,begin surface
$SM_CCo,3497,60.42,0.186,0,0,1166,400.08
$SM_GC,1.12,6.43,0.28,60.42,0.063,0.073,0.186,168,2290,1166,-7.89,-0.79,400.08,0,0,0,0,0,0,15.02,14.95,14.66
$IRIDIUM_FIX,2234.68,-15759.32,300921,020350
$TT8_MAMPS,0.02247,0.28462
$HUMID,51.41
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.43,146.946
$10V_AH,12.97,0.000
$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,15.875,38.575,305.550,60.425,0.000,31.576,49.408,117.527,0.500,0.000,19.504,1303.301,616.165,410.116,1406.320,176.631,0.000,911.080,0.000,1212.070,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,107.100,1082.475,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,350.111,512.632,816.097,690.860,803.622,0.000,0.000,0.000,0.000,0.000
$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,47229,527
$CAP_FILE_SIZE,114821,0
$CFSIZE,1023623168,961773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$CURRENT,0.108,248.88,1
$GPS,300921,030901,2245.017,-15800.229,7,0.9,30,9.8,0.8,270.9,9,6.9