version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 622
start: 9 30 121 3 15 21
data:
$ID,626
$MISSION,3
$DIVE,622
$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,32
$R_STBD_OVSHOOT,49
$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
$GPS1,300921,030901,2245.0166,-15800.2295,7,0.9,30,9.8,0.8,270.9,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.8
$GPS2,300921,031425,2244.9961,-15800.2812,7,0.9,15,9.8,0.5,242.6,8,9.9
$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,69.8,480,-18.3,-10.101,-24.26,1945
$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,-0.56,-116.8,124,2297,1201,1119,0.0,0.0,0,74,0.00,0.00,-56.38,0.000,16386,0.000,0.000,123,2297,2933,2911,2956,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.56,-116.8,123,2297,2914,2955,3.0,-5.1,8,101,8.38,2.28,-5.97,0.000,18692,0.431,0.076,2549,3663,3279,3259,3299,0,0,0,0,0,0,14.25,13.94,14.52
$GC,114,-0.56,-116.8,2549,3664,3259,3299,17.0,-37.5,13,124,0.05,2.40,0.00,0.000,3078,0.349,0.050,2565,2258,3279,3262,3297,0,0,0,0,0,0,14.47,14.74,14.64
$GC,380,-0.56,-116.8,2565,2255,3266,3295,75.3,-19.4,62,389,0.00,2.40,0.00,0.000,2564,0.000,0.057,2565,840,3280,3267,3293,0,0,0,0,0,0,15.20,14.82,15.20
$GC,459,-0.56,-116.8,2565,840,3268,3292,88.1,-14.1,76,466,0.00,2.40,0.00,0.000,3078,0.000,0.054,2556,2249,3279,3267,3292,0,0,0,0,0,0,15.00,14.85,15.01
$GC,725,-0.56,-116.8,2556,2249,3268,3292,131.1,-16.0,125,732,0.00,2.35,0.00,0.000,2564,0.000,0.054,2556,852,3280,3268,3292,0,0,0,0,0,0,15.24,14.90,15.25
$GC,754,-0.56,-116.8,2555,852,3268,3290,135.6,-15.1,130,763,0.08,2.42,0.00,0.000,3078,0.335,0.057,2572,2270,3279,3268,3291,0,0,0,0,0,0,14.62,14.86,14.88
$GC,1016,-0.56,-116.8,2571,2273,3269,3291,169.9,-12.9,165,1026,0.00,2.35,0.00,0.000,516,0.000,0.051,2572,846,3280,3269,3291,0,0,0,0,0,0,15.28,14.93,15.29
$GC,1070,-0.56,-116.8,2572,846,3270,3291,176.0,-11.2,170,1078,0.00,2.35,0.00,0.000,3078,0.000,0.054,2562,2260,3280,3269,3291,0,0,0,0,0,0,14.82,14.78,14.86
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1283,-0.13,0.0,2562,2080,3270,3290,200.6,-12.2,191,1381,0.38,0.10,93.12,1.088,10246,0.244,0.128,2705,2167,2799,2864,2734,0,0,0,0,0,0,14.52,14.65,14.04
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,0.56,116.8,2704,2167,2864,2733,205.1,0.0,201,1491,0.50,2.28,96.05,1.078,10500,0.148,0.060,2917,3502,2322,2404,2241,0,0,0,0,0,0,14.58,14.40,13.93
$GC,1946,0.58,155.7,2917,3502,2404,2241,166.7,8.0,256,1985,0.00,2.17,32.00,1.045,11270,0.000,0.044,2928,2162,2163,2250,2076,0,0,0,0,0,0,14.87,14.81,14.22
$GC,2230,0.58,164.7,2928,2162,2249,2071,140.3,9.6,293,2245,0.00,2.28,8.23,0.929,10500,0.000,0.061,2928,3506,2127,2215,2039,0,0,0,0,0,0,15.20,14.64,14.15
$GC,2287,0.58,164.7,2928,3506,2215,2039,134.6,11.0,302,2294,0.00,2.35,0.00,0.000,1030,0.000,0.046,2939,2126,2127,2215,2039,0,0,0,0,0,0,14.90,14.85,15.00
$GC,2545,0.60,193.3,2938,2126,2215,2036,110.6,8.6,351,2577,0.00,2.38,23.60,0.998,10500,0.000,0.063,2939,3505,2009,2093,1926,0,0,0,0,0,0,15.22,14.79,14.24
$GC,2680,0.60,193.3,2939,3505,2093,1926,96.3,10.5,375,2687,0.00,2.30,0.00,0.000,5126,0.000,0.049,2950,2126,2009,2093,1926,0,0,0,0,0,0,15.00,14.88,15.01
$GC,2943,0.61,207.2,2949,2125,2093,1922,70.0,9.4,424,2966,0.00,2.42,11.80,0.923,12804,0.000,0.061,2961,712,1952,2032,1872,0,0,0,0,0,0,15.21,14.76,14.24
$GC,3007,0.61,207.2,2960,712,2024,1873,63.3,10.8,434,3015,0.05,2.38,0.00,0.000,5126,0.359,0.054,2942,2086,1948,2024,1872,0,0,0,0,0,0,14.66,14.81,14.89
$GC,3273,0.64,251.3,2941,2089,2024,1871,40.8,7.8,483,3316,0.00,2.47,34.38,0.920,10500,0.000,0.064,2942,3541,1774,1857,1691,0,0,0,0,0,0,15.20,14.60,14.19
$GC,3346,0.65,264.5,2941,3541,1858,1691,34.8,9.4,494,3368,0.00,2.40,12.18,0.867,11270,0.000,0.049,2951,2122,1720,1806,1634,0,0,0,0,0,0,14.92,14.81,14.13
$GC,3625,0.65,264.5,2950,2123,1805,1629,6.7,11.8,545,3633,0.00,2.42,0.00,0.000,2564,0.000,0.060,2962,719,1716,1804,1628,0,0,0,0,0,0,15.17,14.78,15.17
$GC,3641,0.65,264.5,2962,719,1801,1629,4.9,10.6,547,3650,0.00,2.42,0.00,0.000,5126,0.000,0.050,2962,2124,1714,1800,1628,0,0,0,0,0,0,14.81,14.75,14.83
$STATE,3666,end climb,SURFACE_DEPTH_REACHED
$STATE,3666,begin surface coast
$FINISH,0.5,1.023048
$STATE,3710,end surface coast,CONTROL_FINISHED_OK
$STATE,3710,begin surface
$SM_CCo,3726,55.85,0.187,0,0,1167,400.08
$SM_GC,1.06,6.38,0.22,55.85,0.041,0.077,0.187,151,2286,1167,-7.96,-0.88,400.08,0,0,0,0,0,0,14.95,14.94,14.65
$IRIDIUM_FIX,2234.68,-15802.37,300921,031028
$TT8_MAMPS,0.020972,0.28462
$HUMID,51.22
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.93,147.118
$10V_AH,13.00,0.000
$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,15.800,47.775,311.350,55.850,0.000,25.841,45.868,129.824,0.500,0.000,16.890,1388.337,639.916,411.771,1514.831,188.611,0.000,964.640,0.000,1336.478,0.000,0.556,0.000
$DEVICE_MAMPS,430.695,127.755,1087.830,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,371.775,491.921,874.825,737.273,855.215,0.000,0.000,0.000,0.000,0.000
$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,50598,559
$CAP_FILE_SIZE,125090,0
$CFSIZE,1023623168,961675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$CURRENT,0.114,237.00,1
$GPS,300921,041924,2245.045,-15800.109,8,1.0,24,9.8,0.6,211.6,8,9.5