version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 624
start: 9 30 121 5 31 21
data:
$ID,626
$MISSION,3
$DIVE,624
$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,71
$R_STBD_OVSHOOT,65
$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
$GPS1,300921,052501,2244.9465,-15800.0723,7,0.8,35,9.8,0.3,253.5,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.1
$GPS2,300921,053029,2244.9451,-15800.1230,7,0.8,16,9.8,0.0,284.4,10,9.6
$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,55.2,233,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,123,2223,1206,1111,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16386,0.000,0.000,123,2221,3183,3149,3218,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.58,-116.8,123,2220,3149,3219,4.0,-8.1,9,100,8.43,2.22,-1.48,0.000,18948,0.438,0.061,2566,869,3280,3250,3310,0,0,0,0,0,0,14.24,13.43,14.53
$GC,135,-0.58,-116.8,2565,865,3261,3300,26.7,-32.8,17,142,0.00,2.35,0.00,0.000,3078,0.000,0.064,2557,2224,3280,3263,3297,0,0,0,0,0,0,14.84,14.78,14.95
$GC,398,-0.58,-116.8,2557,2225,3266,3296,88.8,-20.7,66,405,0.00,2.47,0.00,0.000,2308,0.000,0.063,2546,3681,3281,3266,3296,0,0,0,0,0,0,15.21,14.83,15.22
$GC,443,-0.58,-116.8,2546,3681,3266,3296,97.3,-15.6,74,451,0.03,2.35,0.00,0.000,3078,0.206,0.047,2571,2290,3281,3266,3296,0,0,0,0,0,0,14.62,14.83,14.87
$GC,705,-0.58,-116.8,2571,2286,3267,3296,138.1,-14.2,123,713,0.00,2.35,0.00,0.000,4356,0.000,0.064,2563,3679,3281,3267,3296,0,0,0,0,0,0,15.24,14.88,15.24
$GC,809,-0.58,-116.8,2563,3679,3267,3296,149.8,-10.0,142,817,0.00,2.38,0.00,0.000,1030,0.000,0.045,2563,2273,3281,3267,3296,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1057,-0.58,-116.8,2563,2270,3267,3296,176.3,-10.5,167,1061,0.00,2.33,0.00,0.000,516,0.000,0.054,2563,851,3281,3268,3295,0,0,0,0,0,0,15.27,14.92,15.27
$GC,1133,-0.58,-116.8,2563,849,3267,3295,184.1,-10.3,174,1141,0.00,2.40,0.00,0.000,3078,0.000,0.055,2552,2269,3281,3269,3293,0,0,0,0,0,0,15.04,14.89,15.06
$STATE,1278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1284,-0.13,0.0,2552,2076,3269,3293,201.0,-11.6,189,1382,0.40,0.10,93.28,1.086,10246,0.226,0.125,2705,2163,2799,2864,2734,0,0,0,0,0,0,14.40,14.65,14.04
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1386,0.58,116.8,2705,2164,2863,2733,205.0,0.0,199,1491,0.52,2.38,95.97,1.074,10756,0.145,0.049,2939,760,2320,2402,2239,0,0,0,0,0,0,14.58,14.39,13.95
$GC,1908,0.60,148.1,2939,761,2389,2236,168.2,8.3,249,1939,0.00,2.28,25.30,1.027,9222,0.000,0.050,2939,2095,2195,2281,2110,0,0,0,0,0,0,14.89,14.83,14.22
$GC,2182,0.63,197.4,2939,2095,2280,2105,148.6,7.3,277,2227,0.00,2.30,39.62,1.031,10756,0.000,0.054,2950,760,1993,2075,1911,0,0,0,0,0,0,15.22,14.81,14.20
$GC,2773,0.63,199.9,2950,759,2061,1909,95.5,10.0,384,2782,0.00,2.35,0.00,0.000,1030,0.000,0.055,2949,2115,1985,2061,1909,0,0,0,0,0,0,14.89,14.83,15.00
$GC,3045,0.69,291.5,2949,2115,2061,1909,76.4,4.9,433,3125,0.00,2.33,73.05,0.959,10756,0.000,0.056,2960,757,1611,1703,1519,0,0,0,0,0,0,15.23,14.57,14.15
$GC,3223,0.73,363.2,2960,757,1694,1520,66.0,6.0,462,3287,0.00,2.38,56.05,0.928,11270,0.000,0.054,2960,2120,1317,1411,1224,0,0,0,0,0,0,14.79,14.72,14.10
$GC,3547,0.74,371.5,2960,2119,1411,1218,40.0,9.6,519,3563,0.00,2.33,7.15,0.815,10756,0.000,0.057,2970,758,1285,1382,1188,0,0,0,0,0,0,15.15,14.58,14.13
$GC,3588,0.75,388.4,2970,758,1379,1188,36.4,9.1,525,3609,0.00,2.38,14.65,0.877,11270,0.000,0.057,2970,2124,1214,1313,1115,0,0,0,0,0,0,14.96,14.79,14.22
$GC,3865,0.76,411.7,2970,2124,1312,1112,11.6,8.8,576,3882,0.00,2.40,9.73,0.242,10500,0.000,0.065,2970,3542,1117,1214,1020,0,0,0,0,0,0,15.18,14.60,14.45
$GC,3929,0.78,452.2,2970,3542,1214,1021,6.3,7.8,586,3953,0.00,2.35,16.88,0.209,11270,0.000,0.052,2979,2172,952,1058,847,0,0,0,0,0,0,14.85,14.81,14.65
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FINISH,0.4,1.023058
$STATE,3982,end surface coast,CONTROL_FINISHED_OK
$STATE,3982,begin surface
$SM_CCo,4058,0.00,0.000,0,0,950,453.80
$SM_GC,1.10,6.47,0.17,0.00,0.057,0.077,0.000,160,2301,950,-7.91,-0.76,453.80,0,0,0,0,0,0,14.97,14.96,15.01
$IRIDIUM_FIX,2237.01,-15804.53,300921,052637
$TT8_MAMPS,0.02247,0.341544
$HUMID,51.57
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,25.30
$XPDR_PINGS,4
$24V_AH,13.43,147.502
$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,15.850,42.850,431.675,0.000,0.000,34.953,46.585,120.381,1.000,0.000,17.360,1449.205,754.101,411.540,1614.730,187.494,0.000,1004.612,0.000,1417.946,0.000,0.555,0.000
$DEVICE_MAMPS,438.345,185.895,1086.300,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,393.835,625.583,922.330,781.358,916.159,0.000,0.000,0.000,0.000,0.000
$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,54064,594
$CAP_FILE_SIZE,126472,0
$CFSIZE,1023623168,961511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,8
$CURRENT,0.189,259.10,1
$GPS,300921,063948,2244.813,-15800.359,9,1.0,15,9.8,0.0,249.1,8,9.8