version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 630
start: 9 30 121 12 53 11
data:
$ID,626
$MISSION,3
$DIVE,630
$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,81
$R_STBD_OVSHOOT,56
$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
$GPS1,300921,124659,2244.9973,-15801.3271,8,0.8,16,9.8,0.0,313.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.2
$GPS2,300921,125222,2245.0034,-15801.3652,7,0.8,17,9.8,0.0,241.6,9,9.4
$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,75.1,2331,-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,-116.8,123,2310,858,717,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,16386,0.000,0.000,123,2310,2990,2961,3020,0,0,0,0,0,0,15.17,28.83,15.18
$GC,90,-0.55,-116.8,123,2310,2965,3018,3.5,-7.3,10,112,8.38,0.00,-4.80,0.000,18694,0.432,0.000,2563,2310,3277,3254,3300,0,0,0,0,0,0,14.26,14.02,14.55
$GC,366,-0.55,-116.8,2563,2310,3261,3294,78.3,-21.5,61,373,0.00,2.40,0.00,0.000,2564,0.000,0.052,2563,893,3277,3261,3294,0,0,0,0,0,0,15.20,14.85,15.20
$GC,458,-0.55,-116.8,2563,893,3262,3292,94.3,-14.0,77,465,0.05,2.25,0.00,0.000,3078,0.401,0.053,2571,2239,3276,3262,3291,0,0,0,0,0,0,14.64,14.90,14.90
$GC,724,-0.55,-116.8,2571,2242,3263,3291,135.4,-15.5,126,731,0.00,2.30,0.00,0.000,2564,0.000,0.051,2571,901,3277,3263,3291,0,0,0,0,0,0,15.24,14.82,15.24
$GC,756,-0.55,-116.8,2571,901,3265,3291,139.9,-14.2,131,763,0.00,2.30,0.00,0.000,3078,0.000,0.057,2562,2270,3277,3264,3290,0,0,0,0,0,0,15.04,14.90,15.05
$GC,1018,-0.55,-116.8,2562,2270,3264,3290,175.9,-13.7,163,1027,0.00,2.28,0.00,0.000,2564,0.000,0.054,2562,897,3277,3265,3290,0,0,0,0,0,0,15.26,14.81,15.27
$GC,1053,-0.55,-116.8,2562,897,3264,3291,180.8,-14.1,166,1061,0.05,2.30,0.00,0.000,3078,0.382,0.055,2571,2270,3277,3265,3290,0,0,0,0,0,0,14.69,14.92,14.93
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1208,-0.13,0.0,2570,2097,3265,3290,200.1,-12.9,181,1304,0.35,0.00,92.43,1.080,10246,0.243,0.000,2706,2093,2798,2865,2732,0,0,0,0,0,0,14.54,14.66,14.05
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1308,0.55,116.8,2705,2094,2864,2732,205.6,0.0,191,1413,0.50,2.22,95.60,1.071,10756,0.145,0.044,2931,768,2322,2406,2239,0,0,0,0,0,0,14.59,14.36,13.92
$GC,1683,0.59,190.2,2931,767,2396,2237,186.2,6.3,228,1755,0.00,2.28,59.03,1.054,11270,0.000,0.047,2931,2140,2021,2108,1935,0,0,0,0,0,0,14.93,14.90,14.10
$GC,1995,0.60,207.0,2930,2140,2108,1929,157.8,9.2,259,2014,0.00,2.33,13.73,0.981,10756,0.000,0.053,2941,777,1954,2039,1870,0,0,0,0,0,0,15.19,14.88,14.21
$GC,2538,0.61,226.2,2941,777,2027,1869,108.6,9.1,354,2559,0.00,2.33,15.88,0.954,11270,0.000,0.054,2941,2121,1878,1962,1795,0,0,0,0,0,0,14.90,14.83,14.26
$GC,2814,0.64,271.6,2941,2120,1960,1789,85.7,7.8,405,2860,0.00,2.30,37.08,0.964,10756,0.000,0.056,2952,778,1690,1783,1597,0,0,0,0,0,0,15.22,14.76,14.23
$GC,3080,0.68,327.4,2951,777,1774,1597,65.2,7.2,453,3130,0.00,2.35,43.55,0.939,11270,0.000,0.056,2951,2127,1463,1559,1368,0,0,0,0,0,0,14.86,14.81,14.20
$GC,3391,0.69,351.3,2951,2127,1559,1363,37.8,8.9,508,3420,0.00,2.40,19.12,0.890,10500,0.000,0.070,2953,3530,1366,1465,1268,0,0,0,0,0,0,15.16,14.71,14.23
$GC,3435,0.70,367.0,2951,3530,1464,1268,33.9,9.3,514,3458,0.00,2.30,13.32,0.861,11270,0.000,0.048,2961,2184,1301,1400,1203,0,0,0,0,0,0,14.79,14.75,14.14
$GC,3720,0.74,421.9,2961,2182,1401,1200,8.2,7.3,565,3749,0.00,2.40,23.08,0.216,10756,0.000,0.059,2970,776,1075,1171,979,0,0,0,0,0,0,15.17,14.83,14.63
$STATE,3771,end climb,SURFACE_DEPTH_REACHED
$STATE,3771,begin surface coast
$FINISH,0.4,1.023093
$STATE,3800,end surface coast,CONTROL_FINISHED_OK
$STATE,3800,begin surface
$SM_CCo,3879,0.00,0.000,0,0,1070,424.36
$SM_GC,1.15,6.40,2.55,0.00,0.047,0.047,0.000,144,2275,1070,-7.93,-0.65,424.36,0,0,0,0,0,0,14.97,14.87,15.00
$IRIDIUM_FIX,2234.68,-15802.37,300921,124829
$TT8_MAMPS,0.023219,0.343042
$HUMID,51.29
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,13.92,148.697
$10V_AH,12.88,0.000
$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,15.725,37.450,412.800,0.000,0.000,26.611,45.062,121.868,0.250,0.000,18.233,1398.159,700.133,407.500,1537.903,183.780,0.000,980.859,0.000,1372.544,0.000,0.556,0.000
$DEVICE_MAMPS,432.225,74.970,1080.180,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,383.004,412.818,897.685,759.835,889.139,0.000,0.000,0.000,0.000,0.000
$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,50756,578
$CAP_FILE_SIZE,122765,0
$CFSIZE,1023623168,961019904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161,256.23,1
$GPS,300921,135901,2244.865,-15801.494,8,1.0,37,9.8,0.2,230.7,8,5.2