version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 635
start: 9 30 121 18 39 50
data:
$ID,626
$MISSION,3
$DIVE,635
$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,97
$R_STBD_OVSHOOT,44
$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
$GPS1,300921,183258,2245.0581,-15801.5479,7,0.9,16,9.8,0.0,199.2,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.7
$GPS2,300921,183901,2245.0581,-15801.5947,8,0.9,17,9.8,0.0,20.6,8,9.6
$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,89.6,2726,-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,-116.8,123,2293,1203,1114,0.0,0.0,0,80,0.00,0.00,-61.60,0.000,16386,0.000,0.000,123,2292,3165,3129,3201,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,123,2292,3129,3201,3.9,-7.5,9,98,8.45,0.00,-1.75,0.000,18950,0.435,0.000,2561,2293,3280,3250,3310,0,0,0,0,0,0,14.22,13.45,14.51
$GC,353,-0.55,-116.8,2560,2293,3262,3298,84.1,-23.4,59,361,0.00,2.30,0.00,0.000,2564,0.000,0.052,2561,912,3280,3265,3296,0,0,0,0,0,0,15.21,14.88,15.21
$GC,406,-0.55,-116.8,2561,913,3267,3296,93.2,-17.1,68,414,0.05,2.33,0.00,0.000,3078,0.336,0.054,2584,2253,3281,3266,3296,0,0,0,0,0,0,14.54,14.79,14.84
$GC,667,-0.55,-116.8,2583,2255,3267,3295,131.8,-13.7,117,674,0.00,2.25,0.00,0.000,4612,0.000,0.051,2584,912,3281,3267,3295,0,0,0,0,0,0,15.23,14.91,15.23
$GC,749,-0.55,-116.8,2583,911,3267,3295,142.3,-12.3,132,757,0.00,2.35,0.00,0.000,1030,0.000,0.055,2575,2266,3281,3268,3294,0,0,0,0,0,0,14.81,14.75,14.84
$GC,1003,-0.55,-116.8,2575,2266,3268,3294,177.3,-14.1,162,1013,0.00,2.22,0.00,0.000,516,0.000,0.053,2574,917,3281,3268,3295,0,0,0,0,0,0,15.28,14.94,15.29
$GC,1026,-0.55,-116.8,2575,917,3268,3295,180.5,-13.9,164,1036,0.00,2.28,0.00,0.000,3078,0.000,0.056,2565,2273,3281,3268,3294,0,0,0,0,0,0,15.07,14.92,15.08
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1190,-0.13,0.0,2565,2124,3268,3293,200.5,-12.1,180,1287,0.35,0.00,93.20,1.086,10246,0.236,0.000,2699,2122,2798,2864,2733,0,0,0,0,0,0,14.40,14.66,14.04
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1291,0.55,116.8,2700,2121,2864,2733,204.7,0.0,190,1397,0.50,2.28,96.12,1.073,10756,0.151,0.051,2924,765,2320,2403,2238,0,0,0,0,0,0,14.57,14.58,13.97
$GC,1414,0.61,219.8,2923,765,2397,2238,202.4,4.8,202,1503,0.00,2.33,82.65,1.064,11270,0.000,0.050,2924,2135,1901,1979,1824,0,0,0,0,0,0,14.76,14.66,13.93
$GC,1743,0.61,219.8,2923,2136,1978,1817,162.6,11.7,235,1752,0.00,2.33,0.00,0.000,2308,0.000,0.064,2924,3534,1897,1977,1818,0,0,0,0,0,0,15.17,14.73,15.17
$GC,1847,0.61,219.8,2923,3533,1978,1818,150.9,10.6,245,1857,0.00,2.22,0.00,0.000,3078,0.000,0.049,2934,2180,1898,1978,1818,0,0,0,0,0,0,15.02,14.91,15.04
$GC,2113,0.61,219.8,2934,2180,1978,1817,123.2,10.8,294,2121,0.00,2.40,0.00,0.000,2564,0.000,0.059,2946,770,1897,1977,1817,0,0,0,0,0,0,15.23,14.85,15.23
$GC,2191,0.61,219.8,2945,769,1972,1817,114.4,10.8,308,2199,0.00,2.33,0.00,0.000,1030,0.000,0.053,2946,2121,1894,1973,1815,0,0,0,0,0,0,14.90,14.85,14.92
$GC,2455,0.61,219.8,2945,2121,1972,1816,82.3,11.7,357,2462,0.00,2.35,0.00,0.000,260,0.000,0.064,2945,3531,1894,1972,1816,0,0,0,0,0,0,15.23,14.88,15.24
$GC,2518,0.61,219.8,2945,3530,1972,1817,75.0,10.9,368,2525,0.00,2.30,0.00,0.000,5126,0.000,0.048,2956,2182,1894,1972,1817,0,0,0,0,0,0,14.88,14.83,14.92
$GC,2782,0.64,274.0,2956,2181,1972,1817,55.6,7.3,417,2832,0.00,2.33,42.65,0.941,8452,0.000,0.063,2956,3538,1680,1770,1591,0,0,0,0,0,0,15.21,14.62,14.21
$GC,2846,0.64,274.0,2955,3538,1771,1591,49.9,10.3,426,2855,0.00,2.33,0.00,0.000,5126,0.000,0.048,2966,2183,1681,1771,1591,0,0,0,0,0,0,14.76,14.70,14.78
$GC,3113,0.64,274.0,2966,2182,1770,1588,18.6,11.9,475,3120,0.00,2.40,0.00,0.000,4612,0.000,0.060,2978,776,1679,1771,1587,0,0,0,0,0,0,15.17,14.81,15.18
$GC,3180,0.64,274.0,2977,775,1766,1587,11.1,10.6,487,3188,0.05,2.33,0.00,0.000,5126,0.282,0.053,2942,2125,1676,1766,1587,0,0,0,0,0,0,14.62,14.80,14.86
$STATE,3257,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,0.5,1.023114
$STATE,3287,end surface coast,CONTROL_FINISHED_OK
$STATE,3287,begin surface
$SM_CCo,3303,52.20,0.190,0,0,1167,400.08
$SM_GC,1.35,6.25,0.22,52.20,0.028,0.070,0.190,119,2309,1167,-7.96,-0.82,400.08,0,0,0,0,0,0,14.98,14.97,14.66
$IRIDIUM_FIX,2234.68,-15802.37,300921,183425
$TT8_MAMPS,0.02247,0.289114
$HUMID,51.33
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,13.45,149.599
$10V_AH,12.01,0.000
$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,15.650,42.000,314.625,52.200,0.000,25.604,45.441,162.485,0.750,0.000,18.343,1241.521,528.401,402.219,1399.459,177.226,0.000,900.334,0.000,1196.110,0.000,0.556,0.000
$DEVICE_MAMPS,435.285,83.385,1085.535,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,335.939,364.300,792.374,682.992,805.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,44015,506
$CAP_FILE_SIZE,113656,0
$CFSIZE,1023623168,960643072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.189,302.77,1
$GPS,300921,193701,2245.219,-15801.488,8,0.8,38,9.8,0.4,133.9,10,4.8