version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 636
start: 9 30 121 19 43 22
data:
$ID,626
$MISSION,3
$DIVE,636
$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,90
$R_STBD_OVSHOOT,69
$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
$GPS1,300921,193701,2245.2192,-15801.4883,8,0.8,38,9.8,0.4,133.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.9
$GPS2,300921,194233,2245.2361,-15801.5273,8,0.8,18,9.8,0.4,266.4,10,9.3
$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,108.9,2645,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,108,2318,1198,1119,0.0,0.0,0,81,0.00,0.00,-62.08,0.000,16386,0.000,0.000,108,2318,3186,3149,3223,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,107,2318,3149,3224,4.1,-9.0,9,100,8.43,2.35,-1.40,0.000,18948,0.430,0.060,2572,895,3279,3250,3309,0,0,0,0,0,0,14.23,13.42,14.52
$GC,123,-0.55,-116.8,2572,895,3261,3299,24.0,-47.7,15,132,0.00,2.30,0.00,0.000,3078,0.000,0.052,2564,2224,3279,3262,3297,0,0,0,0,0,0,14.85,14.76,14.87
$GC,377,-0.55,-116.8,2563,2225,3264,3296,84.7,-21.2,41,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2225,3280,3264,3296,0,0,0,0,0,0,15.24,15.24,15.24
$GC,625,-0.55,-116.8,2563,2225,3266,3296,125.6,-16.6,66,635,0.00,2.20,0.00,0.000,2564,0.000,0.052,2564,905,3281,3267,3295,0,0,0,0,0,0,15.28,14.94,15.29
$GC,701,-0.55,-116.8,2563,905,3267,3295,137.0,-14.4,73,711,0.05,2.30,0.00,0.000,3078,0.329,0.056,2571,2286,3280,3267,3294,0,0,0,0,0,0,14.50,14.87,14.67
$GC,953,-0.55,-116.8,2571,2287,3267,3294,170.9,-12.4,98,962,0.00,2.25,0.00,0.000,516,0.000,0.051,2572,909,3280,3267,3294,0,0,0,0,0,0,15.28,14.81,15.29
$GC,998,-0.55,-116.8,2571,909,3268,3294,176.0,-11.3,102,1007,0.00,2.33,0.00,0.000,3078,0.000,0.055,2563,2259,3280,3267,3293,0,0,0,0,0,0,14.81,14.71,14.85
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1210,-0.13,0.0,2563,2117,3267,3293,200.9,-12.1,123,1307,0.38,0.00,93.43,1.088,10246,0.244,0.000,2704,2115,2799,2865,2734,0,0,0,0,0,0,14.39,14.66,14.03
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1310,0.55,116.8,2704,2115,2864,2733,204.1,0.0,133,1416,0.50,2.25,95.88,1.071,10756,0.149,0.050,2927,772,2320,2403,2238,0,0,0,0,0,0,14.58,14.58,13.95
$GC,1515,0.56,133.4,2928,772,2392,2238,192.4,9.2,153,1536,0.00,2.33,14.23,1.004,9222,0.000,0.050,2929,2123,2254,2339,2170,0,0,0,0,0,0,14.78,14.74,14.07
$GC,1784,0.59,188.9,2928,2122,2340,2166,170.9,7.2,180,1836,0.00,2.42,44.88,1.052,10500,0.000,0.063,2928,3535,2028,2113,1943,0,0,0,0,0,0,15.21,14.75,14.14
$GC,1953,0.59,188.9,2928,3535,2113,1943,153.4,11.4,196,1960,0.00,2.22,0.00,0.000,1030,0.000,0.046,2938,2188,2027,2112,1943,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2204,0.59,188.9,2938,2188,2112,1940,124.0,11.7,221,2212,0.00,2.33,0.00,0.000,516,0.000,0.057,2950,778,2023,2110,1937,0,0,0,0,0,0,15.21,14.78,15.22
$GC,2257,0.59,188.9,2949,779,2105,1938,117.7,11.4,226,2267,0.00,2.25,0.00,0.000,5126,0.000,0.051,2950,2124,2022,2105,1939,0,0,0,0,0,0,15.04,14.92,15.07
$GC,2510,0.59,188.9,2950,2124,2105,1938,91.4,10.6,251,2518,0.00,2.33,0.00,0.000,4356,0.000,0.066,2950,3530,2021,2104,1939,0,0,0,0,0,0,15.26,14.76,15.26
$GC,2553,0.59,188.9,2950,3531,2105,1939,86.1,11.8,255,2562,0.05,2.17,0.00,0.000,5126,0.326,0.047,2942,2191,2021,2104,1939,0,0,0,0,0,0,14.59,14.82,14.71
$GC,2805,0.65,285.3,2941,2189,2105,1939,66.1,5.1,280,2885,0.00,2.33,74.15,0.962,10500,0.000,0.064,2942,3536,1634,1726,1542,0,0,0,0,0,0,15.28,14.70,14.17
$GC,2938,0.65,290.8,2941,3536,1726,1542,55.6,9.8,293,2948,0.00,2.22,5.90,0.789,11270,0.000,0.049,2950,2196,1614,1708,1520,0,0,0,0,0,0,14.67,14.61,14.11
$GC,3187,0.65,290.8,2950,2196,1706,1514,29.8,11.0,318,3194,0.00,2.42,0.00,0.000,2564,0.000,0.060,2962,777,1609,1706,1513,0,0,0,0,0,0,15.20,14.83,15.20
$GC,3271,0.65,290.8,2961,777,1700,1513,20.4,11.0,333,3278,0.00,2.33,0.00,0.000,1030,0.000,0.053,2959,2118,1606,1700,1513,0,0,0,0,0,0,14.85,14.81,14.88
$STATE,3418,end climb,SURFACE_DEPTH_REACHED
$STATE,3418,begin surface coast
$FINISH,0.3,1.023121
$STATE,3441,end surface coast,CONTROL_FINISHED_OK
$STATE,3441,begin surface
$SM_CCo,3457,44.65,0.189,0,0,1167,400.08
$SM_GC,1.31,6.45,0.25,44.65,0.058,0.073,0.189,160,2294,1167,-7.94,-0.62,400.08,0,0,0,0,0,0,14.98,14.95,14.67
$IRIDIUM_FIX,2234.68,-15802.37,300921,193830
$TT8_MAMPS,0.02247,0.313082
$HUMID,51.96
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,13.42,149.754
$10V_AH,12.71,0.000
$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,15.850,41.700,328.450,44.650,0.000,27.085,44.193,135.906,1.000,0.000,19.798,933.191,1310.188,394.359,1092.521,134.441,0.000,840.057,0.000,876.920,0.000,0.556,0.000
$DEVICE_MAMPS,429.930,95.625,1087.830,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,239.889,260.317,494.868,452.568,521.744,0.000,0.000,0.000,0.000,0.000
$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,34020,364
$CAP_FILE_SIZE,58732,0
$CFSIZE,1023623168,960610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.158,323.73,1
$GPS,300921,204238,2245.321,-15801.361,8,1.0,17,9.8,0.5,335.3,8,9.2