version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 637
start: 9 30 121 20 53 41
data:
$ID,626
$MISSION,3
$DIVE,637
$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,47
$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
$GPS1,300921,204238,2245.3213,-15801.3613,8,1.0,17,9.8,0.5,335.3,8,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.2
$GPS2,300921,205249,2245.3679,-15801.4072,7,1.2,17,9.8,0.5,116.4,8,9.1
$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,121.4,2498,-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,-116.8,123,2303,1204,1112,0.0,0.0,0,80,0.00,0.00,-61.75,0.000,16386,0.000,0.000,123,2304,3179,3143,3215,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.55,-116.8,123,2304,3143,3216,4.0,-8.2,9,99,8.43,2.33,-1.52,0.000,18948,0.433,0.062,2576,900,3280,3250,3310,0,0,0,0,0,0,14.24,13.43,14.53
$GC,144,-0.55,-116.8,2575,900,3262,3298,28.7,-25.2,19,153,0.00,2.33,0.00,0.000,3078,0.000,0.054,2567,2240,3280,3264,3296,0,0,0,0,0,0,14.85,14.76,14.88
$GC,391,-0.55,-116.8,2568,2241,3266,3295,84.1,-18.9,44,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2568,2241,3281,3266,3296,0,0,0,0,0,0,15.25,15.26,15.26
$GC,631,-0.55,-116.8,2568,2241,3266,3295,122.6,-15.3,68,640,0.00,2.20,0.00,0.000,2564,0.000,0.054,2568,912,3281,3267,3295,0,0,0,0,0,0,15.28,14.69,15.28
$GC,676,-0.55,-116.8,2568,912,3267,3295,128.9,-14.9,72,684,0.00,2.35,0.00,0.000,3078,0.000,0.056,2558,2266,3280,3267,3294,0,0,0,0,0,0,14.89,14.81,14.92
$GC,924,-0.55,-116.8,2558,2266,3267,3294,164.0,-13.2,97,934,0.00,2.22,0.00,0.000,2564,0.000,0.052,2558,918,3280,3267,3293,0,0,0,0,0,0,15.30,14.82,15.30
$GC,967,-0.55,-116.8,2557,917,3268,3294,169.7,-13.1,101,978,0.08,2.25,0.00,0.000,3078,0.334,0.054,2575,2266,3280,3267,3293,0,0,0,0,0,0,14.68,14.94,14.93
$GC,1218,-0.55,-116.8,2575,2267,3268,3292,199.6,-13.0,126,1228,0.00,2.33,0.00,0.000,260,0.000,0.066,2565,3679,3280,3268,3292,0,0,0,0,0,0,15.30,14.66,15.30
$STATE,1231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1231,begin apogee
$GC,1239,-0.13,0.0,2565,2181,3268,3292,200.7,-13.1,127,1336,0.35,0.00,93.55,1.079,10246,0.203,0.000,2704,2178,2799,2865,2733,0,0,0,0,0,0,14.60,14.66,14.04
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1340,0.55,116.8,2705,2177,2864,2733,206.5,0.0,137,1447,0.50,2.38,96.28,1.070,10500,0.138,0.063,2921,3536,2323,2407,2239,0,0,0,0,0,0,14.54,14.48,13.96
$GC,1545,0.55,116.8,2920,3536,2406,2238,198.2,10.9,157,1552,0.00,2.22,0.00,0.000,5126,0.000,0.041,2932,2182,2322,2406,2238,0,0,0,0,0,0,14.90,14.80,14.91
$GC,1794,0.59,184.2,2932,2181,2406,2233,178.0,6.6,182,1855,0.00,2.33,54.03,1.052,10500,0.000,0.062,2932,3533,2047,2134,1961,0,0,0,0,0,0,15.21,14.72,14.14
$GC,1966,0.59,184.2,2932,3533,2133,1960,159.8,12.8,199,1974,0.00,2.20,0.00,0.000,5126,0.000,0.046,2942,2192,2046,2133,1960,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2216,0.59,184.2,2942,2191,2133,1956,132.8,10.4,224,2226,0.00,2.33,0.00,0.000,4612,0.000,0.056,2953,784,2043,2130,1956,0,0,0,0,0,0,15.22,14.66,15.23
$GC,2293,0.59,184.2,2953,784,2126,1956,124.4,10.8,231,2302,0.03,2.22,0.00,0.000,5126,0.385,0.049,2943,2140,2040,2125,1955,0,0,0,0,0,0,14.62,14.83,14.73
$GC,2542,0.59,190.5,2944,2140,2125,1955,100.8,9.8,256,2552,0.00,0.00,5.38,0.839,12294,0.000,0.000,2944,2140,2021,2106,1937,0,0,0,0,0,0,15.28,14.89,14.19
$GC,2794,0.61,215.2,2944,2140,2106,1936,77.0,8.8,281,2823,0.00,2.35,20.60,0.953,8452,0.000,0.063,2944,3537,1920,2001,1839,0,0,0,0,0,0,15.26,14.66,14.22
$GC,2944,0.62,237.7,2944,3536,2001,1839,63.3,8.9,295,2971,0.00,2.28,18.77,0.923,13318,0.000,0.046,2953,2190,1828,1910,1746,0,0,0,0,0,0,14.90,14.83,14.21
$GC,3212,0.63,244.1,2952,2190,1911,1742,39.2,9.8,322,3223,0.00,2.40,6.03,0.808,8708,0.000,0.057,2964,778,1803,1888,1718,0,0,0,0,0,0,15.22,14.91,14.23
$GC,3269,0.63,244.1,2963,777,1883,1719,33.6,10.3,327,3277,0.00,2.30,0.00,0.000,5126,0.000,0.053,2963,2114,1801,1883,1719,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3528,0.63,244.1,2963,2114,1882,1717,5.5,10.7,373,3535,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2114,1800,1883,1718,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3551,end climb,SURFACE_DEPTH_REACHED
$STATE,3551,begin surface coast
$FINISH,0.3,1.023113
$STATE,3581,end surface coast,CONTROL_FINISHED_OK
$STATE,3581,begin surface
$SM_CCo,3597,64.72,0.188,0,0,1166,400.08
$SM_GC,1.20,6.35,0.25,64.72,0.034,0.059,0.188,153,2328,1166,-7.96,-0.76,400.08,0,0,0,0,0,0,14.97,15.02,14.66
$IRIDIUM_FIX,2237.01,-15802.37,300921,204854
$TT8_MAMPS,0.023219,0.31458
$HUMID,51.65
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.43,149.908
$10V_AH,12.85,0.000
$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,15.725,41.750,294.625,64.725,0.000,83.897,133.036,126.757,0.250,0.000,20.093,986.099,1485.185,406.024,1296.797,137.880,0.000,848.399,0.000,915.487,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,65.790,1078.650,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,252.560,275.026,522.421,474.760,551.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,33942,382
$CAP_FILE_SIZE,63850,0
$CFSIZE,1023623168,960544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.127,315.66,1
$GPS,300921,215601,2245.294,-15801.264,8,0.9,41,9.8,0.3,284.1,10,5.9