version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 639
start: 9 30 121 23 10 51
data:
$ID,626
$MISSION,3
$DIVE,639
$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,57
$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
$GPS1,300921,230440,2245.2864,-15800.9883,8,0.9,22,9.8,0.7,69.5,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.3
$GPS2,300921,231000,2245.2888,-15801.0195,7,1.2,19,9.8,0.6,221.0,8,9.6
$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,114.5,1822,-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,-116.8,124,2297,1201,1114,0.0,0.0,0,81,0.00,0.00,-62.72,0.000,16386,0.000,0.000,124,2297,3203,3165,3242,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2298,3167,3242,4.1,-8.7,9,100,8.40,2.30,-1.10,0.000,18948,0.431,0.057,2572,900,3278,3249,3308,0,0,0,0,0,0,14.23,13.43,14.52
$GC,119,-0.55,-116.8,2572,898,3259,3300,22.0,-49.0,14,126,0.00,2.30,0.00,0.000,3078,0.000,0.049,2564,2234,3279,3261,3298,0,0,0,0,0,0,14.84,14.78,14.87
$GC,370,-0.55,-116.8,2564,2236,3262,3296,82.3,-21.0,41,379,0.00,2.17,0.00,0.000,2564,0.000,0.054,2564,920,3280,3265,3296,0,0,0,0,0,0,15.24,14.78,15.24
$GC,413,-0.55,-116.8,2564,920,3266,3295,90.0,-18.5,45,422,0.05,2.25,0.00,0.000,3078,0.340,0.054,2571,2266,3280,3266,3294,0,0,0,0,0,0,14.49,14.90,14.64
$GC,664,-0.55,-116.8,2572,2269,3267,3295,129.4,-15.4,70,668,0.00,2.25,0.00,0.000,2564,0.000,0.050,2571,910,3280,3267,3294,0,0,0,0,0,0,15.28,14.94,15.28
$GC,717,-0.55,-116.8,2571,908,3267,3294,137.7,-15.1,75,725,0.00,2.25,0.00,0.000,3078,0.000,0.054,2563,2266,3281,3268,3294,0,0,0,0,0,0,14.85,14.80,14.88
$GC,967,-0.55,-116.8,2562,2266,3267,3294,175.4,-14.1,100,971,0.00,2.25,0.00,0.000,2564,0.000,0.051,2563,914,3280,3267,3293,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1009,-0.55,-116.8,2562,914,3267,3294,181.0,-13.1,104,1015,0.05,2.28,0.00,0.000,3078,0.378,0.054,2570,2275,3280,3268,3293,0,0,0,0,0,0,14.70,14.93,14.94
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1188,-0.13,0.0,2571,2122,3268,3292,200.7,-10.8,121,1285,0.32,0.00,93.40,1.087,10246,0.231,0.000,2700,2120,2799,2865,2733,0,0,0,0,0,0,14.55,14.66,14.02
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1288,0.55,116.8,2700,2119,2865,2733,204.4,0.0,131,1396,0.50,2.28,95.95,1.073,10756,0.148,0.045,2924,769,2319,2401,2238,0,0,0,0,0,0,14.57,14.42,13.95
$GC,1430,0.59,189.8,2924,769,2396,2238,202.4,6.3,145,1498,0.00,2.30,59.08,1.063,11270,0.000,0.050,2925,2143,2024,2106,1942,0,0,0,0,0,0,14.65,14.65,13.94
$GC,1739,0.59,189.8,2924,2143,2106,1937,166.9,11.0,176,1748,0.00,2.33,0.00,0.000,2308,0.000,0.063,2925,3533,2021,2106,1937,0,0,0,0,0,0,15.18,14.85,15.18
$GC,1816,0.59,189.8,2924,3533,2106,1937,158.5,11.6,183,1823,0.00,2.28,0.00,0.000,3078,0.000,0.047,2935,2192,2021,2106,1937,0,0,0,0,0,0,14.88,14.82,14.91
$GC,2064,0.60,205.5,2935,2191,2106,1936,134.4,9.3,208,2083,0.00,2.40,13.38,0.975,10756,0.000,0.056,2947,772,1959,2041,1878,0,0,0,0,0,0,15.25,14.92,14.24
$GC,2169,0.60,205.5,2946,772,2033,1879,123.1,10.9,218,2180,0.00,2.28,0.00,0.000,5126,0.000,0.051,2946,2131,1955,2033,1878,0,0,0,0,0,0,15.03,14.91,15.04
$GC,2422,0.60,205.5,2946,2131,2033,1878,94.0,10.9,243,2431,0.00,2.33,0.00,0.000,4356,0.000,0.067,2947,3530,1954,2031,1878,0,0,0,0,0,0,15.26,14.76,15.26
$GC,2509,0.60,205.5,2946,3530,2032,1878,85.0,10.2,251,2516,0.00,2.22,0.00,0.000,5126,0.000,0.047,2957,2177,1955,2033,1878,0,0,0,0,0,0,15.06,14.95,15.07
$GC,2760,0.64,273.5,2957,2177,2032,1878,66.0,6.6,276,2820,0.00,2.38,53.28,0.950,8708,0.000,0.058,2968,777,1683,1772,1594,0,0,0,0,0,0,15.26,14.77,14.22
$GC,2886,0.64,273.5,2968,777,1765,1594,54.8,10.8,288,2894,0.00,2.33,0.00,0.000,5126,0.000,0.051,2967,2126,1679,1765,1593,0,0,0,0,0,0,14.83,14.78,14.92
$GC,3134,0.64,273.5,2967,2126,1765,1591,24.3,12.2,317,3141,0.00,2.33,0.00,0.000,4612,0.000,0.057,2978,779,1678,1765,1591,0,0,0,0,0,0,15.21,14.80,15.21
$GC,3160,0.64,273.5,2977,778,1764,1591,21.0,12.1,321,3168,0.05,2.33,0.00,0.000,5126,0.282,0.052,2942,2125,1677,1765,1589,0,0,0,0,0,0,14.63,14.81,14.90
$STATE,3338,end climb,SURFACE_DEPTH_REACHED
$STATE,3338,begin surface coast
$FINISH,0.2,1.023114
$STATE,3370,end surface coast,CONTROL_FINISHED_OK
$STATE,3371,begin surface
$SM_CCo,3387,52.05,0.184,0,0,1167,400.08
$SM_GC,1.34,6.50,0.22,52.05,0.073,0.065,0.184,157,2314,1167,-7.95,-0.76,400.08,0,0,0,0,0,0,14.97,15.00,14.66
$IRIDIUM_FIX,2234.68,-15802.37,300921,230601
$TT8_MAMPS,0.02247,0.31458
$HUMID,51.81
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.43,150.209
$10V_AH,12.51,0.000
$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,15.875,46.175,315.075,52.050,0.000,26.067,53.095,123.958,0.500,0.000,21.022,930.659,1259.614,392.969,1083.966,130.967,0.000,833.061,0.000,870.906,0.000,0.556,0.000
$DEVICE_MAMPS,431.460,84.915,1087.065,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,237.382,259.252,492.681,453.772,521.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,33944,360
$CAP_FILE_SIZE,60862,0
$CFSIZE,1023623168,960413696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1382.54,0x23609a,1,24
$CURRENT,0.070,318.61,1
$GPS,011021,000931,2245.172,-15800.760,7,0.8,43,9.8,0.5,257.8,11,5.0