version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 505
start: 9 24 121 18 19 21
data:
$ID,626
$MISSION,3
$DIVE,505
$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,95
$R_STBD_OVSHOOT,86
$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
$GPS1,240921,181331,2245.3506,-15800.1582,6,0.9,39,9.8,1.2,255.5,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.8
$GPS2,240921,181833,2245.3855,-15800.1934,6,0.9,14,9.8,0.0,342.4,9,10.0
$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,148.2,787,-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,-116.8,123,2324,1198,1116,0.0,0.0,0,80,0.00,0.00,-61.58,0.000,16386,0.000,0.000,123,2324,3124,3093,3156,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,123,2324,3093,3157,3.3,-5.3,9,106,8.40,2.30,-2.47,0.000,18948,0.434,0.054,2576,893,3280,3256,3304,0,0,0,0,0,0,14.28,13.45,14.57
$GC,165,-0.55,-116.8,2575,893,3264,3298,31.8,-20.9,23,174,0.00,2.25,0.00,0.000,3078,0.000,0.051,2567,2205,3281,3266,3297,0,0,0,0,0,0,14.85,14.78,14.89
$GC,426,-0.55,-116.8,2567,2208,3267,3296,93.3,-20.4,72,433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2568,2207,3281,3267,3295,0,0,0,0,0,0,15.22,15.22,15.22
$GC,683,-0.55,-116.8,2567,2208,3267,3296,138.6,-14.6,121,689,0.00,2.35,0.00,0.000,2308,0.000,0.063,2557,3618,3281,3266,3296,0,0,0,0,0,0,15.25,14.90,15.25
$GC,718,-0.55,-116.8,2556,3618,3267,3296,143.7,-13.5,127,727,0.05,2.10,0.00,0.000,3078,0.359,0.042,2576,2319,3281,3267,3296,0,0,0,0,0,0,14.71,14.95,14.94
$GC,976,-0.55,-116.8,2575,2315,3267,3296,173.5,-11.3,157,984,0.00,2.25,0.00,0.000,516,0.000,0.048,2576,911,3281,3268,3295,0,0,0,0,0,0,15.29,14.82,15.29
$GC,1068,-0.55,-116.8,2576,910,3269,3295,183.4,-10.4,166,1073,0.00,2.15,0.00,0.000,3078,0.000,0.050,2568,2217,3282,3269,3295,0,0,0,0,0,0,15.09,14.97,15.11
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1203,-0.13,0.0,2568,2217,3269,3294,200.1,-13.0,179,1300,0.35,0.00,92.97,1.082,10246,0.250,0.000,2700,2217,2799,2864,2734,0,0,0,0,0,0,14.57,14.67,14.07
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1304,0.55,116.8,2701,2217,2865,2734,205.0,0.0,189,1404,0.52,0.00,95.82,1.073,10758,0.158,0.000,2919,2217,2322,2407,2237,0,0,0,0,0,0,14.58,14.57,14.00
$GC,1643,0.55,120.6,2919,2218,2405,2232,182.7,9.9,223,1653,0.00,2.20,4.15,0.797,10500,0.000,0.061,2919,3538,2305,2390,2221,0,0,0,0,0,0,15.17,14.66,14.13
$GC,1928,0.57,157.3,2919,3538,2390,2222,151.9,8.2,251,1965,0.00,2.20,30.52,1.028,9222,0.000,0.042,2931,2180,2157,2247,2068,0,0,0,0,0,0,15.05,14.97,14.27
$GC,2224,0.58,172.4,2930,2179,2245,2063,125.7,9.3,303,2245,0.00,2.35,12.95,0.967,10756,0.000,0.054,2942,776,2094,2182,2007,0,0,0,0,0,0,15.21,14.87,14.26
$GC,2311,0.59,187.8,2942,776,2176,2007,117.4,9.3,318,2334,0.00,2.30,13.25,0.955,13318,0.000,0.050,2941,2122,2032,2117,1948,0,0,0,0,0,0,14.85,14.81,14.24
$GC,2592,0.61,216.3,2941,2122,2116,1944,91.7,8.6,369,2624,0.00,2.38,23.00,0.967,10500,0.000,0.067,2942,3525,1917,1998,1836,0,0,0,0,0,0,15.21,14.79,14.29
$GC,2804,0.61,221.8,2941,3525,1998,1835,69.6,9.8,407,2820,0.00,2.28,6.07,0.828,13318,0.000,0.046,2952,2182,1894,1976,1812,0,0,0,0,0,0,14.89,14.83,14.18
$GC,3079,0.64,263.4,2952,2180,1976,1809,44.2,8.0,457,3120,0.00,2.35,33.10,0.920,8708,0.000,0.053,2963,776,1724,1811,1637,0,0,0,0,0,0,15.21,14.62,14.23
$GC,3162,0.64,272.2,2963,776,1804,1637,35.8,9.6,470,3176,0.00,2.30,7.93,0.820,13318,0.000,0.049,2963,2121,1688,1775,1601,0,0,0,0,0,0,14.85,14.78,14.21
$STATE,3424,end climb,SURFACE_DEPTH_REACHED
$STATE,3424,begin surface coast
$FINISH,0.3,1.023062
$STATE,3441,end surface coast,CONTROL_FINISHED_OK
$STATE,3441,begin surface
$SM_CCo,3457,52.72,0.187,0,0,1167,400.08
$SM_GC,1.29,6.43,0.22,52.72,0.056,0.066,0.187,160,2301,1167,-7.92,-0.96,400.08,0,0,0,0,0,0,15.00,14.98,14.68
$IRIDIUM_FIX,2234.68,-15800.20,240921,181453
$TT8_MAMPS,0.02247,0.286118
$HUMID,51.02
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.45,126.965
$10V_AH,12.95,0.000
$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,15.750,31.975,319.775,52.725,0.000,25.583,42.109,118.350,0.250,0.000,15.336,1288.113,626.301,395.641,1386.291,146.063,0.000,900.440,0.000,1223.015,0.000,0.556,0.000
$DEVICE_MAMPS,433.755,66.555,1082.475,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,346.775,379.138,809.681,672.375,781.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,47389,522
$CAP_FILE_SIZE,113572,0
$CFSIZE,1023623168,971096064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.112,346.07,1
$GPS,240921,191847,2245.281,-15800.055,6,1.0,20,9.8,0.5,326.5,8,9.8