version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 506
start: 9 24 121 19 25 14
data:
$ID,626
$MISSION,3
$DIVE,506
$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,65
$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
$GPS1,240921,191847,2245.2815,-15800.0547,6,1.0,20,9.8,0.5,326.5,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.0
$GPS2,240921,192425,2245.3064,-15800.0869,8,0.9,37,9.8,0.4,47.9,10,5.0
$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,155.9,586,-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,-116.8,123,2310,1193,1119,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,16386,0.000,0.000,123,2310,3242,3203,3281,0,0,0,0,0,0,15.19,28.83,15.20
$GC,86,-0.55,-116.8,123,2311,3204,3280,4.0,-7.7,9,101,8.38,2.28,-0.55,0.000,18948,0.434,0.055,2575,883,3278,3248,3309,0,0,0,0,0,0,14.26,13.98,14.56
$GC,161,-0.55,-116.8,2575,880,3261,3298,34.1,-24.2,22,169,0.00,2.30,0.00,0.000,3078,0.000,0.047,2566,2233,3279,3262,3296,0,0,0,0,0,0,14.89,14.82,14.92
$GC,423,-0.55,-116.8,2566,2233,3262,3295,95.7,-20.2,71,430,0.00,0.00,0.00,0.000,2054,0.000,0.000,2567,2233,3279,3262,3296,0,0,0,0,0,0,15.22,15.23,15.23
$GC,679,-0.55,-116.8,2566,2233,3264,3295,140.6,-15.6,120,685,0.00,0.00,0.00,0.000,2054,0.000,0.000,2567,2233,3279,3264,3295,0,0,0,0,0,0,15.25,15.26,15.26
$GC,935,-0.55,-116.8,2566,2233,3264,3295,178.1,-13.4,151,940,0.00,2.17,0.00,0.000,2564,0.000,0.047,2567,907,3280,3265,3295,0,0,0,0,0,0,15.29,14.98,15.29
$GC,977,-0.55,-116.8,2566,907,3266,3295,183.6,-12.8,155,983,0.05,2.25,0.00,0.000,3078,0.380,0.051,2576,2268,3279,3264,3295,0,0,0,0,0,0,14.73,14.97,14.97
$STATE,1119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1119,begin apogee
$GC,1125,-0.13,0.0,2574,2095,3267,3293,200.1,-11.3,169,1221,0.32,0.00,92.35,1.088,10246,0.240,0.000,2702,2092,2799,2865,2734,0,0,0,0,0,0,14.60,14.67,14.07
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1224,0.55,116.8,2702,2092,2864,2734,203.5,0.0,179,1332,0.50,2.15,95.00,1.077,10756,0.155,0.044,2924,784,2321,2403,2240,0,0,0,0,0,0,14.59,14.43,14.00
$GC,1417,0.57,148.7,2924,785,2395,2239,193.8,8.5,198,1451,0.00,2.25,26.80,1.041,11270,0.000,0.048,2924,2136,2191,2279,2104,0,0,0,0,0,0,14.89,14.78,14.09
$GC,1699,0.57,148.7,2924,2136,2279,2101,166.8,10.7,226,1709,0.00,2.30,0.00,0.000,2308,0.000,0.063,2924,3528,2190,2278,2102,0,0,0,0,0,0,15.21,14.79,15.20
$GC,1923,0.57,148.7,2924,3528,2279,2102,141.9,11.2,254,1931,0.00,2.22,0.00,0.000,5126,0.000,0.044,2934,2200,2191,2280,2102,0,0,0,0,0,0,14.90,14.85,14.93
$GC,2191,0.59,190.7,2934,2199,2279,2100,117.1,7.9,303,2231,0.00,2.38,33.88,1.000,10756,0.000,0.054,2946,793,2019,2106,1933,0,0,0,0,0,0,15.25,14.85,14.29
$GC,2282,0.60,206.7,2946,792,2097,1933,108.9,9.3,318,2303,0.00,2.28,13.27,0.940,13318,0.000,0.049,2946,2122,1956,2037,1875,0,0,0,0,0,0,14.86,14.79,14.19
$GC,2564,0.61,215.8,2946,2122,2037,1870,81.5,9.6,369,2578,0.00,2.40,8.25,0.885,8452,0.000,0.066,2946,3533,1918,2000,1837,0,0,0,0,0,0,15.20,14.90,14.26
$GC,2716,0.62,239.2,2946,3534,1999,1836,66.6,8.9,397,2745,0.00,2.25,19.85,0.923,13318,0.000,0.045,2956,2202,1822,1905,1740,0,0,0,0,0,0,14.90,14.83,14.29
$GC,3001,0.62,239.2,2955,2201,1904,1735,36.2,11.1,449,3008,0.00,2.40,0.00,0.000,4612,0.000,0.055,2967,776,1820,1905,1735,0,0,0,0,0,0,15.19,14.87,15.19
$GC,3060,0.63,245.6,2966,775,1898,1736,30.2,9.8,459,3069,0.03,2.30,3.28,0.624,13318,0.379,0.048,2956,2127,1798,1880,1716,0,0,0,0,0,0,14.64,14.83,14.17
$STATE,3309,end climb,SURFACE_DEPTH_REACHED
$STATE,3309,begin surface coast
$FINISH,0.7,1.023059
$STATE,3333,end surface coast,CONTROL_FINISHED_OK
$STATE,3333,begin surface
$SM_CCo,3349,64.03,0.185,0,0,1165,400.08
$SM_GC,1.15,6.43,0.20,64.03,0.062,0.080,0.185,172,2290,1165,-7.91,-1.16,400.08,0,0,0,0,0,0,14.97,14.99,14.70
$IRIDIUM_FIX,2237.01,-15759.32,240921,192010
$TT8_MAMPS,0.023219,0.28462
$HUMID,50.55
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,5
$24V_AH,13.98,127.125
$10V_AH,13.02,0.000
$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,15.700,32.275,292.675,64.025,0.000,26.253,46.679,120.410,1.250,0.000,38.660,1267.318,598.319,383.609,1382.138,150.661,0.000,869.049,0.000,1184.150,0.000,0.555,0.000
$DEVICE_MAMPS,433.755,84.150,1087.830,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,339.369,367.049,788.553,662.877,765.130,0.000,0.000,0.000,0.000,0.000
$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,43924,510
$CAP_FILE_SIZE,113396,0
$CFSIZE,1023623168,971014144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,304.08,1
$GPS,240921,202304,2245.015,-15800.039,8,0.8,21,9.8,0.7,22.2,10,9.6