version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 515
start: 9 25 121 4 51 38
data:
$ID,626
$MISSION,3
$DIVE,515
$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,32
$R_STBD_OVSHOOT,63
$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
$GPS1,250921,044531,2245.2197,-15800.0732,6,0.8,26,9.8,0.0,223.4,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.6
$GPS2,250921,045046,2245.2451,-15800.1064,7,0.8,21,9.8,0.0,97.4,10,8.9
$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,140.4,489,-19.1,-10.101,-25.00,1808
$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,15,-0.58,-116.8,123,2305,1198,1114,0.0,0.0,0,80,0.00,0.00,-62.47,0.000,16386,0.000,0.000,123,2305,3137,3100,3174,0,0,0,0,0,0,15.19,28.83,15.20
$GC,83,-0.58,-116.8,122,2305,3104,3172,3.2,-4.9,9,106,8.40,2.42,-2.28,0.000,18948,0.439,0.060,2556,831,3278,3254,3303,0,0,0,0,0,0,14.30,13.47,14.58
$GC,171,-0.58,-116.8,2555,828,3263,3297,32.8,-19.6,24,179,0.05,2.40,0.00,0.000,3078,0.428,0.049,2561,2257,3280,3264,3296,0,0,0,0,0,0,14.60,14.86,14.87
$GC,432,-0.58,-116.8,2562,2260,3266,3295,93.7,-20.6,73,439,0.00,2.35,0.00,0.000,2308,0.000,0.063,2553,3672,3280,3266,3295,0,0,0,0,0,0,15.22,14.89,15.22
$GC,482,-0.58,-116.8,2552,3673,3266,3295,102.5,-15.9,82,490,0.00,2.38,0.00,0.000,3078,0.000,0.046,2553,2265,3280,3266,3295,0,0,0,0,0,0,15.02,14.86,15.04
$GC,742,-0.58,-116.8,2552,2261,3266,3295,143.8,-15.6,131,749,0.00,2.33,0.00,0.000,2564,0.000,0.053,2552,849,3281,3267,3295,0,0,0,0,0,0,15.25,14.92,15.26
$GC,808,-0.58,-116.8,2552,849,3267,3295,153.4,-12.6,141,814,0.05,2.35,0.00,0.000,3078,0.401,0.050,2560,2273,3280,3267,3294,0,0,0,0,0,0,14.68,14.93,14.93
$GC,1063,-0.58,-116.8,2560,2276,3267,3293,187.7,-13.9,166,1069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2559,2276,3280,3267,3293,0,0,0,0,0,0,15.29,15.29,15.29
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1165,-0.13,0.0,2559,2065,3267,3292,200.3,-12.2,176,1263,0.38,0.10,92.62,1.089,10246,0.242,0.129,2704,2156,2798,2862,2734,0,0,0,0,0,0,14.57,14.66,14.07
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1266,0.58,116.8,2704,2156,2863,2734,204.0,0.0,186,1372,0.52,2.22,95.72,1.074,10500,0.149,0.060,2924,3512,2322,2404,2241,0,0,0,0,0,0,14.59,14.43,13.99
$GC,1387,0.63,208.6,2924,3512,2404,2241,201.0,4.9,198,1468,0.00,2.30,73.28,1.065,11270,0.000,0.042,2935,2115,1947,2023,1872,0,0,0,0,0,0,14.56,14.52,13.97
$GC,1707,0.63,208.6,2935,2115,2022,1866,159.7,14.8,230,1708,0.00,0.00,0.00,0.000,2054,0.000,0.000,2936,2114,1944,2022,1866,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1952,0.63,208.6,2935,2114,2023,1865,125.4,12.0,271,1959,0.00,2.33,0.00,0.000,2564,0.000,0.057,2947,716,1944,2023,1865,0,0,0,0,0,0,15.21,14.91,15.21
$GC,2008,0.63,208.6,2946,716,2016,1865,118.9,10.8,281,2016,0.00,2.28,0.00,0.000,3078,0.000,0.047,2947,2095,1941,2017,1865,0,0,0,0,0,0,15.05,14.93,15.07
$GC,2267,0.64,210.1,2946,2096,2016,1865,94.2,10.0,330,2275,0.00,2.47,0.00,0.000,2308,0.000,0.065,2947,3535,1940,2016,1865,0,0,0,0,0,0,15.25,14.84,15.25
$GC,2443,0.64,216.5,2946,3535,2016,1866,78.0,9.7,363,2460,0.00,2.38,6.88,0.868,9222,0.000,0.046,2958,2128,1915,1993,1838,0,0,0,0,0,0,15.03,14.88,14.22
$GC,2715,0.66,254.5,2958,2127,1993,1836,51.9,7.9,413,2751,0.00,0.00,30.62,0.924,10502,0.000,0.000,2958,2128,1760,1843,1678,0,0,0,0,0,0,15.22,14.84,14.30
$GC,3009,0.66,254.5,2957,2127,1843,1672,21.3,12.8,466,3016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2958,2126,1758,1843,1673,0,0,0,0,0,0,15.19,15.19,15.19
$STATE,3157,end climb,SURFACE_DEPTH_REACHED
$STATE,3157,begin surface coast
$FINISH,0.3,1.023055
$STATE,3181,end surface coast,CONTROL_FINISHED_OK
$STATE,3181,begin surface
$SM_CCo,3197,60.15,0.187,0,0,1168,400.08
$SM_GC,1.39,6.55,0.22,60.15,0.083,0.076,0.187,145,2282,1168,-7.91,-1.16,400.08,0,0,0,0,0,0,14.99,14.97,14.68
$IRIDIUM_FIX,2237.01,-15802.37,250921,044652
$TT8_MAMPS,0.02247,0.283871
$HUMID,50.31
$INTERNAL_PRESSURE,9.33591
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,13.47,128.582
$10V_AH,13.00,0.000
$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,15.950,28.775,299.125,60.150,0.000,24.630,50.211,117.455,0.500,0.000,22.060,1230.278,522.450,386.003,1318.597,149.467,0.000,854.641,0.000,1142.972,0.000,0.555,0.000
$DEVICE_MAMPS,439.110,128.520,1088.595,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,331.134,357.188,772.730,659.120,767.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339140
$DATA_FILE_SIZE,44075,498
$CAP_FILE_SIZE,109670,0
$CFSIZE,1023623168,970293248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,305.45,1
$GPS,250921,054647,2245.014,-15800.014,6,0.9,16,9.8,0.0,344.7,9,9.8