version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 518
start: 9 25 121 8 9 14
data:
$ID,626
$MISSION,3
$DIVE,518
$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,38
$R_STBD_OVSHOOT,52
$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
$GPS1,250921,080259,2244.9727,-15800.2021,7,0.8,20,9.8,0.0,288.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.2
$GPS2,250921,080822,2244.9758,-15800.2178,7,0.8,18,9.8,0.8,256.5,11,9.3
$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,85.7,375,-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,16,-0.58,-116.8,124,2294,1197,1120,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,16386,0.000,0.000,124,2294,3160,3124,3197,0,0,0,0,0,0,15.19,28.83,15.20
$GC,83,-0.58,-116.8,124,2294,3125,3196,3.7,-7.4,9,98,8.38,0.00,-1.83,0.000,18950,0.438,0.000,2551,2294,3280,3250,3310,0,0,0,0,0,0,14.28,13.50,14.57
$GC,352,-0.58,-116.8,2551,2294,3263,3297,83.2,-20.0,59,360,0.00,2.38,0.00,0.000,2564,0.000,0.050,2552,856,3280,3265,3296,0,0,0,0,0,0,15.22,14.90,15.21
$GC,368,-0.58,-116.8,2551,856,3266,3296,86.5,-20.2,61,375,0.05,2.30,0.00,0.000,3078,0.427,0.048,2558,2246,3280,3265,3296,0,0,0,0,0,0,14.63,14.91,14.90
$GC,625,-0.58,-116.8,2558,2248,3267,3296,129.7,-16.3,110,632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2248,3281,3266,3296,0,0,0,0,0,0,15.24,15.25,15.25
$GC,885,-0.58,-116.8,2558,2248,3266,3296,171.3,-15.6,147,889,0.00,2.35,0.00,0.000,2308,0.000,0.063,2549,3671,3281,3266,3296,0,0,0,0,0,0,15.28,14.92,15.29
$GC,927,-0.58,-116.8,2549,3671,3266,3296,177.5,-14.7,151,932,0.00,2.28,0.00,0.000,3078,0.000,0.044,2548,2266,3280,3266,3295,0,0,0,0,0,0,15.08,14.97,15.10
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1103,-0.13,0.0,2549,2064,3267,3295,200.4,-11.8,168,1202,0.40,0.10,92.75,1.089,10246,0.244,0.126,2701,2148,2798,2863,2734,0,0,0,0,0,0,14.42,14.66,14.08
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1205,0.58,116.8,2700,2148,2863,2734,204.0,0.0,178,1310,0.52,2.30,95.25,1.079,10500,0.158,0.063,2920,3514,2322,2406,2239,0,0,0,0,0,0,14.57,14.57,14.00
$GC,1549,0.59,127.7,2920,3514,2405,2239,175.8,9.5,212,1570,0.00,2.25,10.20,0.972,11270,0.000,0.044,2931,2119,2278,2363,2193,0,0,0,0,0,0,14.84,14.83,14.18
$GC,1811,0.61,175.9,2931,2120,2363,2189,155.7,7.4,238,1857,0.00,0.00,39.15,1.043,10246,0.000,0.000,2931,2120,2080,2168,1993,0,0,0,0,0,0,15.24,14.81,14.23
$GC,2108,0.61,175.9,2931,2120,2167,1988,124.9,11.2,289,2115,0.00,2.35,0.00,0.000,2308,0.000,0.063,2931,3514,2077,2167,1988,0,0,0,0,0,0,15.19,14.88,15.20
$GC,2197,0.61,175.9,2931,3514,2167,1986,114.2,12.3,305,2205,0.00,2.28,0.00,0.000,3078,0.000,0.047,2942,2125,2077,2167,1988,0,0,0,0,0,0,15.04,14.93,15.05
$GC,2456,0.63,196.0,2942,2124,2167,1986,85.4,9.0,354,2478,0.00,2.38,16.30,0.952,10500,0.000,0.063,2942,3515,1998,2082,1914,0,0,0,0,0,0,15.24,14.90,14.31
$GC,2550,0.63,201.9,2942,3515,2082,1914,76.6,9.8,370,2564,0.00,2.35,6.15,0.841,9222,0.000,0.047,2953,2126,1975,2058,1893,0,0,0,0,0,0,14.91,14.85,14.20
$GC,2824,0.68,285.5,2953,2124,2058,1889,58.4,5.4,420,2895,0.00,0.00,64.68,0.940,10758,0.000,0.000,2953,2123,1633,1723,1544,0,0,0,0,0,0,15.21,14.73,14.21
$GC,3149,0.68,285.5,2953,2123,1724,1537,28.0,11.2,478,3156,0.00,2.40,0.00,0.000,2564,0.000,0.062,2964,712,1630,1724,1537,0,0,0,0,0,0,15.16,14.83,15.16
$GC,3166,0.68,285.5,2964,711,1721,1538,26.1,11.6,480,3173,0.00,2.38,0.00,0.000,3078,0.000,0.051,2965,2103,1629,1721,1537,0,0,0,0,0,0,14.99,14.82,15.00
$STATE,3333,end climb,SURFACE_DEPTH_REACHED
$STATE,3333,begin surface coast
$FINISH,0.2,1.023141
$STATE,3356,end surface coast,CONTROL_FINISHED_OK
$STATE,3356,begin surface
$SM_CCo,3372,46.80,0.185,0,0,1165,400.08
$SM_GC,1.11,6.35,0.25,46.80,0.040,0.062,0.185,147,2305,1165,-7.93,-0.90,400.08,0,0,0,0,0,0,14.99,15.00,14.70
$IRIDIUM_FIX,2234.68,-15800.20,250921,080423
$TT8_MAMPS,0.020223,0.289114
$HUMID,51.41
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,13.50,129.079
$10V_AH,12.97,0.000
$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,15.700,28.525,324.475,46.800,0.000,26.951,51.170,121.337,0.500,0.000,19.223,1272.264,575.273,389.583,1386.791,151.628,0.000,884.362,0.000,1207.693,0.000,0.555,0.000
$DEVICE_MAMPS,437.580,126.225,1089.360,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,342.263,369.039,800.576,682.193,795.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,44217,515
$CAP_FILE_SIZE,113061,0
$CFSIZE,1023623168,970047488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,203.99,1
$GPS,250921,090706,2244.898,-15759.846,6,1.0,17,9.8,0.6,35.7,8,9.9