version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 520
start: 9 25 121 10 10 39
data:
$ID,626
$MISSION,3
$DIVE,520
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,250921,100501,2244.9956,-15800.2471,6,0.8,28,9.8,0.3,267.3,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.0
$GPS2,250921,100948,2244.9700,-15800.2725,6,0.8,13,9.8,0.6,329.3,9,9.6
$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,54.2,469,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-116.8,123,2291,1196,1121,0.0,0.0,0,74,0.00,0.00,-55.28,0.000,16386,0.000,0.000,122,2291,2894,2884,2904,0,0,0,0,0,0,15.19,28.83,15.20
$GC,77,-0.58,-116.8,122,2291,2883,2905,3.0,-6.3,8,99,8.38,0.00,-6.80,0.000,18694,0.437,0.000,2552,2291,3279,3261,3298,0,0,0,0,0,0,14.29,14.05,14.57
$GC,355,-0.58,-116.8,2552,2291,3264,3295,80.0,-23.7,59,362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2291,3279,3264,3295,0,0,0,0,0,0,15.21,15.21,15.21
$GC,622,-0.58,-116.8,2552,2291,3266,3295,133.7,-18.0,108,629,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2291,3280,3266,3295,0,0,0,0,0,0,15.23,15.24,15.24
$GC,876,-0.58,-116.8,2552,2291,3267,3295,175.8,-14.3,141,886,0.00,2.38,0.00,0.000,2564,0.000,0.050,2553,842,3280,3267,3293,0,0,0,0,0,0,15.29,14.95,15.29
$GC,892,-0.58,-116.8,2553,842,3267,3294,176.9,-13.9,142,899,0.05,2.33,0.00,0.000,3078,0.390,0.050,2561,2252,3280,3268,3293,0,0,0,0,0,0,14.70,14.95,14.95
$STATE,1078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1078,begin apogee
$GC,1083,-0.13,0.0,2561,2052,3267,3291,200.7,-11.8,161,1181,0.38,0.12,92.85,1.086,10246,0.247,0.110,2704,2154,2798,2863,2734,0,0,0,0,0,0,14.56,14.67,14.07
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1184,0.58,116.8,2705,2154,2863,2733,204.5,0.0,171,1290,0.52,2.38,95.70,1.074,10756,0.153,0.047,2935,704,2319,2400,2239,0,0,0,0,0,0,14.59,14.44,14.00
$GC,1338,0.60,148.5,2935,704,2390,2239,198.9,8.3,186,1375,0.00,2.38,26.38,1.040,11270,0.000,0.047,2935,2112,2192,2277,2108,0,0,0,0,0,0,14.82,14.71,14.04
$GC,1616,0.61,167.8,2935,2111,2277,2103,167.5,9.0,214,1637,0.00,2.35,16.25,1.006,10500,0.000,0.065,2935,3531,2115,2202,2028,0,0,0,0,0,0,15.19,14.85,14.24
$GC,1889,0.61,167.8,2935,3531,2202,2029,138.5,10.7,250,1898,0.00,2.38,0.00,0.000,1030,0.000,0.046,2946,2123,2115,2202,2028,0,0,0,0,0,0,14.87,14.81,14.89
$GC,2158,0.62,177.6,2946,2121,2202,2026,111.5,9.5,299,2173,0.00,2.42,9.32,0.932,8452,0.000,0.063,2945,3540,2074,2162,1986,0,0,0,0,0,0,15.23,14.92,14.28
$GC,2421,0.64,214.3,2946,3540,2163,1986,87.6,8.0,347,2460,0.00,2.33,28.85,0.971,9222,0.000,0.046,2956,2119,1927,2009,1845,0,0,0,0,0,0,15.04,14.95,14.23
$GC,2717,0.66,256.2,2956,2118,2009,1839,63.5,7.7,401,2752,0.00,0.00,33.38,0.940,10246,0.000,0.000,2956,2119,1755,1840,1670,0,0,0,0,0,0,15.19,14.81,14.26
$GC,3004,0.66,256.2,2957,2118,1837,1664,32.1,11.5,454,3012,0.00,2.40,0.00,0.000,2564,0.000,0.057,2968,721,1750,1837,1664,0,0,0,0,0,0,15.18,14.81,15.18
$GC,3030,0.66,256.2,2967,720,1835,1665,29.0,11.8,458,3039,0.00,2.40,0.00,0.000,5126,0.000,0.047,2968,2147,1749,1834,1664,0,0,0,0,0,0,15.00,14.87,15.01
$STATE,3244,end climb,SURFACE_DEPTH_REACHED
$STATE,3244,begin surface coast
$FINISH,0.3,1.016439
$STATE,3267,end surface coast,CONTROL_FINISHED_OK
$STATE,3267,begin surface
$SM_CCo,3283,59.30,0.185,0,0,1165,400.08
$SM_GC,1.12,6.45,0.17,59.30,0.056,0.099,0.185,154,2271,1165,-7.94,-1.07,400.08,0,0,0,0,0,0,15.00,14.95,14.69
$IRIDIUM_FIX,2237.01,-15759.32,250921,100621
$TT8_MAMPS,0.02247,0.342293
$HUMID,51.22
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,14.00,129.403
$10V_AH,12.89,0.000
$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,15.775,24.250,302.725,59.300,0.000,26.590,41.733,105.954,0.750,0.000,14.367,1233.494,578.793,382.780,1323.407,146.626,0.000,858.789,0.000,1170.005,0.000,0.555,0.000
$DEVICE_MAMPS,436.815,110.160,1086.300,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,333.810,358.628,780.920,664.374,770.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,44119,502
$CAP_FILE_SIZE,110547,0
$CFSIZE,1023623168,969900032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161,220.05,1
$GPS,250921,110717,2244.925,-15800.162,6,0.9,18,9.8,0.0,222.8,8,9.9