version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 531
start: 9 25 121 22 17 56
data:
$ID,626
$MISSION,3
$DIVE,531
$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,37
$R_STBD_OVSHOOT,48
$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
$GPS1,250921,220931,2244.9324,-15800.0400,7,0.9,39,9.8,0.5,237.2,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.4
$GPS2,250921,221704,2244.9231,-15800.1123,6,1.0,16,9.8,0.5,195.8,9,9.3
$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,52.3,239,-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,-116.8,118,2294,1195,1117,0.0,0.0,0,80,0.00,0.00,-61.67,0.000,16386,0.000,0.000,118,2294,3150,3114,3186,0,0,0,0,0,0,15.16,28.83,15.16
$GC,83,-0.58,-116.8,118,2294,3114,3186,3.7,-7.0,9,98,8.35,0.00,-2.05,0.000,19206,0.432,0.000,2552,2294,3280,3251,3310,0,0,0,0,0,0,14.27,13.49,14.56
$GC,353,-0.58,-116.8,2551,2294,3265,3298,80.1,-21.9,59,360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2294,3281,3265,3298,0,0,0,0,0,0,15.21,15.21,15.21
$GC,613,-0.58,-116.8,2551,2294,3267,3297,125.9,-14.3,108,620,0.00,2.42,0.00,0.000,2564,0.000,0.051,2553,851,3282,3267,3297,0,0,0,0,0,0,15.24,14.89,15.24
$GC,639,-0.58,-116.8,2551,849,3267,3296,129.9,-15.1,112,648,0.05,2.40,0.00,0.000,3078,0.331,0.051,2561,2251,3281,3267,3296,0,0,0,0,0,0,14.57,14.85,14.75
$GC,904,-0.58,-116.8,2560,2252,3268,3296,166.0,-13.4,151,908,0.00,2.33,0.00,0.000,2564,0.000,0.050,2561,848,3282,3268,3296,0,0,0,0,0,0,15.28,14.94,15.28
$GC,937,-0.58,-116.8,2561,848,3268,3296,170.7,-14.4,154,945,0.00,2.33,0.00,0.000,3078,0.000,0.052,2552,2258,3282,3269,3296,0,0,0,0,0,0,14.90,14.81,14.90
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1151,-0.13,0.0,2552,2076,3269,3295,200.4,-14.3,175,1248,0.40,0.10,93.38,1.089,10246,0.254,0.129,2702,2165,2798,2863,2734,0,0,0,0,0,0,14.52,14.66,14.07
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1252,0.58,116.8,2702,2164,2863,2733,204.2,0.0,185,1359,0.55,2.30,95.70,1.073,10500,0.150,0.060,2930,3511,2323,2406,2241,0,0,0,0,0,0,14.53,14.38,13.95
$GC,1366,0.65,241.0,2930,3511,2406,2241,201.9,3.0,196,1472,0.00,2.22,99.00,1.062,11270,0.000,0.041,2940,2162,1816,1892,1740,0,0,0,0,0,0,14.73,14.65,13.97
$GC,1712,0.65,241.0,2940,2162,1892,1734,151.6,14.9,231,1722,0.00,2.40,0.00,0.000,2564,0.000,0.059,2952,723,1812,1891,1734,0,0,0,0,0,0,15.17,14.64,15.17
$GC,1761,0.65,241.0,2952,723,1886,1735,144.7,13.7,238,1770,0.00,2.35,0.00,0.000,3078,0.000,0.049,2952,2096,1810,1886,1734,0,0,0,0,0,0,14.89,14.83,14.99
$GC,2026,0.65,241.0,2952,2096,1886,1734,105.7,14.3,287,2033,0.00,0.00,0.00,0.000,2054,0.000,0.000,2952,2096,1810,1886,1734,0,0,0,0,0,0,15.23,15.23,15.22
$GC,2290,0.65,241.0,2952,2096,1886,1732,67.6,14.2,336,2298,0.00,2.47,0.00,0.000,2308,0.000,0.066,2952,3535,1809,1886,1732,0,0,0,0,0,0,15.23,14.83,15.23
$GC,2357,0.65,241.0,2952,3535,1886,1732,57.8,13.7,348,2365,0.00,2.40,0.00,0.000,1030,0.000,0.049,2963,2130,1809,1886,1732,0,0,0,0,0,0,14.85,14.80,14.88
$GC,2620,0.66,243.6,2962,2129,1886,1733,31.7,10.0,397,2628,0.00,2.38,0.00,0.000,516,0.000,0.057,2974,709,1809,1886,1732,0,0,0,0,0,0,15.21,14.88,15.23
$GC,2673,0.66,243.6,2973,708,1885,1732,26.4,10.2,406,2681,0.00,2.40,0.00,0.000,5126,0.000,0.051,2974,2125,1808,1885,1731,0,0,0,0,0,0,15.02,14.88,15.03
$STATE,2884,end climb,SURFACE_DEPTH_REACHED
$STATE,2884,begin surface coast
$FINISH,0.3,1.009875
$STATE,2912,end surface coast,CONTROL_FINISHED_OK
$STATE,2913,begin surface
$SM_CCo,2928,65.55,0.181,0,0,1165,400.08
$SM_GC,1.18,6.47,0.22,65.55,0.057,0.094,0.181,157,2274,1165,-7.96,-0.90,400.08,0,0,0,0,0,0,14.96,14.92,14.67
$IRIDIUM_FIX,2234.68,-15800.20,250921,221051
$TT8_MAMPS,0.02247,0.28462
$HUMID,50.82
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,13.49,131.262
$10V_AH,13.10,0.000
$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,15.825,28.950,288.075,65.550,0.000,23.535,42.097,268.151,1.000,0.000,17.888,1113.440,447.171,384.874,1359.510,176.373,0.000,821.975,0.000,1052.321,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,128.520,1089.360,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,299.827,487.776,704.709,609.880,714.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339240
$DATA_FILE_SIZE,40633,451
$CAP_FILE_SIZE,102443,0
$CFSIZE,1023623168,968998912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,10
$CURRENT,0.072,260.75,1
$GPS,250921,230846,2245.083,-15759.870,7,1.0,19,9.8,0.7,197.4,9,9.9