version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 594
start: 9 28 121 19 41 17
data:
$ID,626
$MISSION,3
$DIVE,594
$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,81
$R_STBD_OVSHOOT,73
$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
$GPS1,280921,193501,2245.2136,-15800.9502,7,0.9,35,9.8,0.8,290.5,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.0
$GPS2,280921,194027,2245.2434,-15800.9824,7,0.9,19,9.8,0.8,280.0,9,9.4
$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,120.9,1737,-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,-116.8,123,2215,1200,1113,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,16386,0.000,0.000,123,2214,3199,3162,3236,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2214,3162,3237,4.5,-9.7,9,100,8.43,2.12,-1.23,0.000,18948,0.434,0.053,2575,877,3280,3250,3310,0,0,0,0,0,0,14.19,13.88,14.48
$GC,136,-0.55,-116.8,2574,876,3264,3298,27.6,-31.9,17,144,0.00,2.33,0.00,0.000,3078,0.000,0.051,2566,2223,3281,3266,3296,0,0,0,0,0,0,14.85,14.78,14.87
$GC,396,-0.55,-116.8,2566,2224,3266,3295,87.9,-22.5,66,402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2224,3281,3267,3296,0,0,0,0,0,0,15.21,15.22,15.22
$GC,655,-0.55,-116.8,2567,2225,3266,3296,138.0,-17.0,115,662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2224,3281,3267,3296,0,0,0,0,0,0,15.23,15.24,15.23
$GC,907,-0.55,-116.8,2566,2224,3266,3296,179.6,-14.9,146,909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2224,3281,3267,3296,0,0,0,0,0,0,15.29,15.29,15.29
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1092,-0.13,0.0,2566,2101,3267,3296,200.9,-10.9,164,1189,0.35,0.00,93.45,1.091,10246,0.243,0.000,2700,2097,2799,2864,2734,0,0,0,0,0,0,14.53,14.66,14.04
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,0.55,116.8,2701,2098,2864,2733,204.4,0.0,174,1299,0.50,2.42,95.45,1.077,10500,0.155,0.060,2911,3535,2323,2406,2241,0,0,0,0,0,0,14.57,14.52,13.97
$GC,1344,0.57,157.6,2911,3535,2406,2241,199.7,8.0,189,1386,0.00,2.22,34.12,1.049,11270,0.000,0.041,2923,2181,2155,2242,2068,0,0,0,0,0,0,14.83,14.71,14.00
$GC,1626,0.58,172.4,2923,2181,2241,2064,170.1,9.3,217,1645,0.00,2.38,12.65,0.986,10756,0.000,0.051,2934,772,2095,2182,2008,0,0,0,0,0,0,15.17,14.87,14.20
$GC,1692,0.60,193.9,2934,772,2175,2008,164.1,9.0,223,1722,0.00,2.28,18.33,1.007,11270,0.000,0.048,2934,2138,2007,2090,1925,0,0,0,0,0,0,15.00,14.88,14.13
$GC,1972,0.60,195.1,2934,2138,2090,1920,138.4,10.0,261,1980,0.00,2.35,0.00,0.000,2308,0.000,0.063,2934,3530,2005,2090,1920,0,0,0,0,0,0,15.19,14.88,15.20
$GC,2074,0.60,195.1,2934,3530,2090,1920,125.9,11.9,279,2081,0.00,2.22,0.00,0.000,5126,0.000,0.045,2944,2180,2005,2090,1920,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2334,0.60,195.1,2945,2180,2090,1920,95.8,10.4,328,2342,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2180,2005,2090,1920,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2596,0.64,260.9,2945,2180,2090,1919,73.4,6.7,377,2660,0.00,2.38,52.45,0.956,10756,0.000,0.056,2956,782,1733,1819,1648,0,0,0,0,0,0,15.23,14.67,14.23
$GC,2686,0.66,303.0,2955,782,1815,1648,67.1,7.9,390,2729,0.00,2.30,33.95,0.926,11270,0.000,0.049,2956,2117,1562,1654,1470,0,0,0,0,0,0,14.80,14.74,14.10
$GC,2983,0.66,303.0,2956,2117,1654,1465,34.1,12.5,444,2990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2956,2117,1559,1654,1465,0,0,0,0,0,0,15.15,15.16,15.16
$STATE,3240,end climb,SURFACE_DEPTH_REACHED
$STATE,3240,begin surface coast
$FINISH,0.3,1.023165
$STATE,3264,end surface coast,CONTROL_FINISHED_OK
$STATE,3264,begin surface
$SM_CCo,3280,39.67,0.183,0,0,1167,400.08
$SM_GC,1.24,6.28,0.22,39.67,0.029,0.060,0.183,160,2356,1167,-7.94,-0.93,400.08,0,0,0,0,0,0,14.95,15.01,14.67
$IRIDIUM_FIX,2234.68,-15802.37,280921,193627
$TT8_MAMPS,0.02247,0.286118
$HUMID,51.33
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.88,142.152
$10V_AH,12.76,0.000
$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,15.550,23.400,340.400,39.675,0.000,25.940,43.178,128.442,0.750,0.000,20.062,1203.513,574.109,386.828,1349.502,163.193,0.000,870.055,0.000,1155.674,0.000,0.556,0.000
$DEVICE_MAMPS,433.755,130.050,1090.890,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,329.656,430.231,775.684,657.546,770.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,43987,496
$CAP_FILE_SIZE,108233,0
$CFSIZE,1023623168,963936256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,14
$CURRENT,0.106,335.97,1
$GPS,280921,203730,2245.176,-15800.740,8,0.9,17,9.8,0.0,336.0,9,9.6