version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 607
start: 9 29 121 10 23 8
data:
$ID,626
$MISSION,3
$DIVE,607
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,290921,101649,2245.2422,-15800.6885,9,0.8,40,9.8,0.8,295.6,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.6
$GPS2,290921,102218,2245.2549,-15800.7178,7,0.8,17,9.8,0.0,247.3,10,9.7
$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,99.5,1314,-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,-116.8,124,2247,1207,1110,0.0,0.0,0,73,0.00,0.00,-55.10,0.000,16386,0.000,0.000,124,2247,2894,2878,2910,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,124,2247,2878,2911,3.0,-4.9,8,99,8.43,0.00,-6.65,0.000,18438,0.437,0.000,2563,2246,3278,3260,3297,0,0,0,0,0,0,14.24,14.02,14.57
$GC,354,-0.55,-116.8,2562,2246,3265,3292,67.0,-20.7,59,362,0.00,2.38,0.00,0.000,2564,0.000,0.051,2563,859,3278,3265,3292,0,0,0,0,0,0,15.21,14.81,15.21
$GC,390,-0.55,-116.8,2563,859,3267,3291,74.1,-19.0,65,398,0.05,2.40,0.00,0.000,3078,0.408,0.054,2570,2270,3278,3267,3290,0,0,0,0,0,0,14.61,14.85,14.87
$GC,655,-0.55,-116.8,2570,2274,3267,3290,115.2,-15.1,114,663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2274,3278,3267,3290,0,0,0,0,0,0,15.23,15.24,15.24
$GC,922,-0.55,-116.8,2570,2274,3267,3290,149.8,-11.3,163,929,0.00,2.38,0.00,0.000,2564,0.000,0.050,2570,848,3278,3267,3290,0,0,0,0,0,0,15.25,14.91,15.26
$GC,968,-0.55,-116.8,2570,847,3267,3290,154.7,-10.6,168,977,0.00,2.35,0.00,0.000,3078,0.000,0.054,2561,2265,3278,3268,3289,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1221,-0.55,-116.8,2561,2266,3268,3289,184.7,-12.5,193,1231,0.00,2.35,0.00,0.000,2564,0.000,0.054,2561,849,3279,3268,3290,0,0,0,0,0,0,15.28,14.79,15.28
$GC,1243,-0.55,-116.8,2561,849,3268,3290,187.8,-11.7,195,1255,0.08,2.38,0.00,0.000,3078,0.319,0.057,2579,2270,3278,3268,3289,0,0,0,0,0,0,14.70,14.94,14.94
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1378,-0.13,0.0,2579,2061,3268,3289,200.0,-9.1,208,1476,0.30,0.12,92.85,1.084,10246,0.216,0.108,2701,2162,2798,2863,2734,0,0,0,0,0,0,14.59,14.66,14.04
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,0.55,116.8,2701,2162,2864,2734,204.2,0.0,218,1586,0.50,2.53,96.00,1.075,11012,0.145,0.049,2926,710,2320,2401,2239,0,0,0,0,0,0,14.59,14.35,13.92
$GC,2094,0.61,222.2,2926,710,2389,2236,164.6,4.7,279,2184,0.00,2.30,82.62,1.052,11270,0.000,0.049,2926,2099,1891,1970,1813,0,0,0,0,0,0,15.05,14.94,14.10
$GC,2436,0.63,246.6,2925,2099,1971,1805,134.8,8.8,327,2463,0.00,2.35,19.80,0.995,10756,0.000,0.054,2936,715,1794,1878,1711,0,0,0,0,0,0,15.16,14.62,14.16
$GC,2649,0.63,256.6,2936,715,1868,1711,113.9,9.6,365,2664,0.00,2.38,9.40,0.926,11270,0.000,0.054,2936,2125,1753,1837,1669,0,0,0,0,0,0,15.00,14.88,14.20
$GC,2924,0.67,310.0,2936,2125,1836,1665,92.5,7.3,415,2976,0.00,2.42,42.88,0.979,10500,0.000,0.068,2935,3525,1535,1630,1440,0,0,0,0,0,0,15.21,14.69,14.21
$GC,3068,0.70,367.5,2936,3525,1630,1440,82.3,7.1,439,3122,0.00,2.35,45.72,0.958,11270,0.000,0.050,2947,2121,1299,1397,1202,0,0,0,0,0,0,14.95,14.84,14.14
$GC,3383,0.73,418.7,2946,2121,1397,1198,61.4,7.5,495,3435,0.05,2.40,40.15,0.931,10756,0.257,0.061,3073,721,1089,1183,996,0,0,0,0,0,0,14.83,14.64,14.20
$GC,3544,0.73,418.7,3073,722,1178,995,33.0,15.7,522,3552,0.25,2.40,0.00,0.000,5126,0.251,0.048,2984,2137,1086,1178,994,0,0,0,0,0,0,14.59,14.81,14.83
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.2,1.009925
$STATE,3795,end surface coast,CONTROL_FINISHED_OK
$STATE,3795,begin surface
$SM_CCo,3871,0.00,0.000,0,0,1084,421.17
$SM_GC,1.09,6.40,0.20,0.00,0.042,0.071,0.000,154,2317,1084,-7.93,-0.88,421.17,0,0,0,0,0,0,14.97,14.97,15.02
$IRIDIUM_FIX,2237.01,-15759.32,290921,101818
$TT8_MAMPS,0.02247,0.28462
$HUMID,52.28
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,13.92,144.490
$10V_AH,12.87,0.000
$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,16.050,33.925,429.425,0.000,0.000,26.522,43.108,130.398,1.000,0.000,18.353,1376.346,719.894,424.520,1530.565,174.395,0.000,995.490,0.000,1355.753,0.000,0.555,0.000
$DEVICE_MAMPS,436.815,107.865,1084.005,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,376.349,406.930,880.743,714.672,833.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,50580,568
$CAP_FILE_SIZE,119897,0
$CFSIZE,1023623168,962871296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.129,267.46,1
$GPS,290921,112835,2245.063,-15800.678,7,0.9,21,9.8,0.8,291.6,9,8.9