version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 616
start: 9 29 121 20 39 28
data:
$ID,626
$MISSION,3
$DIVE,616
$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,70
$R_STBD_OVSHOOT,66
$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
$GPS1,290921,203301,2245.2434,-15800.5488,9,0.9,17,9.8,0.0,96.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.2
$GPS2,290921,203837,2245.2651,-15800.5850,8,1.0,16,9.8,0.6,269.8,8,9.5
$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,119.7,1113,-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,-116.8,123,2220,1199,1115,0.0,0.0,0,73,0.00,0.00,-54.35,0.000,16386,0.000,0.000,123,2217,2876,2861,2892,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,123,2217,2862,2892,3.1,-6.0,8,99,8.48,2.25,-7.05,0.000,18948,0.439,0.070,2571,880,3279,3262,3296,0,0,0,0,0,0,14.23,13.40,14.53
$GC,154,-0.55,-116.8,2570,880,3267,3294,25.5,-21.0,21,161,0.00,2.33,0.00,0.000,3078,0.000,0.054,2562,2222,3280,3267,3294,0,0,0,0,0,0,14.85,14.78,14.88
$GC,417,-0.55,-116.8,2562,2224,3268,3292,84.5,-21.5,70,425,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2223,3280,3268,3292,0,0,0,0,0,0,15.21,15.22,15.21
$GC,684,-0.55,-116.8,2562,2223,3268,3293,131.8,-16.8,119,690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2223,3280,3268,3293,0,0,0,0,0,0,15.24,15.24,15.24
$GC,939,-0.55,-116.8,2562,2223,3268,3294,170.2,-14.3,154,941,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2223,3281,3268,3294,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1166,begin apogee
$GC,1173,-0.13,0.0,2562,2109,3268,3294,200.4,-12.2,177,1270,0.38,0.00,93.43,1.082,10246,0.242,0.000,2704,2106,2798,2865,2732,0,0,0,0,0,0,14.41,14.66,14.05
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1274,0.55,116.8,2704,2106,2865,2732,204.4,0.0,187,1379,0.50,2.45,95.75,1.072,10500,0.151,0.062,2917,3542,2322,2407,2238,0,0,0,0,0,0,14.57,14.57,13.97
$GC,1518,0.55,117.0,2916,3542,2406,2238,188.9,10.1,211,1526,0.00,2.22,0.00,0.000,1030,0.000,0.042,2927,2181,2322,2407,2237,0,0,0,0,0,0,14.79,14.76,14.81
$GC,1769,0.58,166.1,2927,2181,2406,2234,169.6,7.6,236,1817,0.00,2.30,39.65,1.047,10500,0.000,0.060,2927,3539,2122,2211,2034,0,0,0,0,0,0,15.22,14.63,14.14
$GC,1830,0.58,171.5,2927,3538,2211,2034,163.7,9.8,242,1843,0.00,2.25,6.60,0.892,9222,0.000,0.046,2938,2174,2098,2187,2009,0,0,0,0,0,0,14.90,14.82,14.09
$GC,2097,0.59,193.5,2938,2173,2186,2005,135.9,9.0,280,2118,0.00,0.00,17.88,0.999,8198,0.000,0.000,2938,2173,2010,2095,1925,0,0,0,0,0,0,15.19,14.84,14.23
$GC,2381,0.59,193.5,2938,2173,2094,1920,107.1,11.7,331,2388,0.00,2.42,0.00,0.000,516,0.000,0.059,2950,717,2007,2094,1920,0,0,0,0,0,0,15.20,14.88,15.21
$GC,2451,0.59,193.5,2949,717,2086,1920,98.7,12.2,343,2458,0.00,2.38,0.00,0.000,5126,0.000,0.055,2950,2129,2003,2086,1920,0,0,0,0,0,0,15.02,14.90,15.04
$GC,2720,0.64,259.0,2949,2129,2086,1920,71.0,6.7,392,2777,0.00,2.40,50.75,0.954,10500,0.000,0.065,2950,3541,1743,1830,1657,0,0,0,0,0,0,15.22,14.62,14.19
$GC,2862,0.65,288.2,2949,3541,1829,1657,60.9,8.6,415,2892,0.00,2.40,24.30,0.916,9222,0.000,0.049,2960,2126,1623,1716,1531,0,0,0,0,0,0,14.91,14.80,14.18
$GC,3148,0.65,288.2,2960,2125,1715,1526,31.0,11.1,467,3155,0.00,2.40,0.00,0.000,516,0.000,0.062,2971,709,1620,1715,1525,0,0,0,0,0,0,15.16,14.82,15.16
$GC,3206,0.65,288.2,2971,709,1709,1526,24.2,11.9,477,3215,0.00,2.45,0.00,0.000,5126,0.000,0.054,2971,2122,1617,1709,1526,0,0,0,0,0,0,14.81,14.75,14.83
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,0.3,1.023086
$STATE,3394,end surface coast,CONTROL_FINISHED_OK
$STATE,3394,begin surface
$SM_CCo,3410,45.92,0.184,0,0,1165,400.08
$SM_GC,1.36,6.28,0.22,45.92,0.028,0.067,0.184,173,2305,1165,-7.91,-0.85,400.08,0,0,0,0,0,0,14.95,14.99,14.68
$IRIDIUM_FIX,2234.68,-15802.37,290921,203429
$TT8_MAMPS,0.023219,0.289863
$HUMID,51.45
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,13.40,146.109
$10V_AH,12.93,0.000
$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,15.625,28.650,328.350,45.925,0.000,25.959,46.358,141.767,0.750,0.000,17.936,1252.810,646.506,385.604,1370.191,168.490,0.000,869.056,0.000,1184.524,0.000,0.555,0.000
$DEVICE_MAMPS,439.110,132.345,1082.475,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,339.546,370.589,794.330,678.003,793.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,44109,511
$CAP_FILE_SIZE,109095,0
$CFSIZE,1023623168,962183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.120,315.78,1
$GPS,290921,213800,2245.232,-15800.421,7,1.0,18,9.8,1.0,338.7,8,9.9