version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 623
start: 9 30 121 4 26 13
data:
$ID,626
$MISSION,3
$DIVE,623
$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,32
$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
$GPS1,300921,041924,2245.0449,-15800.1094,8,1.0,24,9.8,0.6,211.6,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.1
$GPS2,300921,042522,2245.0400,-15800.1758,7,1.0,23,9.8,0.9,221.9,8,9.8
$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,71.4,309,-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,-116.8,124,2296,1201,1114,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,16386,0.000,0.000,124,2297,3130,3094,3166,0,0,0,0,0,0,15.18,28.83,15.19
$GC,83,-0.58,-116.8,124,2297,3095,3165,3.5,-6.7,9,106,8.35,2.40,-2.35,0.000,18948,0.430,0.061,2567,838,3279,3255,3304,0,0,0,0,0,0,14.24,13.40,14.52
$GC,114,-0.58,-116.8,2566,838,3261,3300,19.3,-43.2,13,122,0.00,2.40,0.00,0.000,3078,0.000,0.052,2557,2246,3280,3262,3298,0,0,0,0,0,0,14.97,14.83,14.99
$GC,376,-0.58,-116.8,2557,2247,3267,3296,83.5,-19.9,62,383,0.00,2.42,0.00,0.000,2308,0.000,0.062,2547,3675,3281,3266,3296,0,0,0,0,0,0,15.21,14.83,15.21
$GC,400,-0.58,-116.8,2547,3675,3266,3296,88.7,-20.9,66,410,0.03,2.40,0.00,0.000,3078,0.383,0.049,2557,2264,3281,3266,3296,0,0,0,0,0,0,14.54,14.76,14.66
$GC,666,-0.58,-116.8,2556,2261,3267,3296,132.3,-18.4,115,674,0.00,2.35,0.00,0.000,2564,0.000,0.053,2558,848,3280,3267,3294,0,0,0,0,0,0,15.23,14.89,15.23
$GC,716,-0.58,-116.8,2558,848,3267,3295,140.0,-13.0,123,724,0.00,2.38,0.00,0.000,3078,0.000,0.053,2548,2267,3280,3268,3293,0,0,0,0,0,0,15.03,14.91,15.05
$GC,970,-0.58,-116.8,2549,2268,3268,3294,185.5,-17.7,153,980,0.00,2.38,0.00,0.000,2564,0.000,0.053,2549,847,3281,3269,3294,0,0,0,0,0,0,15.28,14.93,15.28
$GC,1007,-0.58,-116.8,2549,846,3268,3294,190.8,-16.6,156,1015,0.08,2.40,0.00,0.000,3078,0.366,0.053,2563,2266,3281,3268,3294,0,0,0,0,0,0,14.61,14.90,14.89
$STATE,1071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1072,begin apogee
$GC,1078,-0.13,0.0,2563,2076,3269,3293,201.3,-15.4,163,1175,0.38,0.10,93.20,1.090,10246,0.277,0.127,2701,2155,2798,2863,2733,0,0,0,0,0,0,14.47,14.65,14.04
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1179,0.58,116.8,2701,2155,2863,2733,208.6,0.0,173,1285,0.52,2.33,96.07,1.077,10500,0.153,0.059,2922,3517,2322,2403,2242,0,0,0,0,0,0,14.57,14.35,13.92
$GC,1526,0.63,196.6,2921,3516,2403,2242,197.4,5.6,207,1597,0.00,2.28,64.05,1.071,11270,0.000,0.040,2933,2157,1997,2078,1916,0,0,0,0,0,0,14.83,14.78,14.07
$GC,1846,0.67,268.0,2932,2157,2078,1910,175.7,6.0,239,1909,0.05,2.40,57.20,1.056,10756,0.255,0.057,3060,730,1705,1787,1624,0,0,0,0,0,0,14.87,14.71,14.12
$GC,2361,0.67,268.0,3060,729,1778,1619,104.8,15.8,318,2371,0.25,2.35,0.00,0.000,5126,0.252,0.050,2971,2103,1698,1779,1618,0,0,0,0,0,0,14.53,14.77,14.70
$GC,2626,0.70,315.6,2970,2105,1779,1616,79.6,7.4,367,2669,0.00,2.40,37.20,0.958,8708,0.000,0.061,2980,723,1511,1603,1419,0,0,0,0,0,0,15.23,14.82,14.26
$GC,2753,0.72,348.9,2979,722,1597,1420,69.5,8.2,388,2789,0.00,2.40,26.62,0.934,9222,0.000,0.056,2980,2124,1377,1472,1282,0,0,0,0,0,0,14.92,14.82,14.14
$GC,3048,0.72,348.9,2979,2124,1472,1277,44.2,10.2,441,3056,0.00,2.40,0.00,0.000,260,0.000,0.070,2980,3533,1374,1472,1277,0,0,0,0,0,0,15.16,14.83,15.17
$GC,3138,0.72,348.9,2979,3533,1472,1277,34.1,11.7,457,3147,0.00,2.38,0.00,0.000,5126,0.000,0.047,2992,2140,1374,1472,1277,0,0,0,0,0,0,14.87,14.80,14.90
$STATE,3395,end climb,SURFACE_DEPTH_REACHED
$STATE,3397,begin surface coast
$FINISH,0.2,1.023092
$STATE,3418,end surface coast,CONTROL_FINISHED_OK
$STATE,3418,begin surface
$SM_CCo,3435,21.17,0.193,0,0,1168,400.08
$SM_GC,1.21,6.35,0.22,21.17,0.030,0.076,0.193,150,2304,1168,-7.94,-0.85,400.08,0,0,0,0,0,0,14.96,14.96,14.68
$IRIDIUM_FIX,2234.68,-15800.20,300921,042102
$TT8_MAMPS,0.02247,0.315329
$HUMID,51.92
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,13.40,147.303
$10V_AH,12.90,0.000
$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,16.000,38.600,374.350,21.175,0.000,35.275,53.074,130.876,1.000,0.000,24.317,1256.189,578.604,396.464,1444.616,168.574,0.000,925.937,0.000,1225.196,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,126.990,1090.125,192.780,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,337.618,422.575,786.499,669.661,778.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,47388,509
$CAP_FILE_SIZE,109863,0
$CFSIZE,1023623168,961626112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,5
$CURRENT,0.132,245.51,1
$GPS,300921,052501,2244.947,-15800.072,7,0.8,35,9.8,0.3,253.5,10,6.7