version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 628
start: 9 30 121 10 28 17
data:
$ID,626
$MISSION,3
$DIVE,628
$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,72
$R_STBD_OVSHOOT,60
$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
$GPS1,300921,102155,2245.0439,-15801.0225,8,0.8,41,9.8,0.7,270.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.2
$GPS2,300921,102726,2245.0723,-15801.0850,7,0.8,19,9.8,0.9,257.5,9,8.3
$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,92.9,1858,-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,-116.8,107,2219,1146,1016,0.0,0.0,0,80,0.00,0.00,-62.12,0.000,16386,0.000,0.000,107,2218,3100,3067,3134,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,107,2219,3067,3135,3.7,-7.3,9,107,8.45,2.38,-2.85,0.000,18692,0.431,0.068,2557,3648,3280,3253,3307,0,0,0,0,0,0,14.24,13.40,14.54
$GC,115,-0.55,-116.8,2556,3648,3255,3305,18.6,-40.9,13,123,0.03,2.30,0.00,0.000,3078,0.427,0.050,2565,2302,3280,3258,3303,0,0,0,0,0,0,14.57,14.79,14.70
$GC,382,-0.55,-116.8,2565,2296,3266,3296,75.6,-22.0,62,389,0.00,2.45,0.00,0.000,2564,0.000,0.054,2565,850,3281,3266,3296,0,0,0,0,0,0,15.21,14.85,15.21
$GC,454,-0.55,-116.8,2565,849,3266,3295,89.0,-16.4,75,462,0.05,2.33,0.00,0.000,3078,0.395,0.054,2573,2235,3281,3267,3295,0,0,0,0,0,0,14.64,14.89,14.89
$GC,713,-0.55,-116.8,2573,2237,3267,3295,133.0,-14.4,124,722,0.00,2.47,0.00,0.000,260,0.000,0.066,2564,3667,3282,3268,3296,0,0,0,0,0,0,15.23,14.72,15.23
$GC,756,-0.55,-116.8,2564,3667,3267,3295,138.4,-10.4,131,764,0.00,2.33,0.00,0.000,3078,0.000,0.045,2564,2257,3281,3268,3295,0,0,0,0,0,0,15.04,14.93,15.06
$GC,1011,-0.55,-116.8,2564,2256,3268,3295,168.6,-12.1,165,1021,0.00,2.30,0.00,0.000,2564,0.000,0.055,2563,859,3281,3268,3295,0,0,0,0,0,0,15.28,14.64,15.28
$GC,1094,-0.55,-116.8,2563,859,3268,3295,178.3,-10.9,173,1103,0.05,2.35,0.00,0.000,3078,0.381,0.055,2572,2266,3282,3270,3294,0,0,0,0,0,0,14.69,14.92,14.93
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1320,-0.13,0.0,2572,2072,3270,3293,200.0,-9.3,195,1418,0.32,0.10,93.45,1.082,10246,0.223,0.126,2701,2159,2798,2862,2735,0,0,0,0,0,0,14.44,14.65,14.04
$STATE,1419,end apogee,CONTROL_FINISHED_OK
$STATE,1419,begin climb
$GC,1421,0.55,116.8,2701,2159,2862,2735,203.1,0.0,205,1527,0.50,2.53,96.28,1.071,10756,0.148,0.050,2925,709,2320,2402,2239,0,0,0,0,0,0,14.53,14.58,13.96
$GC,1990,0.57,156.8,2925,709,2389,2236,171.9,8.0,261,2030,0.00,2.28,32.30,1.048,11270,0.000,0.049,2925,2087,2158,2246,2071,0,0,0,0,0,0,14.73,14.69,14.21
$GC,2271,0.61,210.3,2925,2087,2246,2067,145.8,7.3,294,2323,0.00,2.35,42.80,1.038,10756,0.000,0.055,2936,720,1940,2021,1860,0,0,0,0,0,0,15.20,14.72,14.17
$GC,2865,0.63,257.5,2935,720,2008,1857,95.1,7.7,402,2913,0.00,2.40,37.53,0.986,11270,0.000,0.054,2935,2136,1748,1834,1662,0,0,0,0,0,0,15.01,14.87,14.16
$GC,3172,0.66,302.3,2935,2136,1834,1657,71.1,7.8,457,3216,0.00,2.42,35.92,0.953,10756,0.000,0.057,2946,716,1565,1660,1470,0,0,0,0,0,0,15.17,14.63,14.19
$GC,3321,0.70,365.7,2946,716,1654,1471,60.4,6.8,482,3378,0.00,2.42,49.58,0.936,11270,0.000,0.056,2946,2129,1307,1403,1211,0,0,0,0,0,0,14.94,14.81,14.14
$GC,3630,0.70,365.7,2946,2128,1403,1207,35.4,10.2,538,3639,0.00,2.45,0.00,0.000,2308,0.000,0.067,2946,3537,1305,1403,1207,0,0,0,0,0,0,15.15,14.76,15.15
$GC,3700,0.71,387.3,2946,3537,1403,1207,28.8,9.0,550,3718,0.00,2.40,11.50,0.857,11270,0.000,0.050,2957,2119,1218,1318,1119,0,0,0,0,0,0,14.97,14.84,14.24
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FINISH,0.3,1.010492
$STATE,3996,end surface coast,CONTROL_FINISHED_OK
$STATE,3996,begin surface
$SM_CCo,4012,4.90,0.216,0,0,1168,400.08
$SM_GC,2.04,6.43,0.25,4.90,0.055,0.057,0.216,153,2343,1168,-7.93,-0.99,400.08,0,0,0,0,0,0,14.96,15.00,14.67
$IRIDIUM_FIX,2234.68,-15802.37,300921,102324
$TT8_MAMPS,0.023219,0.342293
$HUMID,51.73
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.40,148.293
$10V_AH,12.97,0.000
$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,15.825,38.775,399.350,4.900,0.000,26.210,46.229,130.345,0.750,0.000,21.178,1472.713,697.679,409.445,1608.262,191.544,0.000,997.244,0.000,1426.417,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,181.305,1081.710,216.495,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,401.029,502.440,940.716,792.996,913.175,0.000,0.000,0.000,0.000,0.000
$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,54175,604
$CAP_FILE_SIZE,130442,0
$CFSIZE,1023623168,961183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.152,276.62,1
$GPS,300921,113631,2245.029,-15801.176,8,0.9,40,9.8,0.4,346.0,8,4.8