version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 629
start: 9 30 121 11 43 16
data:
$ID,626
$MISSION,3
$DIVE,629
$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,57
$R_STBD_OVSHOOT,30
$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
$GPS1,300921,113631,2245.0291,-15801.1758,8,0.9,40,9.8,0.4,346.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.3
$GPS2,300921,114225,2245.0613,-15801.2432,7,0.9,17,9.8,0.7,276.7,8,9.8
$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,85.6,2126,-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,-116.8,123,2235,1214,1111,0.0,0.0,0,82,0.00,0.00,-63.97,0.000,16386,0.000,0.000,123,2235,3213,3176,3250,0,0,0,0,0,0,15.18,28.83,15.19
$GC,86,-0.55,-116.8,123,2235,3176,3251,3.7,-6.5,9,102,8.40,2.42,-1.00,0.000,18692,0.433,0.063,2553,3693,3279,3248,3311,0,0,0,0,0,0,14.24,13.43,14.52
$GC,138,-0.55,-116.8,2553,3694,3257,3304,25.0,-27.2,17,146,0.05,2.40,0.00,0.000,3078,0.350,0.046,2572,2265,3280,3261,3300,0,0,0,0,0,0,14.65,14.85,14.87
$GC,402,-0.55,-116.8,2571,2260,3264,3295,71.8,-15.0,66,409,0.00,2.38,0.00,0.000,516,0.000,0.054,2572,848,3281,3266,3296,0,0,0,0,0,0,15.20,14.83,15.20
$GC,509,-0.55,-116.8,2572,847,3267,3295,85.3,-10.9,85,515,0.00,2.38,0.00,0.000,3078,0.000,0.054,2563,2266,3280,3267,3294,0,0,0,0,0,0,15.02,14.89,15.03
$GC,768,-0.55,-116.8,2563,2267,3267,3295,130.4,-20.4,134,776,0.00,2.42,0.00,0.000,2564,0.000,0.056,2563,848,3281,3267,3295,0,0,0,0,0,0,15.23,14.85,15.23
$GC,815,-0.55,-116.8,2563,848,3267,3295,138.2,-15.5,142,823,0.05,2.45,0.00,0.000,3078,0.305,0.057,2572,2263,3281,3268,3294,0,0,0,0,0,0,14.59,14.83,14.76
$GC,1073,-0.55,-116.8,2571,2266,3268,3294,170.8,-11.3,175,1078,0.00,2.33,0.00,0.000,516,0.000,0.050,2572,848,3281,3268,3294,0,0,0,0,0,0,15.27,14.93,15.28
$GC,1101,-0.55,-116.8,2571,848,3268,3294,173.7,-11.7,177,1108,0.00,2.42,0.00,0.000,3078,0.000,0.057,2562,2273,3279,3268,3291,0,0,0,0,0,0,15.04,14.89,15.05
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1315,begin apogee
$GC,1321,-0.13,0.0,2562,2075,3268,3294,200.4,-13.2,199,1419,0.38,0.10,93.50,1.091,10246,0.234,0.128,2706,2160,2798,2861,2736,0,0,0,0,0,0,14.54,14.64,14.02
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1423,0.55,116.8,2706,2160,2861,2736,205.1,0.0,209,1528,0.50,2.30,96.05,1.086,10500,0.142,0.058,2922,3508,2324,2405,2243,0,0,0,0,0,0,14.54,14.36,13.92
$GC,1888,0.59,186.6,2921,3508,2405,2244,169.7,6.5,255,1955,0.00,2.25,56.28,1.058,11270,0.000,0.041,2932,2176,2037,2122,1953,0,0,0,0,0,0,14.86,14.81,14.12
$GC,2199,0.59,186.6,2932,2175,2121,1948,144.2,10.3,291,2206,0.00,2.38,0.00,0.000,2564,0.000,0.056,2943,756,2033,2120,1947,0,0,0,0,0,0,15.18,14.87,15.19
$GC,2748,0.62,232.6,2943,756,2109,1947,94.1,7.7,392,2789,0.00,2.30,35.67,0.981,11270,0.000,0.053,2943,2091,1850,1933,1768,0,0,0,0,0,0,14.89,14.83,14.24
$GC,3052,0.66,297.0,2943,2091,1931,1762,73.4,6.8,446,3113,0.00,2.30,50.75,0.954,10756,0.000,0.057,2953,761,1587,1680,1495,0,0,0,0,0,0,15.19,14.66,14.18
$GC,3144,0.70,358.3,2953,761,1677,1496,67.3,6.9,459,3201,0.00,2.38,48.58,0.929,11270,0.000,0.054,2953,2122,1337,1432,1243,0,0,0,0,0,0,14.88,14.73,14.07
$GC,3461,0.78,490.4,2953,2122,1431,1237,43.4,3.3,515,3564,0.08,2.45,95.50,0.896,10500,0.186,0.058,3091,3546,797,903,691,0,0,0,0,0,0,14.82,14.64,14.14
$GC,3604,0.78,490.4,3090,3546,903,691,15.1,23.0,536,3612,0.28,2.38,0.00,0.000,5126,0.242,0.051,3001,2176,797,903,691,0,0,0,0,0,0,14.53,14.68,14.74
$STATE,3677,end climb,SURFACE_DEPTH_REACHED
$STATE,3677,begin surface coast
$FINISH,0.2,1.023073
$STATE,3696,end surface coast,CONTROL_FINISHED_OK
$STATE,3696,begin surface
$SM_CCo,3774,0.00,0.000,0,0,794,492.06
$SM_GC,1.04,6.55,0.17,0.00,0.050,0.089,0.000,140,2301,794,-7.96,-0.65,492.06,0,0,0,0,0,0,14.88,14.85,14.92
$IRIDIUM_FIX,2237.01,-15904.47,300921,113813
$TT8_MAMPS,0.02247,0.343791
$HUMID,52.00
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.43,148.505
$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,16.275,38.575,476.325,0.000,0.000,32.951,63.201,125.934,0.750,0.000,18.469,1324.044,706.021,445.269,1499.036,179.713,0.000,1009.461,0.000,1300.766,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,127.755,1090.890,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,364.784,392.605,854.095,710.366,837.690,0.000,0.000,0.000,0.000,0.000
$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,50586,552
$CAP_FILE_SIZE,115725,0
$CFSIZE,1023623168,961101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174,263.26,1
$GPS,300921,124659,2244.997,-15801.327,8,0.8,16,9.8,0.0,313.7,9,9.8