version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 701
start: 10 3 121 23 7 56
data:
$ID,626
$MISSION,3
$DIVE,701
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,031021,230136,2245.2346,-15801.2402,7,1.2,21,9.8,0.0,359.4,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.4
$GPS2,031021,230705,2245.2532,-15801.2910,7,1.1,24,9.8,0.8,316.2,8,9.5
$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,105.3,2254,-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,-116.8,123,2291,1198,1118,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,16386,0.000,0.000,123,2292,3132,3097,3167,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2292,3098,3167,3.7,-7.5,9,107,8.43,2.42,-2.30,0.000,18948,0.430,0.063,2575,839,3279,3256,3303,0,0,0,0,0,0,14.20,13.37,14.49
$GC,115,-0.55,-116.8,2574,838,3261,3298,19.0,-42.2,13,122,0.00,2.42,0.00,0.000,3078,0.000,0.050,2566,2261,3279,3263,3296,0,0,0,0,0,0,14.97,14.83,14.98
$GC,366,-0.55,-116.8,2565,2261,3266,3296,75.4,-18.8,41,376,0.00,2.38,0.00,0.000,2564,0.000,0.055,2566,849,3281,3267,3295,0,0,0,0,0,0,15.23,14.58,15.24
$GC,399,-0.55,-116.8,2566,849,3267,3295,81.2,-17.8,44,405,0.05,2.40,0.00,0.000,3078,0.389,0.059,2573,2270,3280,3267,3294,0,0,0,0,0,0,14.64,14.88,14.89
$GC,656,-0.55,-116.8,2573,2273,3268,3293,116.0,-13.6,69,664,0.00,2.35,0.00,0.000,516,0.000,0.054,2573,857,3280,3268,3293,0,0,0,0,0,0,15.26,14.75,15.27
$GC,701,-0.55,-116.8,2572,856,3269,3293,121.6,-12.6,73,709,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2262,3280,3270,3291,0,0,0,0,0,0,14.81,14.74,14.83
$GC,949,-0.55,-116.8,2564,2262,3270,3292,156.4,-14.8,98,953,0.00,2.38,0.00,0.000,2308,0.000,0.067,2553,3681,3280,3270,3291,0,0,0,0,0,0,15.29,14.90,15.30
$GC,964,-0.55,-116.8,2552,3681,3270,3293,158.1,-14.4,99,972,0.05,2.38,0.00,0.000,3078,0.343,0.045,2572,2249,3281,3270,3292,0,0,0,0,0,0,14.69,14.90,14.92
$GC,1214,-0.55,-116.8,2572,2245,3270,3292,185.5,-9.3,124,1218,0.00,2.28,0.00,0.000,516,0.000,0.054,2572,859,3280,3270,3291,0,0,0,0,0,0,15.28,14.92,15.29
$GC,1308,-0.55,-116.8,2572,859,3271,3292,194.0,-8.7,133,1316,0.00,2.35,0.00,0.000,3078,0.000,0.057,2563,2265,3280,3271,3290,0,0,0,0,0,0,14.83,14.76,14.85
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1381,-0.13,0.0,2563,2088,3271,3290,200.5,-9.8,140,1479,0.35,0.08,93.62,1.089,10246,0.236,0.146,2699,2149,2798,2864,2733,0,0,0,0,0,0,14.53,14.62,13.97
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1483,0.55,116.8,2700,2149,2863,2733,204.0,0.0,150,1589,0.52,2.38,96.60,1.070,10756,0.150,0.051,2929,754,2320,2402,2238,0,0,0,0,0,0,14.47,14.39,13.90
$GC,1607,0.62,237.4,2928,754,2397,2238,201.8,3.9,162,1713,0.00,2.35,95.88,1.068,11270,0.000,0.052,2929,2104,1831,1908,1754,0,0,0,0,0,0,14.76,14.62,13.90
$GC,1953,0.62,237.4,2929,2104,1907,1748,161.3,11.5,197,1961,0.00,2.28,0.00,0.000,2564,0.000,0.058,2938,756,1827,1907,1748,0,0,0,0,0,0,15.17,14.76,15.17
$GC,2007,0.62,237.4,2939,755,1903,1748,155.2,11.4,202,2016,0.00,2.30,0.00,0.000,3078,0.000,0.054,2939,2127,1826,1904,1748,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2258,0.62,237.4,2939,2128,1904,1747,124.3,12.3,227,2267,0.00,2.35,0.00,0.000,2308,0.000,0.066,2939,3538,1825,1903,1747,0,0,0,0,0,0,15.23,14.76,15.23
$GC,2332,0.62,237.4,2939,3538,1903,1747,113.9,13.7,234,2343,0.00,2.25,0.00,0.000,1030,0.000,0.046,2950,2165,1825,1904,1747,0,0,0,0,0,0,15.04,14.94,15.06
$GC,2587,0.62,237.4,2950,2165,1903,1747,84.2,10.8,259,2595,0.00,2.40,0.00,0.000,516,0.000,0.060,2962,715,1825,1904,1747,0,0,0,0,0,0,15.26,14.73,15.26
$GC,2654,0.64,259.2,2961,714,1901,1747,77.6,9.0,265,2682,0.00,2.40,17.92,0.954,13318,0.000,0.055,2962,2131,1741,1825,1658,0,0,0,0,0,0,15.04,14.88,14.16
$GC,2922,0.65,282.6,2960,2131,1825,1654,55.9,8.9,292,2954,0.00,2.40,19.58,0.920,12548,0.000,0.067,2962,3539,1646,1736,1556,0,0,0,0,0,0,15.24,14.74,14.22
$GC,2969,0.65,288.3,2961,3539,1736,1556,51.5,9.8,296,2982,0.00,2.38,6.40,0.818,13318,0.000,0.050,2972,2125,1621,1714,1529,0,0,0,0,0,0,14.97,14.85,14.13
$GC,3229,0.65,288.3,2972,2126,1714,1527,21.3,12.5,328,3237,0.00,2.40,0.00,0.000,4612,0.000,0.061,2984,717,1620,1714,1526,0,0,0,0,0,0,15.21,14.83,15.21
$GC,3277,0.65,288.3,2983,717,1709,1527,15.6,12.4,336,3285,0.08,2.42,0.00,0.000,5126,0.306,0.057,2955,2127,1618,1710,1526,0,0,0,0,0,0,14.65,14.84,14.88
$STATE,3389,end climb,SURFACE_DEPTH_REACHED
$STATE,3389,begin surface coast
$FINISH,0.7,1.023044
$STATE,3417,end surface coast,CONTROL_FINISHED_OK
$STATE,3418,begin surface
$SM_CCo,3434,46.22,0.187,0,0,1166,400.08
$SM_GC,1.24,6.30,0.22,46.22,0.034,0.076,0.187,165,2293,1166,-7.96,-0.82,400.08,0,0,0,0,0,0,14.90,14.95,14.65
$IRIDIUM_FIX,2237.01,-15754.11,031021,230314
$TT8_MAMPS,0.02247,0.340795
$HUMID,52.48
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.37,160.384
$10V_AH,12.84,0.000
$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,15.775,52.525,330.000,46.225,0.000,32.896,64.235,107.793,0.000,0.000,25.170,929.174,1277.194,428.358,1070.338,142.262,0.000,866.693,0.000,853.127,0.000,0.554,0.000
$DEVICE_MAMPS,429.930,146.115,1089.360,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,238.175,261.213,494.091,452.122,517.626,0.000,0.000,0.000,0.000,0.000
$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,33956,362
$CAP_FILE_SIZE,61620,0
$CFSIZE,1023623168,956350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.146,344.39,1
$GPS,041021,000719,2245.397,-15800.971,8,0.8,44,9.8,0.0,281.2,11,6.1