version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 705
start: 10 4 121 3 40 53
data:
$ID,626
$MISSION,3
$DIVE,705
$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,77
$R_STBD_OVSHOOT,62
$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
$GPS1,041021,033449,2245.0466,-15800.1973,9,1.0,18,9.8,0.0,296.2,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.6
$GPS2,041021,034000,2245.0535,-15800.2041,7,1.0,17,9.8,0.6,37.6,8,9.5
$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,108.5,362,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-116.8,123,2212,1203,1112,0.0,0.0,0,80,0.00,0.00,-61.05,0.000,16386,0.000,0.000,123,2212,3124,3093,3155,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.58,-116.8,123,2212,3093,3156,3.7,-7.8,9,99,8.43,2.20,-2.40,0.000,18948,0.435,0.063,2562,891,3279,3253,3305,0,0,0,0,0,0,14.21,13.38,14.50
$GC,129,-0.58,-116.8,2562,882,3263,3297,24.0,-35.4,16,137,0.00,2.35,0.00,0.000,3078,0.000,0.056,2554,2230,3280,3265,3295,0,0,0,0,0,0,14.84,14.77,14.95
$GC,385,-0.58,-116.8,2554,2231,3267,3295,82.1,-19.2,43,390,0.00,2.25,0.00,0.000,2564,0.000,0.057,2554,894,3280,3266,3295,0,0,0,0,0,0,15.24,14.90,15.25
$GC,449,-0.58,-116.8,2553,894,3267,3294,93.0,-16.5,49,455,0.05,2.33,0.00,0.000,3078,0.399,0.058,2560,2275,3280,3267,3293,0,0,0,0,0,0,14.64,14.90,14.90
$GC,704,-0.58,-116.8,2560,2279,3268,3292,130.9,-14.5,74,711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2560,2279,3280,3268,3293,0,0,0,0,0,0,15.27,15.28,15.28
$GC,953,-0.58,-116.8,2560,2279,3269,3293,163.8,-12.5,99,963,0.00,2.30,0.00,0.000,2564,0.000,0.053,2561,898,3280,3268,3293,0,0,0,0,0,0,15.30,14.94,15.30
$GC,1016,-0.58,-116.8,2560,899,3268,3293,171.4,-11.5,105,1028,0.00,2.30,0.00,0.000,3078,0.000,0.057,2550,2267,3280,3269,3291,0,0,0,0,0,0,15.07,14.92,15.08
$STATE,1244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1252,-0.13,0.0,2551,2111,3269,3290,200.7,-13.1,128,1350,0.40,0.00,93.90,1.081,10246,0.249,0.000,2702,2109,2798,2865,2732,0,0,0,0,0,0,14.48,14.64,13.99
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1353,0.58,116.8,2702,2109,2865,2732,205.8,0.0,138,1457,0.52,2.53,95.82,1.071,10500,0.146,0.070,2925,3533,2322,2406,2238,0,0,0,0,0,0,14.58,14.56,13.93
$GC,1912,0.62,181.0,2925,3533,2405,2241,171.9,6.5,193,1972,0.00,2.22,52.03,1.051,11270,0.000,0.042,2937,2167,2060,2147,1973,0,0,0,0,0,0,14.88,14.83,14.12
$GC,2212,0.63,204.1,2936,2167,2146,1968,145.3,8.8,223,2242,0.00,2.40,18.65,0.993,11012,0.000,0.055,2948,725,1966,2044,1888,0,0,0,0,0,0,15.19,14.64,14.15
$GC,2756,0.64,220.6,2947,725,2032,1886,93.8,9.2,276,2775,0.00,2.35,13.75,0.934,11270,0.000,0.055,2948,2128,1899,1977,1821,0,0,0,0,0,0,14.68,14.63,14.22
$GC,3015,0.67,273.1,2947,2128,1976,1818,71.3,7.1,302,3064,0.00,2.42,42.12,0.945,10756,0.000,0.057,2958,711,1685,1773,1597,0,0,0,0,0,0,15.25,14.64,14.17
$GC,3144,0.70,314.1,2958,711,1765,1598,62.0,7.8,314,3184,0.00,2.38,32.85,0.918,11270,0.000,0.055,2959,2119,1517,1608,1426,0,0,0,0,0,0,14.65,14.59,14.12
$GC,3423,0.72,341.5,2958,2120,1608,1420,37.1,8.5,342,3454,0.00,2.42,21.60,0.887,10500,0.000,0.070,2959,3539,1405,1499,1312,0,0,0,0,0,0,15.19,14.58,14.18
$GC,3482,0.72,341.5,2958,3539,1500,1312,31.5,10.1,347,3491,0.00,2.38,0.00,0.000,3078,0.000,0.049,2969,2125,1406,1500,1312,0,0,0,0,0,0,14.95,14.83,14.96
$STATE,3727,end climb,SURFACE_DEPTH_REACHED
$STATE,3729,begin surface coast
$FINISH,0.2,1.011889
$STATE,3751,end surface coast,CONTROL_FINISHED_OK
$STATE,3751,begin surface
$SM_CCo,3768,24.23,0.184,0,0,1168,400.08
$SM_GC,1.47,6.38,0.25,24.23,0.046,0.061,0.184,163,2307,1168,-7.90,-0.88,400.08,0,0,0,0,0,0,15.00,14.97,14.66
$IRIDIUM_FIX,2237.01,-15800.20,041021,033615
$TT8_MAMPS,0.02247,0.28462
$HUMID,52.59
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.38,161.019
$10V_AH,12.81,0.000
$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,15.775,33.325,370.725,24.225,0.000,26.884,46.774,118.163,0.500,0.000,18.133,1035.443,1335.422,376.803,1254.695,139.405,0.000,887.312,0.000,1050.927,0.000,0.555,0.000
$DEVICE_MAMPS,435.285,130.815,1080.945,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.410,284.768,542.244,490.294,565.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,37413,397
$CAP_FILE_SIZE,61771,0
$CFSIZE,1023623168,956088320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.027,38.00,1
$GPS,041021,044525,2245.018,-15759.931,7,0.8,41,9.8,0.4,301.6,10,5.2