version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 708
start: 10 4 121 7 14 39
data:
$ID,626
$MISSION,3
$DIVE,708
$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,80
$R_STBD_OVSHOOT,61
$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
$GPS1,041021,070849,2244.4717,-15800.1387,7,0.8,41,9.8,0.3,231.1,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.1
$GPS2,041021,071348,2244.4429,-15800.1592,6,0.8,15,9.8,0.0,263.2,10,9.9
$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,359.3,1067,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,123,2213,1205,1110,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,16386,0.000,0.000,123,2213,3153,3116,3190,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2213,3118,3189,3.8,-7.7,9,100,8.45,2.40,-1.95,0.000,18692,0.433,0.061,2557,3659,3280,3252,3309,0,0,0,0,0,0,14.20,13.38,14.49
$GC,147,-0.55,-116.8,2557,3659,3260,3303,26.4,-19.9,19,155,0.00,2.30,0.00,0.000,3078,0.000,0.047,2557,2312,3280,3262,3299,0,0,0,0,0,0,14.85,14.78,14.88
$GC,402,-0.55,-116.8,2557,2312,3266,3296,77.1,-17.0,45,412,0.05,2.22,0.00,0.000,2308,0.435,0.055,2564,3650,3280,3264,3297,0,0,0,0,0,0,14.71,14.59,14.90
$GC,439,-0.55,-116.8,2563,3651,3266,3297,82.8,-15.4,48,447,0.00,2.35,0.00,0.000,3078,0.000,0.047,2563,2267,3281,3266,3296,0,0,0,0,0,0,14.81,14.74,14.84
$GC,686,-0.55,-116.8,2563,2267,3267,3296,122.1,-15.3,73,695,0.00,2.30,0.00,0.000,2308,0.000,0.063,2554,3644,3281,3267,3296,0,0,0,0,0,0,15.28,14.77,15.28
$GC,790,-0.55,-116.8,2553,3645,3267,3296,136.3,-12.8,83,799,0.03,2.25,0.00,0.000,3078,0.369,0.045,2564,2252,3281,3267,3296,0,0,0,0,0,0,14.59,14.83,14.72
$GC,1039,-0.55,-116.8,2564,2250,3267,3296,169.1,-12.5,108,1043,0.00,2.35,0.00,0.000,2308,0.000,0.064,2555,3644,3281,3267,3296,0,0,0,0,0,0,15.30,14.91,15.30
$GC,1143,-0.55,-116.8,2555,3644,3267,3296,179.0,-9.0,118,1148,0.05,2.25,0.00,0.000,3078,0.350,0.047,2575,2272,3281,3267,3295,0,0,0,0,0,0,14.73,14.96,14.95
$STATE,1365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1372,-0.13,0.0,2576,2066,3267,3295,200.7,-10.1,140,1470,0.32,0.00,94.18,1.076,10246,0.237,0.000,2704,2063,2798,2864,2733,0,0,0,0,0,0,14.54,14.64,13.98
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1473,0.55,116.8,2704,2063,2863,2734,205.1,0.0,150,1577,0.50,2.53,96.25,1.066,10500,0.139,0.057,2921,3510,2321,2404,2239,0,0,0,0,0,0,14.59,14.57,13.92
$GC,1808,0.55,116.8,2920,3510,2404,2242,187.3,10.4,183,1819,0.00,2.30,0.00,0.000,5126,0.000,0.044,2932,2116,2321,2404,2238,0,0,0,0,0,0,14.99,14.88,15.00
$GC,2063,0.58,177.1,2931,2116,2404,2235,167.4,7.0,208,2120,0.00,2.40,48.33,1.043,10500,0.000,0.062,2932,3512,2078,2164,1992,0,0,0,0,0,0,15.24,14.55,14.10
$GC,2514,0.60,197.7,2931,3512,2164,1991,124.2,9.0,252,2542,0.00,2.35,17.38,0.982,9222,0.000,0.045,2942,2127,1992,2075,1909,0,0,0,0,0,0,15.00,14.85,14.14
$GC,2782,0.62,238.6,2942,2128,2075,1905,102.0,8.0,279,2822,0.00,2.40,32.40,0.978,10756,0.000,0.060,2954,713,1826,1907,1745,0,0,0,0,0,0,15.24,14.60,14.15
$GC,3349,0.66,306.3,2953,713,1896,1742,60.3,6.6,333,3407,0.00,2.30,52.58,0.932,11270,0.000,0.054,2954,2089,1548,1640,1457,0,0,0,0,0,0,14.81,14.83,14.19
$GC,3647,0.68,332.2,2954,2089,1639,1453,36.5,8.8,363,3679,0.00,2.38,20.50,0.880,10756,0.000,0.057,2964,712,1443,1536,1350,0,0,0,0,0,0,15.20,14.78,14.23
$GC,3896,0.70,365.1,2964,712,1531,1351,14.2,8.4,402,3917,0.00,2.45,13.85,0.243,11270,0.000,0.054,2964,2142,1308,1401,1215,0,0,0,0,0,0,14.97,14.84,14.59
$STATE,4005,end climb,SURFACE_DEPTH_REACHED
$STATE,4005,begin surface coast
$FINISH,0.2,1.023062
$STATE,4028,end surface coast,CONTROL_FINISHED_OK
$STATE,4028,begin surface
$SM_CCo,4045,14.15,0.192,0,0,1167,400.08
$SM_GC,0.85,6.32,0.20,14.15,0.034,0.100,0.192,154,2273,1167,-7.94,-0.85,400.08,0,0,0,0,0,0,14.93,14.90,14.65
$IRIDIUM_FIX,2234.68,-15802.37,041021,071014
$TT8_MAMPS,0.023219,0.315329
$HUMID,52.16
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.38,161.532
$10V_AH,12.50,0.000
$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,15.725,38.025,375.450,14.150,0.000,26.335,44.349,110.087,0.500,0.000,16.172,1118.699,1411.005,379.118,1341.219,144.602,0.000,924.149,0.000,1144.424,0.000,0.555,0.000
$DEVICE_MAMPS,435.285,130.815,1076.355,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.094,306.891,576.550,529.308,619.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,40627,425
$CAP_FILE_SIZE,65044,0
$CFSIZE,1023623168,955891712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.159,199.25,1
$GPS,041021,082312,2243.904,-15800.359,6,0.8,15,9.8,0.8,253.1,10,9.9