version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 717
start: 10 4 121 18 25 54
data:
$ID,626
$MISSION,3
$DIVE,717
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,041021,181753,2244.1587,-15801.7920,5,0.9,14,9.8,0.5,242.1,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.5
$GPS2,041021,182503,2244.1292,-15801.8164,6,0.9,15,9.8,0.8,202.5,8,9.3
$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,53.7,3496,-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,-116.8,124,2290,1208,1110,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,124,2291,3168,3133,3203,0,0,0,0,0,0,15.16,28.83,15.17
$GC,84,-0.55,-116.8,124,2291,3133,3204,3.8,-7.1,9,100,8.43,2.33,-1.70,0.000,18692,0.429,0.069,2555,3676,3279,3251,3308,0,0,0,0,0,0,14.16,13.33,14.46
$GC,113,-0.55,-116.8,2554,3677,3256,3304,19.6,-46.1,13,123,0.05,2.42,0.00,0.000,3078,0.356,0.054,2570,2267,3280,3259,3302,0,0,0,0,0,0,14.43,14.71,14.62
$GC,372,-0.55,-116.8,2570,2262,3265,3296,74.1,-21.8,42,382,0.00,2.35,0.00,0.000,2564,0.000,0.062,2570,858,3280,3266,3295,0,0,0,0,0,0,15.24,14.59,15.24
$GC,483,-0.55,-116.8,2569,858,3267,3295,91.9,-13.5,52,492,0.00,2.40,0.00,0.000,3078,0.000,0.057,2561,2256,3280,3268,3293,0,0,0,0,0,0,15.01,14.85,15.03
$GC,731,-0.55,-116.8,2561,2256,3268,3294,128.9,-12.0,77,740,0.00,2.33,0.00,0.000,2564,0.000,0.056,2561,859,3281,3268,3294,0,0,0,0,0,0,15.28,14.76,15.28
$GC,797,-0.55,-116.8,2561,859,3268,3294,136.7,-11.7,83,806,0.05,2.35,0.00,0.000,3078,0.308,0.058,2570,2263,3281,3269,3293,0,0,0,0,0,0,14.50,14.76,14.66
$GC,1048,-0.55,-116.8,2570,2265,3269,3293,167.1,-11.8,108,1058,0.00,2.35,0.00,0.000,2564,0.000,0.055,2570,855,3281,3270,3293,0,0,0,0,0,0,15.29,14.62,15.29
$GC,1083,-0.55,-116.8,2570,855,3270,3293,171.3,-11.3,111,1091,0.00,2.42,0.00,0.000,3078,0.000,0.058,2561,2254,3281,3270,3292,0,0,0,0,0,0,14.88,14.78,14.92
$STATE,1333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1333,begin apogee
$GC,1340,-0.13,0.0,2561,2084,3270,3291,201.1,-11.0,136,1442,0.38,0.05,94.03,1.078,10246,0.229,0.093,2706,2143,2798,2863,2734,0,0,0,0,0,0,14.54,14.44,13.95
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1445,0.55,116.8,2706,2143,2863,2733,205.0,0.0,147,1552,0.50,2.33,96.57,1.066,10500,0.138,0.063,2921,3519,2323,2405,2241,0,0,0,0,0,0,14.58,14.39,13.90
$GC,1710,0.56,133.1,2921,3519,2405,2241,189.3,9.3,173,1731,0.00,2.25,14.45,1.002,13318,0.000,0.046,2931,2159,2257,2342,2172,0,0,0,0,0,0,14.89,14.83,14.09
$GC,1971,0.58,169.4,2932,2159,2342,2166,166.3,8.2,199,2010,0.00,2.42,29.95,1.027,10756,0.000,0.060,2943,710,2108,2194,2022,0,0,0,0,0,0,15.22,14.82,14.14
$GC,2056,0.58,169.4,2941,710,2186,2020,158.3,10.4,207,2064,0.00,2.40,0.00,0.000,5126,0.000,0.057,2944,2111,2103,2186,2021,0,0,0,0,0,0,14.94,14.81,14.95
$GC,2305,0.58,172.3,2943,2110,2186,2020,133.0,10.0,232,2316,0.00,2.38,0.00,0.000,4356,0.000,0.067,2944,3531,2103,2186,2020,0,0,0,0,0,0,15.23,14.62,15.23
$GC,2374,0.58,172.3,2943,3532,2186,2020,125.1,11.9,238,2383,0.05,2.38,0.00,0.000,5126,0.396,0.048,2937,2114,2103,2186,2020,0,0,0,0,0,0,14.64,14.88,14.90
$GC,2624,0.60,198.2,2937,2113,2186,2018,102.0,8.8,263,2653,0.00,2.35,23.42,0.974,10756,0.000,0.060,2946,725,1989,2072,1907,0,0,0,0,0,0,15.27,14.85,14.20
$GC,2713,0.61,218.4,2947,725,2063,1907,94.1,9.1,272,2735,0.00,2.35,16.73,0.939,9222,0.000,0.055,2946,2127,1908,1988,1828,0,0,0,0,0,0,14.82,14.81,14.15
$GC,2985,0.65,283.0,2946,2127,1988,1823,71.0,6.8,299,3045,0.00,2.40,50.90,0.944,10500,0.000,0.065,2947,3536,1644,1735,1554,0,0,0,0,0,0,15.23,14.56,14.12
$GC,3082,0.66,302.9,2946,3536,1735,1554,63.2,9.1,308,3111,0.00,2.38,16.83,0.897,11270,0.000,0.050,2957,2128,1563,1655,1471,0,0,0,0,0,0,14.90,14.78,14.11
$GC,3351,0.66,302.9,2957,2129,1655,1466,34.1,10.5,335,3360,0.00,2.38,0.00,0.000,2564,0.000,0.063,2969,715,1560,1655,1466,0,0,0,0,0,0,15.19,14.59,15.20
$GC,3397,0.66,302.9,2968,714,1652,1466,29.3,10.3,339,3405,0.00,2.45,0.00,0.000,5126,0.000,0.056,2968,2120,1559,1652,1466,0,0,0,0,0,0,14.81,14.73,14.83
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FINISH,0.3,1.023065
$STATE,3627,end surface coast,CONTROL_FINISHED_OK
$STATE,3627,begin surface
$SM_CCo,3644,39.97,0.187,0,0,1166,400.08
$SM_GC,1.28,6.38,0.25,39.97,0.048,0.076,0.187,189,2324,1166,-7.90,-0.59,400.08,0,0,0,0,0,0,14.91,14.96,14.65
$IRIDIUM_FIX,2234.68,-15802.37,041021,181918
$TT8_MAMPS,0.02247,0.35203
$HUMID,52.52
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.33,163.104
$10V_AH,12.72,0.000
$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,15.825,47.925,342.875,39.975,0.000,26.871,45.718,236.905,0.250,0.000,16.519,979.649,1361.872,407.326,1217.097,186.742,0.000,887.569,0.000,940.125,0.000,0.558,0.000
$DEVICE_MAMPS,429.165,93.330,1077.885,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,250.952,275.249,517.093,462.928,546.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339288
$DATA_FILE_SIZE,33811,381
$CAP_FILE_SIZE,62680,0
$CFSIZE,1023623168,955301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.108,223.56,1
$GPS,041021,192831,2244.211,-15801.744,6,0.8,34,9.8,0.4,102.5,10,5.3