version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 722
start: 10 5 121 0 20 0
data:
$ID,626
$MISSION,3
$DIVE,722
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,051021,001401,2244.7412,-15802.0000,6,0.8,35,9.8,0.5,294.9,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.8
$GPS2,051021,001909,2244.7532,-15802.0420,5,0.8,15,9.8,0.0,261.2,11,9.4
$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,103.1,3517,-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,-116.8,123,2302,1206,1111,0.0,0.0,0,81,0.00,0.00,-62.35,0.000,16386,0.000,0.000,123,2301,3132,3097,3167,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2302,3098,3167,3.3,-5.8,9,107,8.43,2.42,-2.35,0.000,18948,0.430,0.063,2572,842,3280,3257,3303,0,0,0,0,0,0,14.18,13.35,14.47
$GC,116,-0.55,-116.8,2572,842,3262,3298,18.4,-40.4,13,123,0.00,2.42,0.00,0.000,3078,0.000,0.054,2563,2255,3280,3264,3297,0,0,0,0,0,0,14.96,14.82,14.98
$GC,368,-0.55,-116.8,2563,2256,3266,3296,70.5,-20.0,42,378,0.00,2.38,0.00,0.000,2564,0.000,0.062,2563,855,3281,3267,3295,0,0,0,0,0,0,15.24,14.57,15.24
$GC,434,-0.55,-116.8,2563,854,3267,3295,81.3,-14.8,48,445,0.05,2.38,0.00,0.000,3078,0.330,0.057,2571,2268,3280,3268,3293,0,0,0,0,0,0,14.32,14.59,14.48
$GC,688,-0.55,-116.8,2570,2270,3268,3293,116.1,-14.3,73,696,0.00,2.35,0.00,0.000,2564,0.000,0.055,2571,859,3281,3269,3294,0,0,0,0,0,0,15.27,14.76,15.27
$GC,762,-0.55,-116.8,2570,859,3269,3293,127.0,-12.8,80,773,0.00,2.38,0.00,0.000,3078,0.000,0.057,2562,2269,3280,3270,3291,0,0,0,0,0,0,15.05,14.92,15.06
$GC,1014,-0.55,-116.8,2561,2269,3271,3292,162.0,-13.4,105,1024,0.00,2.38,0.00,0.000,2564,0.000,0.055,2562,849,3281,3271,3292,0,0,0,0,0,0,15.28,14.60,15.28
$GC,1047,-0.55,-116.8,2561,849,3271,3293,166.4,-13.0,108,1059,0.05,2.40,0.00,0.000,3078,0.378,0.059,2570,2272,3281,3271,3291,0,0,0,0,0,0,14.69,14.92,14.93
$GC,1298,-0.55,-116.8,2570,2273,3271,3291,193.4,-10.6,133,1307,0.00,2.38,0.00,0.000,2564,0.000,0.055,2570,850,3281,3272,3291,0,0,0,0,0,0,15.30,14.76,15.30
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1377,-0.13,0.0,2562,2126,3271,3291,200.5,-8.9,140,1475,0.35,0.00,94.07,1.076,10246,0.223,0.000,2700,2126,2799,2865,2733,0,0,0,0,0,0,14.54,14.64,13.97
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1478,0.55,116.8,2700,2126,2865,2733,203.6,0.0,150,1582,0.50,2.47,96.85,1.062,10756,0.147,0.053,2924,705,2322,2406,2238,0,0,0,0,0,0,14.46,14.57,13.91
$GC,1669,0.59,185.6,2924,705,2391,2238,200.9,6.5,169,1730,0.00,2.40,55.78,1.063,11270,0.000,0.052,2924,2128,2042,2127,1957,0,0,0,0,0,0,14.69,14.65,13.99
$GC,1970,0.59,185.6,2924,2128,2124,1951,171.7,10.7,199,1979,0.00,2.40,0.00,0.000,2564,0.000,0.059,2935,710,2036,2123,1950,0,0,0,0,0,0,15.18,14.72,15.17
$GC,2004,0.59,185.6,2934,710,2119,1950,168.0,10.7,202,2012,0.00,2.38,0.00,0.000,1030,0.000,0.055,2935,2127,2035,2119,1951,0,0,0,0,0,0,14.80,14.73,14.84
$GC,2255,0.59,185.6,2935,2127,2119,1951,140.0,10.7,227,2265,0.00,2.35,0.00,0.000,2308,0.000,0.068,2935,3536,2035,2119,1951,0,0,0,0,0,0,15.23,14.75,15.24
$GC,2329,0.59,185.6,2935,3536,2119,1951,130.7,12.6,234,2339,0.00,2.33,0.00,0.000,5126,0.000,0.050,2946,2126,2035,2119,1952,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2583,0.61,224.2,2946,2126,2118,1952,106.4,8.1,259,2620,0.00,2.42,30.80,0.975,8708,0.000,0.060,2957,709,1884,1966,1802,0,0,0,0,0,0,15.26,14.86,14.21
$GC,2645,0.64,269.9,2957,709,1961,1802,101.6,7.7,265,2693,0.00,2.40,37.17,0.958,9222,0.000,0.057,2957,2123,1698,1786,1611,0,0,0,0,0,0,14.95,14.85,14.08
$GC,2934,0.64,270.9,2957,2124,1785,1604,71.2,10.0,294,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2123,1695,1786,1605,0,0,0,0,0,0,15.19,15.20,15.20
$GC,3184,0.65,277.7,2957,2124,1785,1603,48.0,9.8,319,3197,0.00,2.40,7.00,0.822,8452,0.000,0.063,2957,3545,1666,1758,1574,0,0,0,0,0,0,15.24,14.89,14.19
$GC,3228,0.65,277.7,2957,3545,1757,1574,43.7,10.4,323,3236,0.00,2.40,0.00,0.000,5126,0.000,0.047,2968,2128,1666,1757,1575,0,0,0,0,0,0,14.85,14.80,14.88
$GC,3485,0.65,277.7,2967,2128,1757,1574,15.5,12.3,360,3494,0.00,2.45,0.00,0.000,4612,0.000,0.062,2978,719,1665,1757,1573,0,0,0,0,0,0,15.21,14.73,15.22
$GC,3530,0.65,277.7,2978,719,1754,1574,10.8,10.5,367,3538,0.08,2.42,0.00,0.000,5126,0.308,0.057,2950,2128,1663,1754,1573,0,0,0,0,0,0,14.66,14.85,14.88
$STATE,3601,end climb,SURFACE_DEPTH_REACHED
$STATE,3601,begin surface coast
$FINISH,0.2,1.010957
$STATE,3630,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3647,50.95,0.180,0,0,1165,400.08
$SM_GC,1.05,6.28,0.22,50.95,0.039,0.063,0.180,180,2309,1165,-7.90,-0.68,400.08,0,0,0,0,0,0,15.00,15.02,14.66
$IRIDIUM_FIX,2234.68,-15802.37,051021,001523
$TT8_MAMPS,0.02247,0.285369
$HUMID,52.24
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,13.35,163.926
$10V_AH,12.58,0.000
$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,15.725,52.700,321.675,50.950,0.000,23.859,47.766,116.104,0.750,0.000,16.170,982.463,1362.776,435.836,1114.465,148.178,0.000,891.928,0.000,913.476,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,68.085,1075.590,179.775,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,253.641,278.072,521.783,474.743,555.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,34094,385
$CAP_FILE_SIZE,62037,0
$CFSIZE,1023623168,954974208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.125,351.19,1
$GPS,051021,012236,2244.903,-15801.637,6,1.0,20,9.8,0.0,172.6,9,9.7