version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 724
start: 10 5 121 2 37 52
data:
$ID,626
$MISSION,3
$DIVE,724
$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,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
$GPS1,051021,023127,2244.9595,-15801.1777,7,2.8,47,9.8,0.0,152.9,5,26.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,051021,023701,2244.9929,-15801.1885,7,0.8,38,9.8,0.7,347.8,9,8.8
$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,106.2,2030,-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,-116.8,124,2298,1206,1112,0.0,0.0,0,80,0.00,0.00,-61.80,0.000,16386,0.000,0.000,124,2298,3129,3095,3164,0,0,0,0,0,0,15.19,28.83,15.21
$GC,84,-0.55,-116.8,124,2298,3095,3164,3.4,-5.8,9,107,8.40,2.42,-2.38,0.000,18948,0.428,0.063,2573,843,3280,3257,3303,0,0,0,0,0,0,14.18,13.35,14.47
$GC,121,-0.55,-116.8,2573,842,3262,3298,20.3,-43.1,14,129,0.00,2.45,0.00,0.000,3078,0.000,0.056,2564,2246,3280,3265,3296,0,0,0,0,0,0,14.78,14.70,14.81
$GC,378,-0.55,-116.8,2564,2248,3267,3295,75.5,-20.8,43,383,0.00,2.38,0.00,0.000,2564,0.000,0.060,2564,849,3281,3267,3295,0,0,0,0,0,0,15.25,14.88,15.25
$GC,442,-0.55,-116.8,2564,848,3267,3294,85.8,-15.2,49,448,0.05,2.40,0.00,0.000,3078,0.396,0.060,2571,2268,3280,3267,3294,0,0,0,0,0,0,14.65,14.89,14.90
$GC,698,-0.55,-116.8,2571,2270,3268,3292,121.2,-14.3,74,707,0.00,2.38,0.00,0.000,2564,0.000,0.056,2571,852,3280,3269,3292,0,0,0,0,0,0,15.28,14.60,15.28
$GC,743,-0.55,-116.8,2571,852,3269,3292,127.4,-13.9,78,751,0.00,2.42,0.00,0.000,3078,0.000,0.059,2562,2268,3280,3270,3291,0,0,0,0,0,0,15.02,14.88,15.04
$GC,991,-0.55,-116.8,2562,2268,3269,3291,163.6,-14.0,103,995,0.00,2.38,0.00,0.000,2564,0.000,0.056,2562,854,3280,3270,3290,0,0,0,0,0,0,15.29,14.92,15.30
$GC,1038,-0.55,-116.8,2561,853,3270,3291,169.0,-12.7,107,1045,0.05,2.38,0.00,0.000,3078,0.376,0.059,2570,2264,3280,3271,3290,0,0,0,0,0,0,14.69,14.92,14.93
$GC,1285,-0.55,-116.8,2570,2265,3271,3290,195.1,-10.6,132,1294,0.00,2.35,0.00,0.000,2564,0.000,0.057,2570,859,3280,3271,3290,0,0,0,0,0,0,15.29,14.61,15.30
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1343,-0.13,0.0,2562,2129,3272,3290,200.9,-10.6,137,1441,0.35,0.00,93.82,1.077,10246,0.227,0.000,2700,2130,2799,2866,2733,0,0,0,0,0,0,14.53,14.64,13.97
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1444,0.55,116.8,2700,2130,2865,2732,204.4,0.0,147,1549,0.52,2.47,96.97,1.064,10756,0.145,0.054,2932,710,2322,2407,2237,0,0,0,0,0,0,14.45,14.57,13.92
$GC,1644,0.57,145.5,2933,708,2391,2238,198.9,8.6,167,1674,0.00,2.40,23.83,1.031,9222,0.000,0.053,2933,2127,2206,2293,2119,0,0,0,0,0,0,14.88,14.77,14.03
$GC,1915,0.58,162.5,2932,2127,2294,2115,173.9,9.2,194,1934,0.00,0.00,15.35,1.001,8198,0.000,0.000,2933,2127,2135,2225,2046,0,0,0,0,0,0,15.19,14.81,14.14
$GC,2176,0.59,179.7,2932,2127,2224,2042,148.8,9.2,220,2198,0.00,2.40,14.88,0.979,10500,0.000,0.067,2933,3542,2065,2153,1977,0,0,0,0,0,0,15.23,14.87,14.17
$GC,2290,0.59,179.7,2933,3542,2154,1978,137.0,10.8,231,2298,0.00,2.33,0.00,0.000,5126,0.000,0.045,2944,2123,2065,2153,1977,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2539,0.61,221.5,2943,2123,2154,1976,115.1,7.9,256,2581,0.00,2.42,33.72,0.984,8452,0.000,0.066,2944,3528,1895,1977,1813,0,0,0,0,0,0,15.24,14.81,14.19
$GC,2610,0.62,228.1,2943,3528,1977,1813,108.6,9.8,263,2623,0.00,2.33,6.95,0.849,13318,0.000,0.052,2954,2133,1868,1952,1785,0,0,0,0,0,0,14.78,14.73,14.11
$GC,2872,0.62,229.1,2954,2133,1951,1781,82.1,10.0,289,2880,0.00,2.38,0.00,0.000,4612,0.000,0.062,2965,716,1864,1949,1780,0,0,0,0,0,0,15.23,14.73,15.23
$GC,2905,0.62,229.2,2965,715,1945,1781,78.8,10.1,292,2910,0.05,2.40,0.00,0.000,5126,0.361,0.057,2947,2133,1862,1944,1781,0,0,0,0,0,0,14.68,14.89,14.91
$GC,3160,0.65,275.6,2947,2134,1944,1780,58.2,7.7,317,3208,0.00,2.35,37.20,0.916,10500,0.000,0.063,2947,3540,1674,1764,1584,0,0,0,0,0,0,15.26,14.66,14.21
$GC,3232,0.66,291.7,2946,3540,1764,1585,51.8,9.3,324,3253,0.00,2.38,14.18,0.871,11270,0.000,0.047,2956,2110,1607,1699,1516,0,0,0,0,0,0,14.95,14.85,14.15
$GC,3494,0.66,298.5,2956,2110,1699,1512,25.2,9.8,354,3504,0.00,2.38,2.50,0.538,10756,0.000,0.061,2967,716,1581,1674,1488,0,0,0,0,0,0,15.19,14.81,14.06
$GC,3540,0.66,305.4,2967,716,1669,1488,20.7,9.7,361,3548,0.00,2.42,2.92,0.570,13318,0.000,0.055,2967,2126,1551,1643,1459,0,0,0,0,0,0,14.98,14.84,14.11
$STATE,3691,end climb,SURFACE_DEPTH_REACHED
$STATE,3692,begin surface coast
$FINISH,0.2,1.017978
$STATE,3721,end surface coast,CONTROL_FINISHED_OK
$STATE,3721,begin surface
$SM_CCo,3738,39.00,0.184,0,0,1167,400.08
$SM_GC,1.03,6.45,0.22,39.00,0.054,0.096,0.184,148,2272,1167,-7.95,-0.90,400.08,0,0,0,0,0,0,14.97,14.90,14.66
$IRIDIUM_FIX,2234.68,-15802.37,051021,023253
$TT8_MAMPS,0.023219,0.343791
$HUMID,52.32
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,13.35,164.241
$10V_AH,12.51,0.000
$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,15.875,52.600,342.325,39.000,0.000,28.652,46.126,113.680,1.000,0.000,39.677,1017.594,1418.351,405.083,1157.523,150.308,0.000,869.531,0.000,933.293,0.000,0.555,0.000
$DEVICE_MAMPS,427.635,96.390,1077.120,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.158,284.882,534.593,483.960,563.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,37349,394
$CAP_FILE_SIZE,65001,0
$CFSIZE,1023623168,954843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100,29.75,1
$GPS,051021,034145,2245.035,-15800.651,6,1.0,18,9.8,0.0,327.8,8,9.8