version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 725
start: 10 5 121 3 53 21
data:
$ID,626
$MISSION,3
$DIVE,725
$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,35
$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
$GPS1,051021,034145,2245.0347,-15800.6514,6,1.0,18,9.8,0.0,327.8,8,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.3
$GPS2,051021,035230,2245.0654,-15800.6768,6,1.0,17,9.8,0.5,0.3,8,9.5
$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,110.1,1162,-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,-116.8,124,2284,1205,1112,0.0,0.0,0,75,0.00,0.00,-56.55,0.000,16386,0.000,0.000,123,2284,2944,2924,2964,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,124,2284,2924,2964,3.1,-6.0,8,102,8.48,2.40,-5.72,0.000,18948,0.435,0.067,2571,841,3278,3261,3296,0,0,0,0,0,0,14.18,13.91,14.47
$GC,115,-0.55,-116.8,2571,840,3264,3294,16.7,-36.2,13,123,0.00,2.45,0.00,0.000,3078,0.000,0.053,2563,2252,3278,3265,3292,0,0,0,0,0,0,14.78,14.71,14.81
$GC,375,-0.55,-116.8,2562,2253,3267,3290,73.6,-21.2,43,384,0.00,2.35,0.00,0.000,2564,0.000,0.056,2563,852,3278,3267,3290,0,0,0,0,0,0,15.25,14.57,15.25
$GC,462,-0.55,-116.8,2562,852,3267,3289,88.9,-16.1,51,471,0.05,2.40,0.00,0.000,3078,0.322,0.060,2570,2265,3278,3267,3289,0,0,0,0,0,0,14.50,14.73,14.66
$GC,712,-0.55,-116.8,2570,2268,3268,3290,124.3,-12.7,76,722,0.00,2.35,0.00,0.000,2564,0.000,0.054,2571,852,3278,3268,3289,0,0,0,0,0,0,15.28,14.61,15.28
$GC,747,-0.55,-116.8,2570,852,3268,3289,128.5,-12.5,79,755,0.00,2.38,0.00,0.000,3078,0.000,0.059,2561,2267,3279,3269,3289,0,0,0,0,0,0,14.81,14.75,14.83
$GC,995,-0.55,-116.8,2561,2267,3269,3289,161.8,-13.9,104,1005,0.00,2.35,0.00,0.000,2564,0.000,0.055,2562,855,3279,3269,3289,0,0,0,0,0,0,15.30,14.80,15.30
$GC,1021,-0.55,-116.8,2561,855,3268,3289,164.9,-13.8,106,1029,0.08,2.38,0.00,0.000,3078,0.335,0.060,2578,2265,3279,3269,3289,0,0,0,0,0,0,14.66,14.91,14.92
$GC,1270,-0.55,-116.8,2578,2266,3269,3289,192.9,-11.5,131,1279,0.00,2.33,0.00,0.000,516,0.000,0.053,2578,850,3279,3269,3289,0,0,0,0,0,0,15.29,14.76,15.30
$GC,1313,-0.55,-116.8,2577,850,3269,3289,197.9,-11.5,135,1323,0.00,2.38,0.00,0.000,3078,0.000,0.057,2568,2270,3278,3269,3288,0,0,0,0,0,0,14.72,14.66,14.76
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1349,-0.13,0.0,2568,2069,3269,3288,201.0,-10.5,138,1447,0.35,0.12,93.18,1.068,10246,0.235,0.109,2702,2162,2798,2865,2732,0,0,0,0,0,0,14.38,14.64,13.98
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1450,0.55,116.8,2702,2162,2865,2733,206.2,0.0,148,1555,0.50,2.30,96.85,1.056,11012,0.145,0.055,2916,3516,2320,2404,2237,0,0,0,0,0,0,14.58,14.57,13.92
$GC,1749,0.59,187.8,2915,3516,2403,2239,197.4,6.4,178,1816,0.00,2.28,57.17,1.047,11270,0.000,0.038,2927,2120,2032,2116,1949,0,0,0,0,0,0,14.97,14.88,14.01
$GC,2056,0.59,193.5,2926,2120,2115,1943,170.9,9.8,209,2069,0.00,2.38,5.50,0.857,10756,0.000,0.058,2937,717,2009,2093,1926,0,0,0,0,0,0,15.20,14.85,14.09
$GC,2289,0.60,200.0,2937,717,2084,1925,147.1,9.8,232,2301,0.00,2.33,6.35,0.879,11270,0.000,0.054,2937,2100,1983,2063,1903,0,0,0,0,0,0,15.04,14.91,14.15
$GC,2540,0.64,275.0,2937,2100,2063,1901,126.2,6.2,257,2609,0.00,2.45,60.22,1.001,10500,0.000,0.070,2938,3541,1676,1764,1589,0,0,0,0,0,0,15.26,14.74,14.12
$GC,2840,0.64,275.0,2937,3541,1765,1589,99.6,10.1,286,2847,0.00,2.38,0.00,0.000,3078,0.000,0.047,2948,2126,1676,1765,1588,0,0,0,0,0,0,14.99,14.85,15.00
$GC,3089,0.64,275.0,2948,2126,1765,1585,74.8,10.6,311,3098,0.00,2.35,0.00,0.000,2564,0.000,0.062,2960,720,1674,1765,1584,0,0,0,0,0,0,15.24,14.62,15.24
$GC,3322,0.65,280.7,2959,719,1759,1584,52.5,9.8,333,3334,0.00,2.40,5.30,0.789,9222,0.000,0.057,2960,2123,1653,1743,1563,0,0,0,0,0,0,15.00,14.87,14.15
$GC,3582,0.65,290.2,2959,2123,1744,1562,26.2,9.6,362,3591,0.00,2.42,4.05,0.698,8452,0.000,0.071,2960,3540,1614,1706,1523,0,0,0,0,0,0,15.24,14.88,14.15
$GC,3780,0.65,290.2,2959,3541,1706,1524,3.3,14.5,398,3788,0.00,2.40,0.00,0.000,5126,0.000,0.049,2970,2116,1615,1707,1524,0,0,0,0,0,0,15.00,14.88,15.02
$STATE,3793,end climb,SURFACE_DEPTH_REACHED
$STATE,3794,begin surface coast
$FINISH,0.3,1.023127
$STATE,3817,end surface coast,CONTROL_FINISHED_OK
$STATE,3817,begin surface
$SM_CCo,3835,45.78,0.184,0,0,1166,400.08
$SM_GC,1.34,6.65,0.28,45.78,0.091,0.061,0.184,148,2312,1166,-7.93,-0.71,400.08,0,0,0,0,0,0,15.01,14.99,14.67
$IRIDIUM_FIX,2234.68,-15802.37,051021,034820
$TT8_MAMPS,0.02247,0.340795
$HUMID,52.55
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,13.91,164.407
$10V_AH,12.78,0.000
$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,16.100,48.075,328.625,45.775,0.000,92.395,143.227,136.105,1.250,0.000,18.888,1058.966,1497.489,407.146,1449.004,150.523,0.000,910.399,0.000,1033.942,0.000,0.556,0.000
$DEVICE_MAMPS,434.520,109.395,1067.940,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.992,295.693,548.058,488.092,565.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,37242,404
$CAP_FILE_SIZE,66873,0
$CFSIZE,1023623168,954761216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,54.91,1
$GPS,051021,045919,2245.015,-15800.385,5,0.8,38,9.8,0.7,237.9,10,7.0