version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 726
start: 10 5 121 5 5 26
data:
$ID,626
$MISSION,3
$DIVE,726
$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,32
$R_STBD_OVSHOOT,68
$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
$GPS1,051021,045919,2245.0154,-15800.3848,5,0.8,38,9.8,0.7,237.9,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.2
$GPS2,051021,050435,2244.9971,-15800.3926,6,0.8,15,9.8,1.0,239.4,10,10.0
$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,88.2,671,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,123,2210,1201,1114,0.0,0.0,0,81,0.00,0.00,-62.35,0.000,16386,0.000,0.000,123,2210,3168,3135,3201,0,0,0,0,0,0,15.19,28.83,15.20
$GC,84,-0.58,-116.8,123,2210,3134,3202,3.9,-8.3,9,99,8.40,0.00,-1.73,0.000,18694,0.431,0.000,2552,2209,3279,3252,3307,0,0,0,0,0,0,14.19,13.42,14.49
$GC,346,-0.58,-116.8,2552,2209,3264,3296,73.3,-22.8,41,355,0.00,2.38,0.00,0.000,2308,0.000,0.061,2543,3632,3280,3264,3296,0,0,0,0,0,0,15.24,14.56,15.25
$GC,430,-0.58,-116.8,2542,3633,3265,3296,87.1,-13.0,49,440,0.05,2.28,0.00,0.000,3078,0.286,0.049,2561,2240,3280,3266,3295,0,0,0,0,0,0,14.52,14.86,14.68
$GC,681,-0.58,-116.8,2561,2236,3267,3295,128.6,-15.9,74,686,0.00,2.35,0.00,0.000,260,0.000,0.061,2553,3637,3281,3267,3295,0,0,0,0,0,0,15.27,14.90,15.28
$GC,736,-0.58,-116.8,2553,3637,3266,3295,136.1,-12.9,79,743,0.00,2.25,0.00,0.000,3078,0.000,0.044,2552,2263,3281,3267,3295,0,0,0,0,0,0,15.07,14.95,15.08
$GC,984,-0.58,-116.8,2552,2262,3267,3295,173.9,-13.5,104,988,0.00,2.33,0.00,0.000,2308,0.000,0.065,2543,3637,3281,3267,3295,0,0,0,0,0,0,15.30,14.90,15.30
$GC,1030,-0.58,-116.8,2543,3638,3266,3295,179.1,-12.2,108,1039,0.05,2.30,0.00,0.000,3078,0.289,0.042,2578,2256,3281,3267,3295,0,0,0,0,0,0,14.64,14.87,14.89
$STATE,1256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1256,begin apogee
$GC,1263,-0.13,0.0,2579,2091,3267,3294,200.5,-9.5,131,1360,0.32,0.00,94.18,1.070,10246,0.238,0.000,2705,2087,2799,2865,2733,0,0,0,0,0,0,14.51,14.64,13.97
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1364,0.58,116.8,2705,2087,2865,2733,204.3,0.0,141,1468,0.50,2.47,96.57,1.060,10500,0.134,0.063,2925,3500,2322,2408,2237,0,0,0,0,0,0,14.60,14.57,13.92
$GC,1517,0.64,210.7,2925,3501,2407,2240,204.4,4.8,156,1605,0.00,2.28,75.62,1.055,11270,0.000,0.039,2936,2158,1939,2015,1863,0,0,0,0,0,0,14.73,14.68,13.95
$GC,1845,0.64,210.7,2936,2158,2015,1858,169.4,10.5,189,1854,0.00,2.40,0.00,0.000,2564,0.000,0.060,2948,725,1935,2013,1857,0,0,0,0,0,0,15.19,14.60,15.19
$GC,2375,0.64,213.2,2948,724,2004,1857,120.1,10.0,240,2386,0.00,2.28,0.00,0.000,3078,0.000,0.057,2948,2084,1930,2004,1857,0,0,0,0,0,0,14.73,14.67,14.76
$GC,2628,0.65,238.3,2948,2084,2004,1857,97.2,8.7,265,2657,0.00,2.35,22.35,0.961,10756,0.000,0.057,2958,713,1825,1905,1746,0,0,0,0,0,0,15.27,14.88,14.19
$GC,3189,0.71,328.7,2958,713,1898,1745,58.3,5.0,318,3266,0.00,2.42,70.70,0.921,11270,0.000,0.056,2958,2129,1458,1551,1365,0,0,0,0,0,0,15.02,14.88,14.14
$GC,3506,0.73,361.9,2958,2131,1551,1360,33.9,8.2,350,3538,0.00,2.45,26.25,0.877,10756,0.000,0.060,2969,722,1322,1418,1226,0,0,0,0,0,0,15.19,14.82,14.21
$GC,3564,0.75,400.1,2968,722,1415,1227,29.6,7.9,355,3601,0.00,2.42,25.58,0.864,11270,0.000,0.057,2969,2130,1166,1262,1070,0,0,0,0,0,0,14.92,14.79,14.07
$GC,3858,0.75,400.1,2969,2130,1262,1066,5.9,10.2,408,3866,0.00,2.42,0.00,0.000,2308,0.000,0.068,2969,3543,1164,1262,1066,0,0,0,0,0,0,15.16,14.81,15.16
$STATE,3883,end climb,SURFACE_DEPTH_REACHED
$STATE,3883,begin surface coast
$FINISH,0.2,1.009832
$STATE,3912,end surface coast,CONTROL_FINISHED_OK
$STATE,3912,begin surface
$SM_CCo,3991,0.00,0.000,0,0,1163,401.55
$SM_GC,1.41,6.25,2.10,0.00,0.024,0.034,0.000,137,2266,1163,-7.89,1.27,401.55,0,0,0,0,0,0,14.97,14.92,15.02
$IRIDIUM_FIX,2234.68,-15800.20,051021,050048
$TT8_MAMPS,0.02247,0.315329
$HUMID,52.36
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,13.42,164.587
$10V_AH,12.02,0.000
$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,15.575,37.725,411.250,0.000,0.000,26.552,41.548,121.685,0.250,0.000,16.160,1074.419,1406.070,386.718,1323.810,148.419,0.000,928.754,0.000,1127.913,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,128.520,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.079,303.217,572.651,537.438,632.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339152
$DATA_FILE_SIZE,37293,417
$CAP_FILE_SIZE,64322,0
$CFSIZE,1023623168,954712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,149.78,1
$GPS,051021,061247,2244.824,-15800.374,5,0.9,16,9.8,0.0,5.4,8,8.6