version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 729
start: 10 5 121 8 45 46
data:
$ID,626
$MISSION,3
$DIVE,729
$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,26
$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
$GPS1,051021,083931,2243.9058,-15800.7061,10,0.8,41,9.8,0.6,229.5,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.8
$GPS2,051021,084457,2243.8528,-15800.7520,7,0.8,15,9.8,0.5,222.0,9,9.3
$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,15.2,2482,-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,-116.8,123,2272,1206,1086,0.0,0.0,0,80,0.00,0.00,-61.78,0.000,16386,0.000,0.000,123,2273,3167,3133,3202,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2273,3133,3203,4.1,-8.6,9,100,8.45,2.40,-1.75,0.000,18692,0.431,0.075,2555,3696,3280,3252,3309,0,0,0,0,0,0,14.17,13.35,14.47
$GC,155,-0.55,-116.8,2555,3697,3260,3303,28.7,-17.5,21,163,0.05,2.42,0.00,0.000,3078,0.367,0.049,2573,2262,3281,3263,3299,0,0,0,0,0,0,14.61,14.83,14.85
$GC,414,-0.55,-116.8,2573,2258,3267,3296,80.2,-16.5,47,418,0.00,2.40,0.00,0.000,260,0.000,0.063,2565,3679,3281,3267,3296,0,0,0,0,0,0,15.23,14.88,15.24
$GC,450,-0.55,-116.8,2565,3680,3267,3296,85.3,-15.0,50,458,0.00,2.38,0.00,0.000,3078,0.000,0.049,2564,2264,3281,3266,3296,0,0,0,0,0,0,15.01,14.87,15.02
$GC,697,-0.55,-116.8,2564,2262,3268,3295,123.0,-15.0,75,702,0.00,2.40,0.00,0.000,2308,0.000,0.066,2554,3677,3281,3267,3296,0,0,0,0,0,0,15.28,14.90,15.28
$GC,802,-0.55,-116.8,2554,3678,3267,3296,135.9,-10.7,85,807,0.05,2.33,0.00,0.000,3078,0.359,0.046,2573,2261,3281,3267,3296,0,0,0,0,0,0,14.71,14.95,14.92
$GC,1055,-0.55,-116.8,2573,2256,3268,3295,168.5,-11.8,110,1064,0.00,2.42,0.00,0.000,260,0.000,0.068,2564,3685,3281,3268,3295,0,0,0,0,0,0,15.28,14.90,15.29
$GC,1148,-0.55,-116.8,2564,3686,3268,3295,177.9,-9.4,119,1152,0.00,2.33,0.00,0.000,3078,0.000,0.044,2564,2263,3281,3268,3295,0,0,0,0,0,0,15.07,14.97,15.09
$STATE,1358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1358,begin apogee
$GC,1365,-0.13,0.0,2564,2096,3268,3295,200.7,-10.0,140,1462,0.35,0.00,94.25,1.074,10246,0.222,0.000,2702,2092,2799,2864,2734,0,0,0,0,0,0,14.54,14.63,13.97
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1466,0.55,116.8,2702,2093,2864,2734,204.1,0.0,150,1571,0.50,2.55,96.72,1.060,10500,0.129,0.060,2925,3549,2321,2405,2238,0,0,0,0,0,0,14.61,14.57,13.91
$GC,1659,0.55,124.6,2924,3550,2404,2241,199.1,9.7,169,1672,0.00,2.28,7.47,0.923,13318,0.000,0.043,2935,2160,2292,2375,2210,0,0,0,0,0,0,14.73,14.69,13.98
$GC,1920,0.58,163.9,2935,2159,2375,2205,175.9,8.1,195,1962,0.00,2.45,33.03,1.039,8708,0.000,0.057,2946,717,2129,2216,2042,0,0,0,0,0,0,15.21,14.54,14.07
$GC,2097,0.58,172.8,2946,717,2205,2041,159.2,9.6,212,2110,0.00,2.38,7.72,0.916,13318,0.000,0.054,2947,2133,2094,2179,2009,0,0,0,0,0,0,14.78,14.73,14.09
$GC,2353,0.60,199.0,2946,2133,2179,2007,135.0,8.7,237,2381,0.00,2.35,22.05,1.001,12548,0.000,0.063,2947,3534,1986,2068,1905,0,0,0,0,0,0,15.23,14.62,14.14
$GC,2481,0.60,207.1,2947,3535,2068,1905,123.4,9.7,249,2497,0.00,2.35,8.02,0.914,13318,0.000,0.048,2958,2121,1953,2033,1874,0,0,0,0,0,0,15.00,14.88,14.13
$GC,2737,0.60,207.1,2957,2121,2033,1869,98.3,10.8,275,2742,0.00,2.42,0.00,0.000,4356,0.000,0.065,2957,3531,1950,2031,1869,0,0,0,0,0,0,15.23,14.88,15.24
$GC,2833,0.60,207.1,2957,3531,2033,1869,86.9,12.3,284,2841,0.05,2.42,0.00,0.000,5126,0.317,0.051,2934,2119,1951,2033,1869,0,0,0,0,0,0,14.61,14.81,14.88
$GC,3083,0.66,302.1,2934,2117,2033,1867,68.3,5.2,309,3166,0.00,2.47,73.62,0.949,10500,0.000,0.067,2934,3535,1565,1657,1474,0,0,0,0,0,0,15.25,14.70,14.12
$GC,3468,0.69,342.6,2934,3535,1657,1473,41.1,8.0,346,3506,0.00,2.38,31.58,0.903,11270,0.000,0.050,2943,2124,1400,1496,1305,0,0,0,0,0,0,14.97,14.85,14.19
$GC,3756,0.71,380.6,2943,2123,1496,1300,17.4,8.1,388,3779,0.05,2.38,15.85,0.257,10756,0.257,0.057,3063,715,1246,1339,1154,0,0,0,0,0,0,14.85,14.59,14.40
$STATE,3850,end climb,SURFACE_DEPTH_REACHED
$STATE,3850,begin surface coast
$FINISH,0.2,0.999670
$STATE,3868,end surface coast,CONTROL_FINISHED_OK
$STATE,3868,begin surface
$SM_CCo,3888,7.65,0.201,0,0,1166,400.08
$SM_GC,1.76,6.65,2.67,7.65,0.052,0.065,0.201,129,2265,1166,-7.94,-0.93,400.08,0,0,0,0,0,0,14.99,14.85,14.64
$IRIDIUM_FIX,2234.68,-15802.37,051021,084100
$TT8_MAMPS,0.023219,0.316078
$HUMID,53.42
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.35,165.088
$10V_AH,12.96,0.000
$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,16.150,48.375,390.325,7.650,0.000,25.685,45.683,123.232,0.000,0.000,16.215,1066.057,1398.603,377.920,1258.779,153.509,0.000,891.609,0.000,1048.611,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,74.970,1074.060,201.195,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.308,299.527,551.299,508.531,598.142,0.000,0.000,0.000,0.000,0.000
$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,37462,407
$CAP_FILE_SIZE,64337,0
$CFSIZE,1023623168,954515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.198,224.78,1
$GPS,051021,095140,2243.415,-15801.179,6,0.9,20,9.8,0.6,331.6,8,9.4