version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 734
start: 10 5 121 15 5 11
data:
$ID,626
$MISSION,3
$DIVE,734
$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
$GPS1,051021,145901,2244.1672,-15802.3135,6,0.9,35,9.8,0.6,241.5,9,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.5
$GPS2,051021,150422,2244.2090,-15802.3105,7,0.9,13,9.8,0.0,298.9,9,10.0
$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,103.1,4210,-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,-116.8,124,2292,706,562,0.0,0.0,0,95,0.00,0.00,-76.35,0.000,16386,0.000,0.000,125,2291,3156,3119,3193,0,0,0,0,0,0,15.18,28.83,15.19
$GC,98,-0.55,-116.8,125,2293,3121,3193,3.8,-7.6,11,114,8.45,2.30,-1.95,0.000,18692,0.431,0.067,2555,3675,3280,3252,3309,0,0,0,0,0,0,14.18,13.35,14.47
$GC,134,-0.55,-116.8,2555,3675,3257,3305,19.3,-40.4,16,142,0.05,2.40,0.00,0.000,3078,0.362,0.054,2572,2267,3281,3262,3301,0,0,0,0,0,0,14.62,14.82,14.85
$GC,388,-0.55,-116.8,2572,2263,3266,3296,72.9,-19.4,45,393,0.00,2.35,0.00,0.000,260,0.000,0.063,2564,3658,3281,3266,3296,0,0,0,0,0,0,15.24,14.88,15.24
$GC,422,-0.55,-116.8,2564,3659,3266,3297,78.8,-17.9,48,431,0.00,2.30,0.00,0.000,3078,0.000,0.047,2564,2254,3281,3266,3296,0,0,0,0,0,0,14.76,14.80,14.79
$GC,674,-0.55,-116.8,2563,2252,3266,3296,118.0,-14.3,73,678,0.00,2.38,0.00,0.000,2308,0.000,0.066,2554,3658,3280,3266,3295,0,0,0,0,0,0,15.26,14.90,15.27
$GC,750,-0.55,-116.8,2553,3657,3267,3296,126.7,-10.1,80,759,0.05,2.35,0.00,0.000,3078,0.350,0.044,2573,2261,3280,3266,3295,0,0,0,0,0,0,14.69,14.86,14.92
$GC,999,-0.55,-116.8,2572,2259,3267,3295,161.5,-12.9,105,1003,0.00,2.38,0.00,0.000,260,0.000,0.069,2563,3662,3280,3266,3295,0,0,0,0,0,0,15.28,14.90,15.28
$GC,1102,-0.55,-116.8,2563,3662,3267,3296,173.9,-10.6,115,1107,0.00,2.28,0.00,0.000,3078,0.000,0.043,2564,2264,3281,3267,3295,0,0,0,0,0,0,15.08,14.97,15.09
$STATE,1313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1313,begin apogee
$GC,1320,-0.13,0.0,2564,2090,3267,3295,200.1,-12.6,136,1417,0.38,0.00,93.85,1.068,10246,0.256,0.000,2704,2086,2799,2864,2734,0,0,0,0,0,0,14.49,14.64,13.97
$STATE,1418,end apogee,CONTROL_FINISHED_OK
$STATE,1418,begin climb
$GC,1421,0.55,116.8,2704,2087,2863,2733,204.1,0.0,146,1526,0.50,2.53,96.90,1.056,10500,0.132,0.063,2923,3529,2321,2402,2240,0,0,0,0,0,0,14.61,14.58,13.93
$GC,1706,0.57,156.1,2923,3528,2402,2240,191.4,8.1,174,1747,0.00,2.25,32.60,1.034,9222,0.000,0.044,2934,2154,2161,2250,2073,0,0,0,0,0,0,14.68,14.65,14.08
$GC,1988,0.57,156.6,2933,2154,2249,2067,165.6,10.1,202,1997,0.00,2.28,0.00,0.000,260,0.000,0.066,2934,3513,2158,2249,2067,0,0,0,0,0,0,15.19,14.73,15.21
$GC,2126,0.57,156.6,2933,3513,2249,2066,150.4,10.6,215,2134,0.00,2.30,0.00,0.000,5126,0.000,0.047,2945,2129,2158,2249,2068,0,0,0,0,0,0,15.04,14.92,15.06
$GC,2375,0.61,212.2,2944,2129,2249,2066,132.8,7.2,240,2425,0.00,2.42,43.97,1.013,8708,0.000,0.063,2956,717,1934,2019,1849,0,0,0,0,0,0,15.26,14.77,14.14
$GC,2711,0.63,257.6,2956,716,2006,1846,102.6,7.8,273,2758,0.00,2.33,35.95,0.974,9222,0.000,0.050,2956,2111,1747,1836,1658,0,0,0,0,0,0,15.01,14.90,14.13
$GC,3000,0.66,291.6,2956,2111,1836,1653,78.2,8.3,302,3039,0.00,2.35,27.23,0.944,11012,0.000,0.057,2967,720,1609,1704,1514,0,0,0,0,0,0,15.21,14.63,14.18
$GC,3358,0.66,291.6,2966,720,1695,1513,43.6,10.8,336,3368,0.00,2.33,0.00,0.000,5126,0.000,0.053,2966,2116,1603,1695,1512,0,0,0,0,0,0,14.73,14.70,14.77
$GC,3612,0.66,291.6,2966,2116,1695,1511,18.5,12.5,370,3620,0.00,2.42,0.00,0.000,4356,0.000,0.065,2966,3542,1603,1695,1511,0,0,0,0,0,0,15.23,14.85,15.23
$GC,3644,0.66,291.6,2966,3542,1695,1511,14.3,13.9,375,3652,0.05,2.40,0.00,0.000,5126,0.395,0.047,2961,2115,1603,1695,1511,0,0,0,0,0,0,14.63,14.87,14.91
$STATE,3738,end climb,SURFACE_DEPTH_REACHED
$STATE,3739,begin surface coast
$FINISH,0.3,1.015703
$STATE,3765,end surface coast,CONTROL_FINISHED_OK
$STATE,3765,begin surface
$SM_CCo,3782,45.00,0.186,0,0,1167,400.08
$SM_GC,1.19,6.32,0.28,45.00,0.037,0.058,0.186,128,2319,1167,-7.94,-0.71,400.08,0,0,0,0,0,0,15.02,15.00,14.65
$IRIDIUM_FIX,2234.68,-15804.53,051021,150028
$TT8_MAMPS,0.023219,0.341544
$HUMID,52.16
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.35,165.986
$10V_AH,12.27,0.000
$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,15.800,42.800,330.500,45.000,0.000,23.833,45.167,126.747,0.750,0.000,14.364,1044.027,1352.575,395.368,1239.926,149.913,0.000,900.207,0.000,1035.750,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,72.675,1067.940,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.471,292.553,537.350,488.899,568.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339148
$DATA_FILE_SIZE,37414,397
$CAP_FILE_SIZE,62878,0
$CFSIZE,1023623168,954187776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.127,20.54,1
$GPS,051021,160956,2244.486,-15802.217,7,1.0,20,9.8,0.0,333.2,8,9.8