version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 735
start: 10 5 121 16 16 10
data:
$ID,626
$MISSION,3
$DIVE,735
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,051021,160956,2244.4861,-15802.2168,7,1.0,20,9.8,0.0,333.2,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.0
$GPS2,051021,161520,2244.5071,-15802.2041,6,1.0,19,9.8,0.5,116.4,8,9.9
$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,94.3,3873,-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,-116.8,115,2245,1206,1110,0.0,0.0,0,74,0.00,0.00,-56.03,0.000,16386,0.000,0.000,115,2244,2931,2911,2952,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.55,-116.8,114,2244,2911,2952,3.1,-5.8,8,101,8.48,2.30,-5.97,0.000,18948,0.428,0.070,2575,863,3278,3260,3296,0,0,0,0,0,0,14.19,13.91,14.47
$GC,109,-0.55,-116.8,2574,863,3264,3294,15.0,-32.7,12,117,0.00,2.40,0.00,0.000,3078,0.000,0.050,2566,2280,3278,3266,3291,0,0,0,0,0,0,14.96,14.83,14.98
$GC,366,-0.55,-116.8,2566,2281,3267,3290,65.0,-17.7,43,376,0.00,2.40,0.00,0.000,2564,0.000,0.060,2566,864,3278,3266,3290,0,0,0,0,0,0,15.24,14.58,15.24
$GC,413,-0.55,-116.8,2565,864,3267,3290,73.2,-18.2,47,421,0.03,2.42,0.00,0.000,3078,0.418,0.059,2566,2262,3278,3267,3290,0,0,0,0,0,0,14.56,14.75,14.73
$GC,662,-0.55,-116.8,2565,2265,3266,3290,111.2,-14.8,72,672,0.00,2.35,0.00,0.000,2564,0.000,0.057,2566,863,3279,3268,3290,0,0,0,0,0,0,15.26,14.60,15.27
$GC,727,-0.55,-116.8,2566,863,3268,3289,120.2,-12.8,78,739,0.05,2.35,0.00,0.000,3078,0.376,0.058,2575,2265,3279,3269,3289,0,0,0,0,0,0,14.69,14.91,14.88
$GC,980,-0.55,-116.8,2575,2268,3269,3289,152.9,-12.0,103,989,0.00,2.30,0.00,0.000,516,0.000,0.054,2575,871,3279,3269,3289,0,0,0,0,0,0,15.27,14.76,15.28
$GC,1013,-0.55,-116.8,2575,870,3270,3289,157.3,-12.6,106,1023,0.00,2.33,0.00,0.000,3078,0.000,0.057,2566,2264,3279,3270,3289,0,0,0,0,0,0,14.82,14.76,14.85
$GC,1264,-0.55,-116.8,2566,2264,3270,3289,186.8,-11.3,131,1270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2264,3279,3270,3289,0,0,0,0,0,0,15.29,15.29,15.29
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1387,-0.13,0.0,2566,2093,3269,3288,200.1,-10.7,143,1484,0.35,0.00,93.78,1.073,10246,0.227,0.000,2703,2090,2798,2864,2733,0,0,0,0,0,0,14.53,14.63,13.95
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1488,0.55,116.8,2703,2090,2864,2733,203.9,0.0,153,1593,0.50,2.33,96.78,1.067,10756,0.135,0.054,2933,749,2321,2401,2242,0,0,0,0,0,0,14.60,14.57,13.92
$GC,1691,0.56,132.4,2933,749,2390,2239,198.4,9.3,173,1712,0.00,2.30,13.32,0.998,13318,0.000,0.054,2933,2121,2259,2343,2176,0,0,0,0,0,0,14.71,14.67,14.02
$GC,1952,0.58,176.2,2932,2121,2343,2172,175.7,7.8,199,1998,0.00,2.38,36.47,1.043,10500,0.000,0.065,2933,3542,2079,2167,1992,0,0,0,0,0,0,15.21,14.78,14.11
$GC,2123,0.58,176.2,2933,3542,2167,1992,157.3,10.5,216,2134,0.00,2.30,0.00,0.000,5126,0.000,0.044,2944,2154,2079,2168,1991,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2378,0.60,208.9,2943,2154,2167,1989,133.3,8.4,241,2412,0.00,0.00,26.48,1.004,8454,0.000,0.000,2944,2154,1946,2029,1864,0,0,0,0,0,0,15.22,14.81,14.18
$GC,2654,0.60,208.9,2943,2154,2029,1859,107.5,10.5,269,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2154,1944,2029,1860,0,0,0,0,0,0,15.22,15.23,15.23
$GC,2896,0.61,212.8,2943,2154,2028,1858,85.0,9.9,293,2903,0.00,0.00,4.10,0.763,8198,0.000,0.000,2944,2154,1930,2015,1846,0,0,0,0,0,0,15.26,14.82,14.09
$GC,3146,0.62,240.3,2943,2153,2015,1845,63.7,8.7,318,3176,0.00,2.45,22.65,0.927,10756,0.000,0.060,2955,724,1818,1903,1734,0,0,0,0,0,0,15.26,14.88,14.21
$GC,3230,0.65,285.2,2955,723,1896,1734,57.4,7.8,326,3273,0.00,2.38,35.47,0.920,11270,0.000,0.055,2955,2133,1635,1727,1543,0,0,0,0,0,0,15.00,14.88,14.16
$GC,3518,0.65,285.2,2955,2133,1727,1538,28.3,10.8,356,3525,0.00,2.40,0.00,0.000,2308,0.000,0.066,2955,3533,1632,1727,1538,0,0,0,0,0,0,15.19,14.81,15.19
$GC,3539,0.65,285.2,2955,3533,1727,1538,25.8,11.6,359,3547,0.00,2.40,0.00,0.000,5126,0.000,0.050,2966,2134,1632,1727,1538,0,0,0,0,0,0,14.80,14.73,14.83
$STATE,3729,end climb,SURFACE_DEPTH_REACHED
$STATE,3729,begin surface coast
$FINISH,0.3,1.023087
$STATE,3752,end surface coast,CONTROL_FINISHED_OK
$STATE,3752,begin surface
$SM_CCo,3769,47.35,0.187,0,0,1166,400.08
$SM_GC,1.38,6.40,0.22,47.35,0.047,0.061,0.187,158,2330,1166,-7.93,-0.93,400.08,0,0,0,0,0,0,14.97,15.00,14.64
$IRIDIUM_FIX,2234.68,-15802.37,051021,161125
$TT8_MAMPS,0.023219,0.288365
$HUMID,52.16
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.91,166.143
$10V_AH,12.67,0.000
$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,15.800,38.325,329.050,47.350,0.000,27.876,44.892,120.053,0.500,0.000,20.972,1014.972,1453.955,402.448,1152.580,151.429,0.000,865.148,0.000,946.527,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,125.460,1073.295,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.799,287.217,542.677,495.187,580.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339176
$DATA_FILE_SIZE,37366,398
$CAP_FILE_SIZE,61761,0
$CFSIZE,1023623168,954122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,56.18,1
$GPS,051021,172101,2244.614,-15801.484,6,0.9,37,9.8,0.5,134.3,9,7.0