version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 739
start: 10 5 121 20 58 11
data:
$ID,626
$MISSION,3
$DIVE,739
$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,78
$R_STBD_OVSHOOT,57
$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
$GPS1,051021,205147,2244.7200,-15800.5752,6,1.7,46,9.8,0.5,256.7,5,11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.0
$GPS2,051021,205719,2244.6628,-15800.6064,7,1.1,39,9.8,0.3,137.4,8,9.0
$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,24.4,1209,-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,-116.8,123,2215,1205,1112,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,16386,0.000,0.000,123,2213,2876,2863,2890,0,0,0,0,0,0,15.19,28.83,15.20
$GC,77,-0.55,-116.8,123,2213,2865,2890,3.0,-5.9,8,100,8.48,2.42,-7.00,0.000,18692,0.431,0.072,2553,3655,3278,3260,3296,0,0,0,0,0,0,14.16,13.90,14.45
$GC,172,-0.55,-116.8,2552,3656,3260,3297,25.4,-14.7,24,180,0.05,2.30,0.00,0.000,3078,0.298,0.050,2571,2309,3278,3262,3295,0,0,0,0,0,0,14.54,14.77,14.87
$GC,425,-0.55,-116.8,2570,2306,3265,3293,70.8,-16.9,51,434,0.00,2.40,0.00,0.000,772,0.000,0.061,2572,863,3279,3267,3291,0,0,0,0,0,0,15.24,14.56,15.25
$GC,440,-0.55,-116.8,2572,863,3267,3291,72.6,-17.1,52,448,0.00,2.38,0.00,0.000,3078,0.000,0.054,2563,2261,3279,3267,3291,0,0,0,0,0,0,15.00,14.85,15.02
$GC,688,-0.55,-116.8,2563,2261,3267,3291,111.5,-13.8,77,697,0.00,2.35,0.00,0.000,2308,0.000,0.067,2552,3667,3279,3267,3291,0,0,0,0,0,0,15.28,14.73,15.28
$GC,827,-0.55,-116.8,2552,3667,3267,3291,126.9,-10.5,90,835,0.05,2.38,0.00,0.000,3078,0.352,0.046,2570,2243,3279,3267,3291,0,0,0,0,0,0,14.69,14.88,14.91
$GC,1075,-0.55,-116.8,2571,2242,3267,3291,158.5,-12.6,115,1084,0.00,2.30,0.00,0.000,2564,0.000,0.057,2571,856,3278,3267,3290,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1168,-0.55,-116.8,2570,855,3268,3290,168.9,-10.2,124,1173,0.00,2.40,0.00,0.000,3078,0.000,0.060,2562,2263,3279,3269,3290,0,0,0,0,0,0,15.06,14.91,15.07
$GC,1423,-0.55,-116.8,2562,2263,3270,3289,198.5,-11.8,149,1432,0.00,2.35,0.00,0.000,2564,0.000,0.057,2562,865,3279,3270,3289,0,0,0,0,0,0,15.29,14.76,15.29
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1452,-0.13,0.0,2552,2136,3270,3289,201.3,-11.9,151,1554,0.40,0.00,93.68,1.073,10246,0.228,0.000,2707,2137,2798,2863,2734,0,0,0,0,0,0,14.50,14.63,13.95
$STATE,1555,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$GC,1557,0.55,116.8,2707,2137,2863,2733,205.7,0.0,162,1665,0.47,2.42,96.65,1.061,10500,0.133,0.063,2917,3541,2322,2404,2240,0,0,0,0,0,0,14.59,14.56,13.91
$GC,1723,0.56,143.4,2916,3541,2404,2241,202.6,8.7,178,1752,0.00,2.35,22.90,1.018,9222,0.000,0.045,2928,2123,2214,2300,2128,0,0,0,0,0,0,14.84,14.76,14.00
$GC,1992,0.56,143.4,2928,2123,2299,2122,174.5,10.3,205,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2123,2210,2299,2122,0,0,0,0,0,0,15.18,15.19,15.19
$GC,2241,0.59,189.5,2928,2123,2299,2121,151.9,7.7,230,2284,0.00,2.35,37.25,1.016,10756,0.000,0.059,2939,716,2025,2110,1941,0,0,0,0,0,0,15.26,14.81,14.13
$GC,2299,0.63,246.4,2939,716,2104,1941,147.8,7.2,235,2350,0.00,2.38,45.90,1.002,11270,0.000,0.056,2939,2123,1794,1876,1712,0,0,0,0,0,0,14.76,14.70,14.02
$GC,2592,0.63,246.4,2939,2123,1875,1705,117.4,10.2,264,2597,0.00,2.40,0.00,0.000,2308,0.000,0.066,2939,3546,1789,1875,1704,0,0,0,0,0,0,15.19,14.85,15.20
$GC,2640,0.63,246.4,2938,3546,1875,1705,112.4,11.7,268,2647,0.00,2.40,0.00,0.000,1030,0.000,0.050,2950,2125,1790,1875,1705,0,0,0,0,0,0,14.97,14.85,15.00
$GC,2888,0.63,246.4,2949,2125,1875,1704,82.1,12.5,293,2896,0.00,2.35,0.00,0.000,516,0.000,0.063,2961,723,1788,1874,1703,0,0,0,0,0,0,15.23,14.73,15.24
$GC,2951,0.63,246.4,2961,723,1868,1704,74.4,11.7,299,2961,0.00,2.35,0.00,0.000,5126,0.000,0.056,2961,2122,1785,1868,1703,0,0,0,0,0,0,14.73,14.67,14.76
$GC,3203,0.63,255.8,2961,2122,1866,1703,46.5,9.6,324,3217,0.00,2.40,7.75,0.832,12548,0.000,0.066,2960,3540,1756,1841,1671,0,0,0,0,0,0,15.26,14.88,14.15
$GC,3256,0.63,255.8,2961,3540,1841,1670,41.0,10.1,329,3267,0.05,2.33,0.00,0.000,5126,0.307,0.049,2953,2123,1755,1841,1670,0,0,0,0,0,0,14.45,14.74,14.62
$GC,3516,0.65,288.4,2952,2121,1841,1670,19.0,8.4,366,3538,0.00,2.40,14.25,0.262,10756,0.000,0.059,2962,713,1621,1712,1531,0,0,0,0,0,0,15.23,14.55,14.37
$GC,3571,0.66,299.0,2962,712,1706,1531,14.1,9.6,374,3582,0.00,2.45,4.15,0.268,9222,0.000,0.056,2962,2136,1579,1669,1489,0,0,0,0,0,0,14.97,14.84,14.57
$STATE,3679,end climb,SURFACE_DEPTH_REACHED
$STATE,3679,begin surface coast
$FINISH,0.3,1.012113
$STATE,3707,end surface coast,CONTROL_FINISHED_OK
$STATE,3709,begin surface
$SM_CCo,3726,41.95,0.184,0,0,1166,400.08
$SM_GC,1.14,6.43,0.20,41.95,0.053,0.091,0.184,145,2279,1166,-7.93,-0.96,400.08,0,0,0,0,0,0,14.95,14.93,14.64
$IRIDIUM_FIX,2234.68,-15800.20,051021,205323
$TT8_MAMPS,0.02247,0.31458
$HUMID,52.99
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.90,166.787
$10V_AH,12.91,0.000
$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,15.925,52.275,322.525,41.950,0.000,36.323,45.437,108.470,0.250,0.000,40.158,1030.499,1381.301,404.148,1167.509,154.861,0.000,865.627,0.000,949.359,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,182.835,1073.295,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.945,288.269,544.930,501.275,581.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,37274,398
$CAP_FILE_SIZE,65629,0
$CFSIZE,1023623168,953843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.193,207.96,1
$GPS,051021,220219,2244.539,-15800.829,8,0.9,41,9.8,0.4,171.2,10,9.7