version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 741
start: 10 5 121 23 16 49
data:
$ID,626
$MISSION,3
$DIVE,741
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,051021,231034,2244.5630,-15801.1250,6,1.0,18,9.8,0.7,275.7,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.7
$GPS2,051021,231558,2244.5312,-15801.1914,6,1.0,18,9.8,0.6,223.3,8,9.3
$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,44.7,2212,-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,14,begin dive
$GC,17,-0.55,-116.8,124,2245,1205,1110,0.0,0.0,0,80,0.00,0.00,-61.25,0.000,16386,0.000,0.000,124,2245,3083,3052,3114,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2245,3052,3114,3.0,-4.3,9,99,8.52,0.00,-3.20,0.000,18950,0.435,0.000,2567,2244,3279,3253,3306,0,0,0,0,0,0,14.18,13.38,14.47
$GC,345,-0.55,-116.8,2566,2244,3267,3296,67.8,-18.3,41,355,0.00,2.33,0.00,0.000,2564,0.000,0.057,2567,855,3281,3267,3295,0,0,0,0,0,0,15.23,14.57,15.24
$GC,379,-0.55,-116.8,2567,856,3268,3295,73.2,-16.8,44,384,0.00,2.40,0.00,0.000,3078,0.000,0.058,2558,2274,3281,3267,3295,0,0,0,0,0,0,15.02,14.87,15.03
$GC,634,-0.55,-116.8,2557,2275,3268,3294,112.4,-14.4,69,643,0.00,2.38,0.00,0.000,2564,0.000,0.057,2558,857,3281,3268,3294,0,0,0,0,0,0,15.26,14.74,15.26
$GC,677,-0.55,-116.8,2557,857,3269,3295,118.9,-14.4,73,686,0.05,2.35,0.00,0.000,3078,0.318,0.058,2567,2262,3281,3270,3293,0,0,0,0,0,0,14.47,14.74,14.64
$GC,928,-0.55,-116.8,2566,2263,3270,3294,150.1,-11.7,98,933,0.00,2.35,0.00,0.000,2564,0.000,0.056,2567,858,3282,3270,3294,0,0,0,0,0,0,15.28,14.92,15.27
$GC,971,-0.55,-116.8,2567,857,3271,3294,155.2,-11.5,102,976,0.00,2.38,0.00,0.000,3078,0.000,0.060,2558,2267,3283,3272,3294,0,0,0,0,0,0,15.05,14.91,15.07
$GC,1228,-0.55,-116.8,2557,2268,3271,3292,186.1,-13.0,127,1236,0.00,2.35,0.00,0.000,2564,0.000,0.057,2558,866,3282,3272,3293,0,0,0,0,0,0,15.28,14.75,15.28
$GC,1290,-0.55,-116.8,2557,866,3271,3294,193.9,-11.0,133,1299,0.05,2.35,0.00,0.000,3078,0.312,0.060,2566,2265,3282,3272,3292,0,0,0,0,0,0,14.47,14.74,14.64
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1364,-0.13,0.0,2567,2093,3272,3291,201.0,-10.1,140,1462,0.35,0.00,94.35,1.082,10246,0.231,0.000,2704,2090,2798,2864,2733,0,0,0,0,0,0,14.50,14.62,13.94
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1465,0.55,116.8,2704,2090,2864,2733,204.3,0.0,150,1572,0.50,2.50,96.78,1.069,10500,0.142,0.060,2916,3545,2322,2405,2239,0,0,0,0,0,0,14.44,14.32,13.84
$GC,1616,0.58,166.4,2916,3545,2405,2240,199.9,7.5,165,1666,0.00,2.30,41.10,1.050,11270,0.000,0.041,2927,2148,2119,2206,2032,0,0,0,0,0,0,14.76,14.73,13.94
$GC,1906,0.59,191.8,2927,2148,2205,2028,172.1,8.8,194,1937,0.00,2.35,21.05,1.018,10500,0.000,0.066,2927,3538,2016,2100,1932,0,0,0,0,0,0,15.19,14.81,14.11
$GC,1943,0.60,208.2,2927,3538,2100,1932,169.4,9.3,197,1964,0.00,2.35,14.45,0.987,11270,0.000,0.050,2938,2126,1949,2029,1869,0,0,0,0,0,0,14.93,14.81,14.06
$GC,2213,0.61,210.9,2938,2127,2028,1866,140.2,10.0,224,2214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2938,2126,1947,2028,1866,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2453,0.61,213.3,2938,2126,2028,1865,116.5,10.0,248,2465,0.00,2.38,4.82,0.812,10756,0.000,0.059,2949,717,1929,2010,1849,0,0,0,0,0,0,15.26,14.58,14.04
$GC,2490,0.61,217.8,2949,717,2005,1850,113.0,9.9,251,2500,0.00,2.35,5.15,0.810,13318,0.000,0.055,2950,2124,1912,1990,1834,0,0,0,0,0,0,14.83,14.78,14.10
$GC,2738,0.61,217.8,2949,2124,1989,1832,86.5,10.6,276,2749,0.00,2.40,0.00,0.000,4356,0.000,0.067,2950,3542,1910,1989,1831,0,0,0,0,0,0,15.26,14.90,15.26
$GC,2806,0.61,217.8,2949,3542,1989,1831,79.0,11.4,282,2815,0.03,2.42,0.00,0.000,5126,0.217,0.048,2935,2118,1910,1989,1831,0,0,0,0,0,0,14.62,14.85,14.88
$GC,3057,0.66,295.3,2934,2115,1989,1830,57.2,6.1,307,3124,0.00,0.00,61.12,0.930,10246,0.000,0.000,2935,2115,1593,1685,1502,0,0,0,0,0,0,15.26,14.73,14.14
$GC,3365,0.68,335.6,2934,2115,1685,1496,34.1,8.0,338,3405,0.05,2.38,31.48,0.882,10756,0.260,0.058,3061,719,1429,1518,1341,0,0,0,0,0,0,14.85,14.54,14.11
$GC,3437,0.68,335.6,3061,718,1515,1342,23.2,18.5,347,3446,0.25,2.42,0.00,0.000,5126,0.256,0.054,2972,2128,1427,1514,1340,0,0,0,0,0,0,14.57,14.78,14.81
$STATE,3597,end climb,SURFACE_DEPTH_REACHED
$STATE,3597,begin surface coast
$FINISH,0.2,1.008660
$STATE,3626,end surface coast,CONTROL_FINISHED_OK
$STATE,3628,begin surface
$SM_CCo,3645,26.58,0.190,0,0,1165,400.08
$SM_GC,1.49,6.43,0.22,26.58,0.051,0.086,0.190,166,2289,1165,-7.91,-0.82,400.08,0,0,0,0,0,0,14.92,14.90,14.63
$IRIDIUM_FIX,2234.68,-15802.37,051021,231207
$TT8_MAMPS,0.02247,0.339297
$HUMID,53.15
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.38,167.111
$10V_AH,12.59,0.000
$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,16.225,43.175,370.300,26.575,0.000,33.382,45.083,119.545,0.500,0.000,19.917,969.293,1396.865,409.884,1107.470,148.911,0.000,861.700,0.000,898.614,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,86.445,1081.710,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,251.358,276.234,519.584,475.219,559.349,0.000,0.000,0.000,0.000,0.000
$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,33855,381
$CAP_FILE_SIZE,60532,0
$CFSIZE,1023623168,953729024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174,268.42,1
$GPS,061021,001901,2244.796,-15801.225,6,0.9,22,9.8,0.8,321.5,8,9.7