version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 742
start: 10 6 121 0 25 2
data:
$ID,626
$MISSION,3
$DIVE,742
$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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,061021,001901,2244.7964,-15801.2246,6,0.9,22,9.8,0.8,321.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.8
$GPS2,061021,002411,2244.7966,-15801.2812,6,0.9,19,9.8,0.7,216.7,8,9.7
$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,76.7,2220,-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,-116.8,124,2299,1202,1112,0.0,0.0,0,81,0.00,0.00,-61.85,0.000,16386,0.000,0.000,124,2300,3139,3104,3175,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2300,3105,3175,3.7,-7.2,9,100,8.48,2.30,-2.20,0.000,18692,0.433,0.067,2554,3672,3280,3252,3308,0,0,0,0,0,0,14.18,13.34,14.46
$GC,119,-0.55,-116.8,2553,3672,3256,3305,19.8,-45.1,14,127,0.05,2.40,0.00,0.000,3078,0.387,0.055,2569,2270,3281,3261,3301,0,0,0,0,0,0,14.59,14.81,14.83
$GC,379,-0.55,-116.8,2569,2266,3266,3296,69.8,-15.7,43,383,0.00,2.35,0.00,0.000,2308,0.000,0.063,2558,3655,3280,3266,3295,0,0,0,0,0,0,15.24,14.88,15.24
$GC,536,-0.55,-116.8,2560,3655,3266,3296,87.5,-9.9,58,546,0.00,2.28,0.00,0.000,3078,0.000,0.046,2560,2259,3281,3267,3295,0,0,0,0,0,0,14.68,14.63,14.70
$GC,787,-0.55,-116.8,2560,2259,3268,3296,123.0,-15.2,83,791,0.00,2.35,0.00,0.000,2564,0.000,0.060,2560,851,3281,3268,3295,0,0,0,0,0,0,15.26,14.90,15.27
$GC,893,-0.55,-116.8,2559,852,3269,3294,136.3,-10.9,93,901,0.08,2.35,0.00,0.000,3078,0.333,0.057,2576,2253,3282,3271,3294,0,0,0,0,0,0,14.66,14.92,14.91
$GC,1143,-0.55,-116.8,2576,2254,3271,3293,165.0,-11.0,118,1152,0.00,2.30,0.00,0.000,516,0.000,0.054,2577,858,3282,3271,3293,0,0,0,0,0,0,15.28,14.75,15.28
$GC,1185,-0.55,-116.8,2576,857,3271,3294,169.5,-10.5,122,1194,0.00,2.38,0.00,0.000,3078,0.000,0.058,2566,2270,3282,3272,3292,0,0,0,0,0,0,15.05,14.91,15.07
$GC,1437,-0.55,-116.8,2567,2271,3271,3292,198.1,-12.1,147,1441,0.00,2.40,0.00,0.000,2564,0.000,0.057,2567,849,3281,3271,3292,0,0,0,0,0,0,15.29,14.92,15.29
$STATE,1457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1457,begin apogee
$GC,1465,-0.13,0.0,2558,2134,3272,3292,201.1,-12.1,149,1569,0.38,0.00,94.47,1.073,10246,0.228,0.000,2703,2134,2798,2863,2734,0,0,0,0,0,0,14.50,14.63,13.96
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1573,0.55,116.8,2703,2134,2863,2733,206.1,0.0,160,1680,0.50,2.38,97.07,1.062,10500,0.147,0.064,2916,3536,2321,2403,2240,0,0,0,0,0,0,14.57,14.57,13.90
$GC,1706,0.63,252.7,2915,3536,2403,2240,206.7,3.1,173,1825,0.00,2.35,109.20,1.054,11270,0.000,0.044,2927,2117,1766,1846,1687,0,0,0,0,0,0,14.64,14.60,13.89
$GC,2067,0.63,252.7,2926,2118,1846,1682,165.5,13.6,209,2073,0.00,0.00,0.00,0.000,2054,0.000,0.000,2927,2118,1764,1846,1682,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2316,0.63,252.7,2927,2118,1846,1681,133.1,12.5,234,2321,0.00,2.38,0.00,0.000,2564,0.000,0.063,2938,719,1763,1846,1681,0,0,0,0,0,0,15.25,14.89,15.25
$GC,2344,0.63,252.7,2938,719,1843,1681,130.3,12.3,236,2351,0.00,2.40,0.00,0.000,3078,0.000,0.054,2938,2126,1761,1842,1680,0,0,0,0,0,0,15.02,14.88,15.04
$GC,2592,0.63,252.7,2938,2126,1842,1680,100.1,11.4,261,2600,0.00,2.33,0.00,0.000,2308,0.000,0.066,2938,3532,1761,1842,1680,0,0,0,0,0,0,15.26,14.76,15.26
$GC,2626,0.63,252.7,2938,3532,1842,1680,96.0,11.9,264,2634,0.00,2.40,0.00,0.000,1030,0.000,0.048,2950,2111,1761,1842,1680,0,0,0,0,0,0,15.01,14.89,15.04
$GC,2876,0.63,252.7,2950,2111,1842,1680,68.0,10.9,289,2886,0.00,2.33,0.00,0.000,516,0.000,0.062,2961,713,1761,1842,1681,0,0,0,0,0,0,15.26,14.66,15.26
$GC,2951,0.63,252.7,2961,713,1841,1680,59.7,10.8,296,2956,0.00,2.38,0.00,0.000,5126,0.000,0.057,2962,2124,1760,1841,1680,0,0,0,0,0,0,15.05,14.91,15.07
$GC,3207,0.65,275.9,2961,2125,1841,1679,37.5,8.9,321,3235,0.00,2.38,18.83,0.882,12548,0.000,0.065,2961,3543,1673,1762,1584,0,0,0,0,0,0,15.26,14.65,14.19
$GC,3250,0.65,288.4,2961,3543,1762,1584,33.4,9.5,325,3269,0.00,2.38,11.38,0.842,13318,0.000,0.048,2971,2123,1622,1712,1532,0,0,0,0,0,0,14.99,14.87,14.17
$STATE,3523,end climb,SURFACE_DEPTH_REACHED
$STATE,3523,begin surface coast
$FINISH,0.2,1.012301
$STATE,3551,end surface coast,CONTROL_FINISHED_OK
$STATE,3551,begin surface
$SM_CCo,3568,46.42,0.184,0,0,1167,400.08
$SM_GC,1.30,6.45,0.25,46.42,0.055,0.071,0.184,168,2291,1167,-7.91,-0.99,400.08,0,0,0,0,0,0,14.94,14.95,14.63
$IRIDIUM_FIX,2234.68,-15802.37,061021,002027
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.44
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,13.34,167.268
$10V_AH,12.97,0.000
$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,15.925,47.225,330.950,46.425,0.000,26.373,44.625,116.274,0.750,0.000,20.262,973.492,1316.888,404.153,1120.383,147.223,0.000,855.579,0.000,921.839,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,71.145,1072.530,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,249.460,273.610,517.457,477.358,561.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,33901,378
$CAP_FILE_SIZE,60743,0
$CFSIZE,1023623168,953663488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,314.28,1
$GPS,061021,012643,2245.088,-15801.163,8,1.0,48,9.8,0.8,237.5,6,5.0