version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 743
start: 10 6 121 1 32 56
data:
$ID,626
$MISSION,3
$DIVE,743
$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,34
$R_STBD_OVSHOOT,54
$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
$GPS1,061021,012643,2245.0879,-15801.1631,8,1.0,48,9.8,0.8,237.5,6,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.5
$GPS2,061021,013205,2245.1064,-15801.2139,6,1.0,19,9.8,0.5,264.7,8,9.4
$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,110.4,2083,-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,-116.8,123,2299,1203,1113,0.0,0.0,0,80,0.00,0.00,-61.47,0.000,16386,0.000,0.000,123,2299,3133,3100,3167,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2299,3100,3168,3.6,-6.7,9,107,8.43,2.42,-2.30,0.000,18948,0.428,0.065,2572,848,3280,3257,3303,0,0,0,0,0,0,14.16,13.33,14.45
$GC,115,-0.55,-116.8,2572,848,3262,3298,18.7,-41.7,13,123,0.00,2.40,0.00,0.000,3078,0.000,0.054,2564,2247,3281,3265,3297,0,0,0,0,0,0,14.95,14.81,14.97
$GC,374,-0.55,-116.8,2564,2248,3266,3296,74.9,-20.3,42,384,0.00,2.35,0.00,0.000,2564,0.000,0.059,2564,859,3281,3268,3295,0,0,0,0,0,0,15.24,14.57,15.24
$GC,432,-0.55,-116.8,2564,859,3267,3295,84.0,-15.9,47,439,0.05,2.38,0.00,0.000,3078,0.399,0.058,2570,2266,3281,3268,3294,0,0,0,0,0,0,14.63,14.88,14.88
$GC,683,-0.55,-116.8,2570,2268,3269,3294,120.4,-13.9,72,693,0.00,2.35,0.00,0.000,2564,0.000,0.054,2570,859,3281,3269,3293,0,0,0,0,0,0,15.27,14.59,15.27
$GC,717,-0.55,-116.8,2570,859,3270,3294,125.1,-13.4,75,726,0.00,2.35,0.00,0.000,3078,0.000,0.059,2561,2261,3281,3270,3292,0,0,0,0,0,0,14.80,14.73,14.83
$GC,967,-0.55,-116.8,2561,2261,3271,3293,160.6,-14.7,100,976,0.00,2.35,0.00,0.000,2564,0.000,0.057,2561,854,3281,3271,3292,0,0,0,0,0,0,15.29,14.74,15.30
$GC,1010,-0.55,-116.8,2561,853,3271,3293,166.9,-14.2,104,1021,0.05,2.35,0.00,0.000,3078,0.318,0.057,2569,2261,3281,3271,3292,0,0,0,0,0,0,14.52,14.78,14.66
$GC,1261,-0.55,-116.8,2569,2261,3271,3292,195.7,-10.3,129,1270,0.00,2.35,0.00,0.000,2564,0.000,0.055,2569,856,3282,3272,3292,0,0,0,0,0,0,15.29,14.59,15.30
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1311,-0.13,0.0,2561,2141,3271,3292,200.0,-10.1,133,1413,0.38,0.00,94.53,1.064,10246,0.229,0.000,2706,2142,2798,2864,2732,0,0,0,0,0,0,14.51,14.42,13.93
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,0.55,116.8,2706,2142,2864,2732,203.7,0.0,144,1524,0.50,2.38,96.82,1.056,10500,0.134,0.062,2922,3546,2322,2405,2240,0,0,0,0,0,0,14.44,14.57,13.90
$GC,1581,0.59,192.1,2922,3546,2406,2240,202.6,6.2,160,1649,0.00,2.35,61.17,1.053,11270,0.000,0.041,2933,2119,2014,2094,1934,0,0,0,0,0,0,14.85,14.75,13.95
$GC,1889,0.59,192.2,2933,2119,2094,1929,173.1,10.1,191,1890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2933,2118,2011,2094,1929,0,0,0,0,0,0,15.18,15.19,15.19
$GC,2129,0.60,196.4,2933,2119,2093,1928,150.4,9.9,215,2139,0.00,2.45,4.12,0.786,10500,0.000,0.065,2932,3538,1997,2081,1914,0,0,0,0,0,0,15.25,14.85,14.04
$GC,2184,0.60,196.4,2933,3538,2081,1915,144.7,10.7,220,2193,0.00,2.33,0.00,0.000,1030,0.000,0.050,2944,2133,1997,2081,1914,0,0,0,0,0,0,14.71,14.66,14.72
$GC,2438,0.60,206.3,2944,2133,2081,1914,120.3,9.6,245,2456,0.00,2.38,9.60,0.924,8708,0.000,0.061,2955,710,1956,2036,1877,0,0,0,0,0,0,15.26,14.66,14.14
$GC,2512,0.60,206.3,2955,710,2029,1877,112.6,10.5,252,2521,0.00,2.47,0.00,0.000,5126,0.000,0.059,2955,2126,1952,2029,1876,0,0,0,0,0,0,14.84,14.76,14.87
$GC,2763,0.61,219.6,2955,2126,2029,1876,89.8,9.4,277,2782,0.00,2.40,11.38,0.917,12548,0.000,0.064,2955,3548,1904,1982,1826,0,0,0,0,0,0,15.26,14.60,14.12
$GC,2836,0.61,219.6,2955,3548,1982,1826,82.2,10.1,284,2847,0.05,2.35,0.00,0.000,5126,0.305,0.047,2947,2112,1904,1982,1826,0,0,0,0,0,0,14.40,14.65,14.57
$GC,3086,0.65,283.6,2947,2111,1983,1826,64.1,6.8,309,3146,0.00,2.47,51.10,0.930,10500,0.000,0.065,2947,3549,1640,1730,1551,0,0,0,0,0,0,15.26,14.52,14.09
$GC,3161,0.67,315.7,2947,3549,1730,1551,58.3,8.4,316,3192,0.00,2.35,26.10,0.894,11270,0.000,0.047,2957,2128,1510,1602,1418,0,0,0,0,0,0,14.64,14.59,14.08
$GC,3442,0.67,315.7,2956,2128,1601,1413,29.8,10.5,344,3449,0.00,2.42,0.00,0.000,2564,0.000,0.061,2968,711,1506,1601,1412,0,0,0,0,0,0,15.19,14.82,15.19
$GC,3495,0.67,315.7,2968,710,1597,1413,24.3,10.7,353,3504,0.00,2.47,0.00,0.000,5126,0.000,0.056,2968,2129,1504,1596,1412,0,0,0,0,0,0,14.78,14.72,14.81
$STATE,3679,end climb,SURFACE_DEPTH_REACHED
$STATE,3679,begin surface coast
$FINISH,0.3,1.023197
$STATE,3709,end surface coast,CONTROL_FINISHED_OK
$STATE,3709,begin surface
$SM_CCo,3726,34.60,0.184,0,0,1166,400.08
$SM_GC,1.05,6.30,0.22,34.60,0.031,0.069,0.184,151,2307,1166,-7.92,-0.71,400.08,0,0,0,0,0,0,14.98,14.98,14.64
$IRIDIUM_FIX,2237.01,-15802.37,061021,012810
$TT8_MAMPS,0.02247,0.286867
$HUMID,51.85
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.33,167.430
$10V_AH,12.52,0.000
$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,15.750,52.550,354.825,34.600,0.000,28.794,47.158,116.853,0.250,0.000,20.270,996.151,1403.340,421.449,1149.862,149.635,0.000,901.789,0.000,937.489,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,68.850,1064.115,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,257.983,285.127,533.623,487.417,572.036,0.000,0.000,0.000,0.000,0.000
$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,37114,392
$CAP_FILE_SIZE,62873,0
$CFSIZE,1023623168,953597952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151,351.92,1
$GPS,061021,023655,2245.247,-15800.841,6,0.8,39,9.8,0.5,326.6,9,5.4