version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 744
start: 10 6 121 2 43 2
data:
$ID,626
$MISSION,3
$DIVE,744
$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,63
$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
$GPS1,061021,023655,2245.2466,-15800.8408,6,0.8,39,9.8,0.5,326.6,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.9
$GPS2,061021,024210,2245.2876,-15800.8721,6,0.8,14,9.8,1.0,285.0,9,9.5
$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,135.9,1582,-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,-116.8,123,2215,1206,1111,0.0,0.0,0,81,0.00,0.00,-62.12,0.000,16386,0.000,0.000,123,2214,3191,3153,3229,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2213,3153,3229,4.1,-9.1,9,100,8.50,2.20,-1.33,0.000,18948,0.433,0.059,2576,873,3280,3251,3309,0,0,0,0,0,0,14.17,13.33,14.45
$GC,160,-0.55,-116.8,2576,873,3266,3296,30.4,-18.6,22,168,0.00,2.35,0.00,0.000,3078,0.000,0.055,2568,2226,3281,3267,3295,0,0,0,0,0,0,14.83,14.76,14.94
$GC,407,-0.55,-116.8,2567,2227,3267,3295,80.2,-19.8,47,411,0.00,2.45,0.00,0.000,2308,0.000,0.067,2556,3684,3281,3268,3294,0,0,0,0,0,0,15.25,14.87,15.25
$GC,432,-0.55,-116.8,2556,3685,3267,3294,84.2,-18.2,49,440,0.05,2.28,0.00,0.000,3078,0.346,0.050,2576,2306,3281,3267,3295,0,0,0,0,0,0,14.69,14.92,14.91
$GC,683,-0.55,-116.8,2574,2302,3268,3295,119.2,-13.4,74,692,0.00,2.38,0.00,0.000,516,0.000,0.055,2576,853,3281,3269,3294,0,0,0,0,0,0,15.27,14.59,15.27
$GC,789,-0.55,-116.8,2576,853,3270,3294,131.3,-9.8,84,797,0.00,2.42,0.00,0.000,3078,0.000,0.057,2567,2276,3281,3271,3291,0,0,0,0,0,0,15.02,14.88,15.04
$GC,1039,-0.55,-116.8,2567,2276,3271,3291,160.6,-12.4,109,1043,0.00,2.40,0.00,0.000,2564,0.000,0.055,2567,849,3281,3272,3291,0,0,0,0,0,0,15.28,14.92,15.28
$GC,1084,-0.55,-116.8,2566,849,3271,3292,166.0,-12.0,113,1092,0.05,2.40,0.00,0.000,3078,0.379,0.057,2575,2268,3281,3272,3291,0,0,0,0,0,0,14.68,14.91,14.92
$GC,1331,-0.55,-116.8,2573,2271,3271,3290,194.4,-11.4,138,1341,0.00,2.35,0.00,0.000,516,0.000,0.054,2574,853,3281,3272,3291,0,0,0,0,0,0,15.30,14.92,15.30
$GC,1367,-0.55,-116.8,2574,853,3271,3290,198.2,-11.4,141,1375,0.00,2.42,0.00,0.000,3078,0.000,0.058,2565,2269,3281,3272,3290,0,0,0,0,0,0,15.02,14.88,15.05
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1382,begin apogee
$GC,1388,-0.13,0.0,2565,2072,3272,3290,200.2,-10.8,143,1487,0.35,0.12,94.22,1.073,10246,0.240,0.109,2700,2164,2798,2864,2733,0,0,0,0,0,0,14.50,14.63,13.95
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1488,begin climb
$GC,1491,0.55,116.8,2700,2164,2864,2733,204.5,0.0,153,1595,0.52,2.53,96.80,1.058,10756,0.148,0.050,2932,710,2321,2403,2239,0,0,0,0,0,0,14.57,14.57,13.91
$GC,2113,0.58,162.4,2932,710,2387,2236,170.1,7.8,214,2155,0.00,2.30,36.85,1.035,9222,0.000,0.052,2932,2091,2137,2225,2049,0,0,0,0,0,0,14.85,14.84,14.13
$GC,2397,0.60,203.1,2932,2091,2222,2044,145.3,8.0,242,2437,0.00,2.45,33.05,1.008,10500,0.000,0.064,2932,3538,1969,2051,1888,0,0,0,0,0,0,15.23,14.62,14.14
$GC,2453,0.63,249.0,2932,3537,2051,1888,141.1,7.7,247,2500,0.00,2.38,37.55,0.991,11270,0.000,0.050,2943,2126,1783,1865,1701,0,0,0,0,0,0,14.93,14.81,14.00
$GC,2741,0.63,249.0,2943,2126,1865,1695,112.0,10.3,276,2745,0.00,2.40,0.00,0.000,2564,0.000,0.063,2954,705,1780,1865,1695,0,0,0,0,0,0,15.20,14.86,15.20
$GC,2788,0.63,249.0,2954,705,1859,1695,107.6,10.2,280,2796,0.00,2.45,0.00,0.000,1030,0.000,0.057,2954,2128,1777,1859,1695,0,0,0,0,0,0,14.97,14.85,15.00
$GC,3037,0.63,249.0,2954,2128,1859,1694,79.4,11.0,305,3046,0.00,2.33,0.00,0.000,260,0.000,0.067,2954,3533,1776,1859,1694,0,0,0,0,0,0,15.24,14.61,15.25
$GC,3123,0.64,259.2,2954,3533,1859,1694,70.9,9.6,313,3141,0.00,2.38,8.88,0.874,13318,0.000,0.047,2965,2113,1741,1826,1656,0,0,0,0,0,0,15.02,14.89,14.13
$GC,3382,0.64,267.2,2964,2113,1826,1654,46.1,9.7,339,3395,0.00,2.33,7.75,0.830,12804,0.000,0.061,2976,713,1708,1797,1620,0,0,0,0,0,0,15.25,14.90,14.19
$GC,3415,0.64,273.9,2976,713,1793,1622,42.8,9.8,342,3428,0.05,2.40,6.70,0.804,13318,0.353,0.057,2956,2134,1681,1770,1593,0,0,0,0,0,0,14.70,14.90,14.19
$GC,3676,0.64,273.9,2956,2136,1770,1590,17.5,11.1,378,3684,0.00,2.38,0.00,0.000,260,0.000,0.060,2956,3547,1680,1770,1590,0,0,0,0,0,0,15.21,14.85,15.22
$GC,3697,0.64,273.9,2956,3547,1769,1591,15.0,10.4,381,3707,0.00,2.42,0.00,0.000,5126,0.000,0.046,2966,2126,1680,1769,1591,0,0,0,0,0,0,14.81,14.77,14.85
$STATE,3806,end climb,SURFACE_DEPTH_REACHED
$STATE,3806,begin surface coast
$FINISH,0.2,1.023034
$STATE,3828,end surface coast,CONTROL_FINISHED_OK
$STATE,3828,begin surface
$SM_CCo,3845,52.53,0.179,0,0,1166,400.08
$SM_GC,1.26,6.43,0.25,52.53,0.055,0.060,0.179,162,2304,1166,-7.90,-0.82,400.08,0,0,0,0,0,0,14.98,15.00,14.66
$IRIDIUM_FIX,2237.01,-15801.49,061021,023822
$TT8_MAMPS,0.02247,0.342293
$HUMID,52.44
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.33,167.587
$10V_AH,12.77,0.000
$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,15.950,53.075,321.800,52.525,0.000,27.070,44.162,122.240,0.750,0.000,15.336,1066.502,1411.926,399.581,1217.660,155.201,0.000,896.402,0.000,1011.744,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,130.050,1072.530,179.010,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,267.150,297.239,552.271,490.758,566.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,37273,404
$CAP_FILE_SIZE,67235,0
$CFSIZE,1023623168,953516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.147,7.22,1
$GPS,061021,034859,2245.313,-15800.550,6,1.0,21,9.8,0.7,21.2,8,9.4