version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 748
start: 10 6 121 7 28 7
data:
$ID,626
$MISSION,3
$DIVE,748
$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,31
$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
$GPS1,061021,072147,2245.4878,-15759.9639,7,1.1,22,9.8,0.0,261.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.1
$GPS2,061021,072716,2245.4617,-15759.9902,6,1.1,27,9.8,0.5,184.2,8,9.7
$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,169.8,855,-19.1,-10.101,-25.00,1808
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-116.8,102,2255,1212,1110,0.0,0.0,0,76,0.00,0.00,-56.75,0.000,16386,0.000,0.000,102,2256,2959,2938,2981,0,0,0,0,0,0,15.19,28.83,15.19
$GC,79,-0.58,-116.8,102,2256,2938,2982,3.1,-5.4,8,101,8.50,2.35,-5.40,0.000,18948,0.430,0.065,2567,846,3279,3261,3297,0,0,0,0,0,0,14.16,13.91,14.47
$GC,162,-0.58,-116.8,2567,846,3267,3292,25.3,-18.7,22,170,0.00,2.42,0.00,0.000,3078,0.000,0.052,2558,2263,3278,3267,3290,0,0,0,0,0,0,14.96,14.82,14.98
$GC,420,-0.58,-116.8,2557,2263,3267,3290,81.8,-20.3,49,429,0.00,2.35,0.00,0.000,2564,0.000,0.052,2558,854,3278,3267,3290,0,0,0,0,0,0,15.24,14.73,15.25
$GC,505,-0.58,-116.8,2557,855,3268,3290,94.1,-12.3,57,512,0.00,2.38,0.00,0.000,3078,0.000,0.056,2549,2263,3278,3268,3289,0,0,0,0,0,0,15.03,14.89,15.05
$GC,753,-0.58,-116.8,2548,2263,3268,3290,134.0,-15.3,82,758,0.00,2.35,0.00,0.000,2564,0.000,0.054,2549,857,3278,3268,3289,0,0,0,0,0,0,15.28,14.92,15.29
$GC,829,-0.58,-116.8,2548,857,3268,3290,144.2,-12.7,89,836,0.08,2.38,0.00,0.000,3078,0.350,0.061,2564,2266,3279,3269,3289,0,0,0,0,0,0,14.64,14.90,14.90
$GC,1078,-0.58,-116.8,2564,2266,3269,3289,178.4,-13.1,114,1082,0.00,2.35,0.00,0.000,516,0.000,0.054,2564,847,3279,3270,3289,0,0,0,0,0,0,15.28,14.92,15.28
$GC,1152,-0.58,-116.8,2564,847,3270,3290,186.8,-9.8,121,1160,0.00,2.38,0.00,0.000,3078,0.000,0.059,2555,2268,3279,3270,3289,0,0,0,0,0,0,14.81,14.74,14.84
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1276,-0.13,0.0,2555,2085,3269,3289,200.3,-11.3,133,1374,0.40,0.08,93.43,1.073,10246,0.259,0.147,2704,2144,2798,2865,2732,0,0,0,0,0,0,14.47,14.62,13.97
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,0.58,116.8,2703,2144,2865,2732,204.8,0.0,143,1482,0.52,2.40,96.38,1.069,11012,0.136,0.068,2929,3520,2321,2405,2238,0,0,0,0,0,0,14.59,14.57,13.90
$GC,1790,0.59,135.7,2928,3520,2405,2238,184.2,9.0,184,1812,0.00,2.25,16.60,1.008,9222,0.000,0.041,2939,2144,2245,2333,2157,0,0,0,0,0,0,15.00,14.90,14.13
$GC,2061,0.61,166.8,2939,2144,2333,2152,158.3,8.3,211,2094,0.00,2.40,25.83,1.017,10756,0.000,0.059,2951,729,2117,2206,2028,0,0,0,0,0,0,15.23,14.83,14.15
$GC,2294,0.63,199.6,2950,728,2196,2027,137.8,8.2,234,2327,0.00,2.33,26.23,1.001,9222,0.000,0.054,2951,2109,1984,2067,1902,0,0,0,0,0,0,15.00,14.88,14.13
$GC,2575,0.64,223.8,2950,2110,2066,1896,112.7,8.7,262,2606,0.00,2.38,19.85,0.965,10756,0.000,0.057,2961,731,1885,1966,1804,0,0,0,0,0,0,15.23,14.70,14.18
$GC,3122,0.69,292.8,2960,730,1956,1803,69.1,6.2,315,3183,0.00,2.33,54.00,0.936,11270,0.000,0.057,2961,2116,1604,1696,1513,0,0,0,0,0,0,14.66,14.60,14.14
$GC,3432,0.71,329.1,2961,2116,1695,1508,46.9,8.0,346,3471,0.00,2.38,28.77,0.896,10756,0.000,0.063,2972,720,1456,1549,1363,0,0,0,0,0,0,15.20,14.62,14.19
$GC,3538,0.73,363.9,2971,720,1544,1363,38.3,8.1,356,3571,0.00,2.42,27.58,0.878,11270,0.000,0.060,2971,2130,1315,1412,1218,0,0,0,0,0,0,14.95,14.81,14.16
$GC,3827,0.79,458.0,2971,2130,1410,1213,15.4,4.8,402,3870,0.05,0.00,39.78,0.236,10246,0.263,0.000,3089,2130,930,1032,829,0,0,0,0,0,0,14.84,14.82,14.57
$STATE,3904,end climb,SURFACE_DEPTH_REACHED
$STATE,3904,begin surface coast
$FINISH,0.4,1.023055
$STATE,3915,end surface coast,CONTROL_FINISHED_OK
$STATE,3916,begin surface
$SM_CCo,3993,0.00,0.000,0,0,926,459.93
$SM_GC,1.01,6.68,0.22,0.00,0.045,0.072,0.000,178,2321,926,-7.90,-0.68,459.93,0,0,0,0,0,0,14.90,14.93,14.96
$IRIDIUM_FIX,2237.01,-15759.32,061021,072316
$TT8_MAMPS,0.02247,0.286118
$HUMID,53.22
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.90,168.264
$10V_AH,12.62,0.000
$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,16.225,38.375,428.425,0.000,0.000,26.316,45.706,122.424,0.500,0.000,28.223,1083.828,1399.780,393.570,1324.877,152.054,0.000,936.456,0.000,1112.155,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,146.880,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,274.518,302.768,565.223,521.839,601.873,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,40473,416
$CAP_FILE_SIZE,64222,0
$CFSIZE,1023623168,953270272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.154,192.89,1
$GPS,061021,083555,2245.005,-15800.087,9,0.8,40,9.8,0.6,219.4,9,9.3