version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 753
start: 10 6 121 13 36 43
data:
$ID,626
$MISSION,3
$DIVE,753
$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,39
$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
$GPS1,061021,133031,2244.5337,-15801.2822,7,1.0,41,9.8,0.8,117.1,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.4
$GPS2,061021,133553,2244.5571,-15801.3193,6,1.0,17,9.8,0.7,57.2,8,9.8
$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,79.2,2398,-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,-116.8,123,2289,713,569,0.0,0.0,0,90,0.00,0.00,-71.00,0.000,16386,0.000,0.000,124,2289,2941,2921,2962,0,0,0,0,0,0,15.17,28.83,15.19
$GC,93,-0.55,-116.8,124,2289,2922,2963,3.1,-5.6,10,117,8.48,2.40,-5.82,0.000,18948,0.433,0.070,2571,853,3277,3258,3297,0,0,0,0,0,0,14.16,13.90,14.45
$GC,130,-0.55,-116.8,2571,853,3262,3295,16.3,-34.4,15,139,0.00,2.45,0.00,0.000,3078,0.000,0.060,2562,2246,3278,3262,3295,0,0,0,0,0,0,14.77,14.70,14.80
$GC,387,-0.55,-116.8,2562,2247,3263,3292,70.7,-18.6,45,398,0.00,2.33,0.00,0.000,2564,0.000,0.060,2562,866,3277,3264,3291,0,0,0,0,0,0,15.24,14.60,15.24
$GC,490,-0.55,-116.8,2562,865,3265,3291,85.5,-12.1,54,499,0.05,2.42,0.00,0.000,3078,0.332,0.058,2570,2261,3277,3265,3289,0,0,0,0,0,0,14.54,14.80,14.90
$GC,741,-0.55,-116.8,2570,2265,3266,3290,125.2,-17.4,79,749,0.00,2.35,0.00,0.000,2564,0.000,0.057,2570,857,3278,3266,3290,0,0,0,0,0,0,15.26,14.76,15.27
$GC,789,-0.55,-116.8,2570,856,3266,3290,132.6,-15.8,83,796,0.00,2.38,0.00,0.000,3078,0.000,0.056,2561,2264,3277,3266,3289,0,0,0,0,0,0,15.05,14.92,15.07
$GC,1038,-0.55,-116.8,2560,2265,3267,3290,172.9,-15.6,108,1048,0.00,2.35,0.00,0.000,2564,0.000,0.058,2561,863,3277,3266,3289,0,0,0,0,0,0,15.28,14.59,15.29
$GC,1065,-0.55,-116.8,2560,863,3267,3289,176.8,-15.7,110,1075,0.05,2.40,0.00,0.000,3078,0.318,0.057,2569,2263,3278,3267,3290,0,0,0,0,0,0,14.61,14.88,14.78
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1269,-0.13,0.0,2569,2085,3267,3289,200.8,-11.3,130,1367,0.35,0.08,93.65,1.079,10246,0.267,0.144,2700,2146,2798,2864,2732,0,0,0,0,0,0,14.47,14.62,13.96
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1370,0.55,116.8,2700,2146,2864,2733,204.7,0.0,140,1475,0.50,2.40,96.90,1.063,10500,0.143,0.066,2914,3522,2321,2404,2238,0,0,0,0,0,0,14.57,14.57,13.91
$GC,1647,0.56,130.9,2914,3522,2404,2239,190.7,9.4,167,1669,0.00,2.25,13.00,0.990,9222,0.000,0.041,2925,2148,2264,2352,2177,0,0,0,0,0,0,14.88,14.83,14.04
$GC,1909,0.60,195.5,2925,2148,2352,2173,170.1,6.8,193,1968,0.00,2.47,52.05,1.042,10756,0.000,0.060,2937,717,2000,2090,1911,0,0,0,0,0,0,15.21,14.73,14.09
$GC,2370,0.62,233.2,2936,717,2075,1909,133.1,8.2,238,2410,0.00,2.33,29.92,0.998,11270,0.000,0.056,2936,2098,1846,1933,1760,0,0,0,0,0,0,14.66,14.62,14.16
$GC,2650,0.62,239.7,2936,2098,1933,1755,108.2,9.8,266,2663,0.00,2.45,6.45,0.865,10500,0.000,0.067,2936,3543,1819,1909,1730,0,0,0,0,0,0,15.22,14.88,14.14
$GC,3154,0.67,317.4,2936,3543,1908,1730,65.6,6.1,314,3222,0.00,2.38,60.78,0.939,11270,0.000,0.045,2948,2119,1504,1601,1407,0,0,0,0,0,0,15.02,14.90,14.14
$GC,3462,0.71,381.2,2947,2119,1601,1401,44.6,6.8,345,3522,0.00,2.42,48.65,0.901,10500,0.000,0.065,2948,3546,1244,1343,1145,0,0,0,0,0,0,15.19,14.62,14.15
$GC,3590,0.73,411.1,2947,3546,1343,1145,35.1,8.6,357,3621,0.00,2.38,23.95,0.867,11270,0.000,0.056,2957,2139,1122,1221,1023,0,0,0,0,0,0,14.64,14.59,14.13
$GC,3874,0.79,512.2,2957,2139,1221,1020,13.5,4.9,404,3925,0.08,2.45,41.88,0.233,10500,0.194,0.073,3099,3543,708,808,608,0,0,0,0,0,0,14.82,14.54,14.40
$STATE,3948,end climb,SURFACE_DEPTH_REACHED
$STATE,3948,begin surface coast
$FINISH,0.3,1.010756
$STATE,3965,end surface coast,CONTROL_FINISHED_OK
$STATE,3966,begin surface
$SM_CCo,4045,0.00,0.000,0,0,707,513.40
$SM_GC,1.11,6.78,2.15,0.00,0.055,0.038,0.000,161,2252,707,-7.94,0.79,513.40,0,0,0,0,0,0,14.88,14.88,14.95
$IRIDIUM_FIX,2237.01,-15802.37,061021,133159
$TT8_MAMPS,0.02247,0.31458
$HUMID,52.44
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,13.90,169.196
$10V_AH,12.67,0.000
$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,16.275,43.050,467.225,0.000,0.000,24.599,44.344,122.880,0.750,0.000,18.343,1059.968,1365.621,440.200,1379.785,151.749,0.000,1010.123,0.000,1129.114,0.000,0.556,0.000
$DEVICE_MAMPS,432.990,143.820,1078.650,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.117,409.541,567.686,533.382,627.294,0.000,0.000,0.000,0.000,0.000
$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,40800,418
$CAP_FILE_SIZE,64510,0
$CFSIZE,1023623168,952942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,17
$CURRENT,0.132,328.05,1
$GPS,061021,144458,2244.904,-15801.507,7,1.0,15,9.8,0.0,314.1,8,9.7