version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 755
start: 10 6 121 16 5 21
data:
$ID,626
$MISSION,3
$DIVE,755
$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,58
$R_STBD_OVSHOOT,27
$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
$GPS1,061021,155855,2245.2290,-15801.5020,7,0.9,40,9.8,0.7,297.5,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.2
$GPS2,061021,160431,2245.2732,-15801.5107,7,0.9,20,9.8,0.8,34.6,9,9.6
$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,131.5,2629,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,122,2231,992,861,0.0,0.0,0,88,0.00,0.00,-69.30,0.000,16386,0.000,0.000,123,2228,3198,3159,3238,0,0,0,0,0,0,15.19,28.83,15.19
$GC,92,-0.55,-116.8,123,2228,3160,3237,4.3,-8.9,10,108,8.52,2.25,-1.23,0.000,18948,0.436,0.057,2574,853,3280,3251,3310,0,0,0,0,0,0,14.16,13.35,14.46
$GC,142,-0.55,-116.8,2574,853,3263,3299,24.4,-26.5,18,149,0.00,2.42,0.00,0.000,3078,0.000,0.056,2566,2266,3281,3266,3297,0,0,0,0,0,0,14.96,14.81,14.98
$GC,396,-0.55,-116.8,2565,2266,3267,3296,72.7,-20.8,45,405,0.00,2.33,0.00,0.000,2564,0.000,0.056,2565,884,3281,3267,3295,0,0,0,0,0,0,15.23,14.61,15.23
$GC,473,-0.55,-116.8,2565,884,3267,3295,85.3,-14.8,52,484,0.05,2.33,0.00,0.000,3078,0.319,0.059,2573,2268,3281,3268,3294,0,0,0,0,0,0,14.33,14.59,14.50
$GC,725,-0.55,-116.8,2573,2271,3268,3295,120.0,-14.1,77,734,0.00,2.28,0.00,0.000,516,0.000,0.054,2573,888,3281,3268,3294,0,0,0,0,0,0,15.27,14.79,15.28
$GC,771,-0.55,-116.8,2573,888,3269,3294,125.6,-12.4,81,778,0.00,2.33,0.00,0.000,3078,0.000,0.057,2564,2270,3281,3269,3294,0,0,0,0,0,0,15.05,14.91,15.07
$GC,1019,-0.55,-116.8,2564,2270,3269,3294,155.5,-12.1,106,1029,0.00,2.33,0.00,0.000,2564,0.000,0.056,2564,878,3282,3270,3294,0,0,0,0,0,0,15.28,14.85,15.29
$GC,1045,-0.55,-116.8,2564,878,3270,3294,158.4,-12.3,108,1056,0.05,2.42,0.00,0.000,3078,0.304,0.057,2574,2268,3281,3270,3293,0,0,0,0,0,0,14.51,14.76,14.67
$GC,1297,-0.55,-116.8,2573,2269,3270,3292,185.2,-10.4,133,1305,0.00,2.30,0.00,0.000,516,0.000,0.054,2573,878,3281,3270,3293,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1339,-0.55,-116.8,2573,878,3270,3293,189.8,-10.4,137,1348,0.00,2.33,0.00,0.000,3078,0.000,0.057,2564,2267,3281,3271,3292,0,0,0,0,0,0,14.83,14.78,14.85
$STATE,1449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1449,begin apogee
$GC,1456,-0.13,0.0,2564,2107,3271,3291,200.9,-10.0,148,1558,0.35,0.00,94.12,1.074,10246,0.231,0.000,2701,2104,2799,2866,2733,0,0,0,0,0,0,14.53,14.63,13.95
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1562,0.55,116.8,2701,2104,2866,2733,205.2,0.0,159,1669,0.50,2.45,97.15,1.065,10500,0.129,0.057,2920,3544,2322,2405,2239,0,0,0,0,0,0,14.60,14.57,13.90
$GC,2183,0.58,173.5,2920,3543,2404,2239,165.9,7.2,220,2235,0.00,2.25,46.20,1.045,11270,0.000,0.044,2931,2158,2090,2181,2000,0,0,0,0,0,0,14.86,14.82,14.11
$GC,2483,0.60,197.0,2931,2158,2180,1993,136.8,8.9,250,2514,0.00,2.40,19.08,0.992,10500,0.000,0.065,2931,3542,1994,2082,1907,0,0,0,0,0,0,15.21,14.85,14.15
$GC,2634,0.60,207.3,2931,3541,2081,1907,122.8,9.6,264,2651,0.00,2.38,9.30,0.926,9222,0.000,0.049,2942,2132,1953,2038,1869,0,0,0,0,0,0,14.97,14.85,14.13
$GC,2892,0.62,231.9,2941,2132,2038,1865,101.9,8.8,290,2923,0.00,2.42,20.27,0.966,10500,0.000,0.067,2941,3533,1852,1937,1768,0,0,0,0,0,0,15.24,14.72,14.19
$GC,2959,0.62,231.9,2942,3533,1937,1768,95.4,10.5,296,2968,0.00,2.38,0.00,0.000,5126,0.000,0.052,2953,2128,1852,1937,1768,0,0,0,0,0,0,14.97,14.84,14.99
$GC,3210,0.65,285.1,2951,2128,1937,1764,73.0,7.4,321,3257,0.00,0.00,42.35,0.946,10246,0.000,0.000,2953,2127,1634,1729,1540,0,0,0,0,0,0,15.23,14.77,14.17
$GC,3499,0.69,348.3,2952,2128,1728,1534,47.5,6.8,350,3556,0.00,0.00,48.58,0.909,10758,0.000,0.000,2953,2127,1378,1474,1282,0,0,0,0,0,0,15.20,14.73,14.16
$GC,3809,0.73,406.9,2952,2127,1473,1277,12.1,7.1,394,3839,0.00,2.45,24.52,0.239,10756,0.000,0.064,2964,710,1138,1233,1044,0,0,0,0,0,0,15.16,14.81,14.57
$GC,3883,0.73,412.1,2964,710,1228,1043,6.8,9.8,405,3891,0.00,2.45,1.80,0.280,11270,0.000,0.056,2964,2128,1116,1212,1021,0,0,0,0,0,0,14.95,14.81,14.60
$STATE,3913,end climb,SURFACE_DEPTH_REACHED
$STATE,3913,begin surface coast
$FINISH,0.4,1.010527
$STATE,3941,end surface coast,CONTROL_FINISHED_OK
$STATE,3941,begin surface
$SM_CCo,4019,0.00,0.000,0,0,1115,413.32
$SM_GC,1.17,6.32,0.22,0.00,0.031,0.083,0.000,150,2289,1115,-7.95,-0.79,413.32,0,0,0,0,0,0,14.95,14.92,15.00
$IRIDIUM_FIX,2234.68,-15802.37,061021,160026
$TT8_MAMPS,0.023219,0.340795
$HUMID,52.75
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.35,169.547
$10V_AH,12.81,0.000
$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,15.800,43.075,403.375,0.000,0.000,26.972,42.714,136.845,0.250,0.000,21.127,1053.338,1505.670,418.866,1252.365,155.100,0.000,939.685,0.000,1033.681,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,82.620,1074.060,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,273.075,303.891,563.222,506.995,588.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339112
$DATA_FILE_SIZE,37339,415
$CAP_FILE_SIZE,63000,0
$CFSIZE,1023623168,952811520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.142,24.17,1
$GPS,061021,171331,2245.321,-15801.029,6,0.9,36,9.8,1.1,33.6,9,5.6