version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 756
start: 10 6 121 17 20 16
data:
$ID,626
$MISSION,3
$DIVE,756
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,061021,171331,2245.3208,-15801.0293,6,0.9,36,9.8,1.1,33.6,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.4
$GPS2,061021,171927,2245.3513,-15801.0146,6,0.9,15,9.8,0.0,107.4,9,9.8
$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,139.5,1851,-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,-116.8,123,2300,1170,1050,0.0,0.0,0,80,0.00,0.00,-61.78,0.000,16386,0.000,0.000,123,2300,3088,3059,3117,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2300,3059,3118,3.4,-6.5,9,107,8.45,2.42,-3.10,0.000,18948,0.428,0.061,2573,840,3280,3258,3302,0,0,0,0,0,0,14.15,13.31,14.44
$GC,137,-0.55,-116.8,2573,840,3266,3296,23.7,-30.3,17,145,0.00,2.42,0.00,0.000,3078,0.000,0.058,2565,2242,3280,3266,3295,0,0,0,0,0,0,14.95,14.81,14.98
$GC,393,-0.55,-116.8,2564,2243,3267,3294,74.2,-19.0,44,403,0.00,2.35,0.00,0.000,2564,0.000,0.062,2565,856,3280,3267,3294,0,0,0,0,0,0,15.24,14.58,15.24
$GC,458,-0.55,-116.8,2564,856,3268,3294,85.7,-15.4,50,468,0.05,2.38,0.00,0.000,3078,0.333,0.057,2572,2262,3280,3268,3293,0,0,0,0,0,0,14.38,14.68,14.55
$GC,710,-0.55,-116.8,2571,2265,3268,3293,117.8,-12.7,75,719,0.00,2.35,0.00,0.000,2564,0.000,0.057,2571,859,3280,3269,3292,0,0,0,0,0,0,15.27,14.76,15.28
$GC,755,-0.55,-116.8,2571,858,3269,3293,123.2,-12.0,79,763,0.00,2.38,0.00,0.000,3078,0.000,0.059,2562,2263,3280,3270,3291,0,0,0,0,0,0,15.04,14.91,15.07
$GC,1005,-0.55,-116.8,2562,2263,3270,3291,153.0,-12.2,104,1014,0.00,2.35,0.00,0.000,2564,0.000,0.056,2563,856,3281,3270,3292,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1058,-0.55,-116.8,2562,856,3271,3292,159.7,-12.2,109,1069,0.05,2.38,0.00,0.000,3078,0.306,0.059,2571,2270,3281,3271,3291,0,0,0,0,0,0,14.49,14.76,14.66
$GC,1308,-0.55,-116.8,2570,2272,3272,3290,186.1,-9.9,134,1317,0.00,2.38,0.00,0.000,2564,0.000,0.055,2571,850,3281,3271,3291,0,0,0,0,0,0,15.29,14.76,15.29
$GC,1362,-0.55,-116.8,2571,850,3272,3291,191.3,-9.8,139,1372,0.00,2.38,0.00,0.000,3078,0.000,0.058,2561,2269,3280,3270,3290,0,0,0,0,0,0,14.82,14.76,14.85
$STATE,1451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1451,begin apogee
$GC,1459,-0.13,0.0,2562,2084,3272,3290,200.5,-10.8,148,1561,0.38,0.05,94.10,1.078,10246,0.230,0.094,2706,2141,2799,2865,2734,0,0,0,0,0,0,14.53,14.42,13.93
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1565,0.55,116.8,2707,2141,2865,2734,204.4,0.0,159,1671,0.50,2.35,97.80,1.063,10500,0.133,0.063,2921,3522,2322,2407,2237,0,0,0,0,0,0,14.46,14.35,13.86
$GC,1758,0.56,131.3,2921,3522,2406,2238,198.5,9.4,178,1776,0.00,2.30,13.35,0.990,13318,0.000,0.044,2931,2159,2263,2351,2176,0,0,0,0,0,0,14.81,14.76,14.00
$GC,2016,0.57,151.9,2932,2159,2350,2171,174.7,9.0,204,2044,0.00,2.30,18.00,1.009,8452,0.000,0.062,2932,3521,2178,2267,2089,0,0,0,0,0,0,15.20,14.62,14.11
$GC,2067,0.57,151.9,2932,3522,2268,2088,169.5,10.1,209,2072,0.00,2.33,0.00,0.000,5126,0.000,0.046,2943,2115,2178,2267,2089,0,0,0,0,0,0,14.97,14.87,14.99
$GC,2322,0.57,160.4,2943,2115,2267,2084,142.6,9.7,234,2335,0.00,2.38,7.75,0.914,12548,0.000,0.064,2943,3529,2145,2237,2054,0,0,0,0,0,0,15.23,14.88,14.13
$GC,2456,0.58,171.2,2943,3529,2237,2054,129.1,9.5,247,2476,0.05,2.33,9.85,0.933,13318,0.406,0.045,2938,2113,2102,2194,2010,0,0,0,0,0,0,14.65,14.93,14.09
$GC,2716,0.62,230.4,2937,2112,2194,2007,109.5,7.0,273,2775,0.00,2.42,47.00,0.984,10500,0.000,0.065,2937,3532,1858,1944,1773,0,0,0,0,0,0,15.25,14.59,14.13
$GC,2808,0.62,230.4,2937,3532,1944,1774,101.5,10.2,282,2818,0.00,2.35,0.00,0.000,1030,0.000,0.048,2947,2123,1859,1944,1774,0,0,0,0,0,0,14.91,14.82,14.93
$GC,3061,0.62,230.4,2946,2123,1944,1769,73.7,11.0,307,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2123,1856,1944,1769,0,0,0,0,0,0,15.20,15.21,15.21
$GC,3310,0.66,305.8,2946,2122,1944,1768,54.5,6.2,332,3378,0.00,2.35,58.50,0.916,10756,0.000,0.059,2958,723,1550,1645,1456,0,0,0,0,0,0,15.26,14.58,14.14
$GC,3438,0.71,376.9,2957,723,1638,1456,45.7,6.4,344,3504,0.00,2.33,54.80,0.892,11270,0.000,0.054,2957,2102,1260,1357,1163,0,0,0,0,0,0,14.62,14.56,14.08
$GC,3755,0.71,376.9,2957,2102,1357,1157,11.5,12.3,389,3762,0.00,2.47,0.00,0.000,2308,0.000,0.069,2958,3539,1257,1357,1157,0,0,0,0,0,0,15.16,14.80,15.16
$GC,3782,0.72,399.9,2957,3539,1357,1157,9.1,8.9,393,3798,0.00,2.40,9.43,0.227,11270,0.000,0.050,2967,2124,1165,1264,1067,0,0,0,0,0,0,14.96,14.82,14.59
$STATE,3842,end climb,SURFACE_DEPTH_REACHED
$STATE,3842,begin surface coast
$FINISH,0.2,1.011924
$STATE,3882,end surface coast,CONTROL_FINISHED_OK
$STATE,3882,begin surface
$SM_CCo,3960,0.00,0.000,0,0,1162,401.79
$SM_GC,1.10,6.38,0.25,0.00,0.044,0.060,0.000,146,2307,1162,-7.91,-0.85,401.79,0,0,0,0,0,0,14.95,14.96,14.99
$IRIDIUM_FIX,2234.68,-15802.37,061021,171500
$TT8_MAMPS,0.02247,0.316078
$HUMID,52.87
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.31,169.725
$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,15.850,52.625,410.575,0.000,0.000,25.973,42.170,157.704,0.500,0.000,16.626,1032.238,1474.529,432.784,1244.443,163.000,0.000,949.588,0.000,989.470,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,94.095,1077.885,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.389,359.492,557.247,506.635,588.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,37265,410
$CAP_FILE_SIZE,65709,0
$CFSIZE,1023623168,952729600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,57.32,1
$GPS,061021,182710,2245.136,-15800.509,7,1.0,19,9.8,0.0,115.4,8,10.0