version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 760
start: 10 6 121 22 2 7
data:
$ID,626
$MISSION,3
$DIVE,760
$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,31
$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
$GPS1,061021,215610,2244.8767,-15800.3057,7,1.0,20,9.8,0.6,295.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.0
$GPS2,061021,220116,2244.8411,-15800.3506,6,1.1,16,9.8,0.5,48.4,8,9.8
$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,25.2,667,-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,-116.8,123,2299,1202,1110,0.0,0.0,0,80,0.00,0.00,-61.58,0.000,16386,0.000,0.000,123,2300,3149,3115,3183,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2300,3115,3183,3.8,-7.5,9,100,8.48,2.30,-2.03,0.000,18692,0.431,0.068,2557,3673,3280,3253,3307,0,0,0,0,0,0,14.14,13.33,14.45
$GC,156,-0.55,-116.8,2557,3673,3261,3302,26.2,-13.4,21,164,0.05,2.40,0.00,0.000,3078,0.356,0.050,2576,2260,3280,3262,3299,0,0,0,0,0,0,14.62,14.81,14.85
$GC,409,-0.55,-116.8,2576,2257,3267,3296,69.9,-17.7,48,419,0.00,2.35,0.00,0.000,260,0.000,0.063,2567,3654,3281,3267,3296,0,0,0,0,0,0,15.23,14.64,15.25
$GC,518,-0.55,-116.8,2567,3654,3267,3296,82.5,-10.0,58,529,0.00,2.28,0.00,0.000,3078,0.000,0.047,2567,2264,3281,3267,3295,0,0,0,0,0,0,14.68,14.64,14.69
$GC,768,-0.55,-116.8,2567,2264,3267,3296,115.4,-12.0,83,777,0.00,2.33,0.00,0.000,2564,0.000,0.057,2567,855,3282,3268,3296,0,0,0,0,0,0,15.28,14.76,15.28
$GC,895,-0.55,-116.8,2567,855,3269,3295,127.8,-9.5,95,904,0.00,2.33,0.00,0.000,3078,0.000,0.057,2557,2244,3283,3273,3293,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1145,-0.55,-116.8,2556,2245,3271,3294,160.2,-14.0,120,1155,0.05,2.33,0.00,0.000,2564,0.418,0.053,2573,851,3283,3272,3294,0,0,0,0,0,0,14.76,14.58,14.93
$GC,1199,-0.55,-116.8,2573,851,3271,3294,167.2,-12.1,125,1209,0.00,2.38,0.00,0.000,3078,0.000,0.057,2565,2268,3282,3272,3293,0,0,0,0,0,0,15.05,14.91,15.07
$GC,1451,-0.55,-116.8,2564,2268,3272,3293,195.9,-11.0,150,1461,0.00,2.38,0.00,0.000,2564,0.000,0.055,2564,851,3282,3272,3293,0,0,0,0,0,0,15.28,14.71,15.29
$STATE,1493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1493,begin apogee
$GC,1502,-0.13,0.0,2554,2126,3271,3291,200.5,-10.3,154,1604,0.38,0.00,95.00,1.071,10246,0.231,0.000,2700,2126,2798,2862,2734,0,0,0,0,0,0,14.50,14.42,13.92
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1607,0.55,116.8,2701,2126,2862,2733,204.1,0.0,165,1714,0.50,2.45,97.30,1.056,11012,0.142,0.054,2925,708,2319,2400,2239,0,0,0,0,0,0,14.43,14.57,13.90
$GC,1752,0.59,188.6,2925,707,2393,2239,200.6,6.4,179,1819,0.00,2.40,58.70,1.047,11270,0.000,0.052,2925,2125,2028,2110,1947,0,0,0,0,0,0,14.81,14.69,13.93
$GC,2060,0.59,188.6,2924,2125,2109,1942,164.9,11.3,210,2064,0.00,2.38,0.00,0.000,2308,0.000,0.067,2925,3536,2025,2109,1941,0,0,0,0,0,0,15.18,14.85,15.18
$GC,2146,0.59,188.6,2925,3536,2110,1941,155.0,11.9,218,2153,0.00,2.35,0.00,0.000,3078,0.000,0.047,2936,2116,2025,2109,1941,0,0,0,0,0,0,15.02,14.90,15.03
$GC,2395,0.59,188.6,2936,2116,2110,1941,126.8,10.8,243,2401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2936,2116,2025,2109,1941,0,0,0,0,0,0,15.24,15.24,15.25
$GC,2643,0.60,202.9,2936,2116,2110,1939,102.6,9.4,268,2663,0.00,2.42,12.15,0.939,10500,0.000,0.065,2936,3544,1970,2053,1888,0,0,0,0,0,0,15.28,14.62,14.11
$GC,2719,0.60,202.9,2936,3544,2053,1888,94.3,11.4,275,2728,0.00,2.33,0.00,0.000,5126,0.000,0.049,2947,2133,1970,2053,1888,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2971,0.62,233.2,2947,2133,2053,1886,69.5,8.5,300,3000,0.00,2.42,24.67,0.940,8708,0.000,0.058,2958,713,1846,1928,1765,0,0,0,0,0,0,15.24,14.85,14.18
$GC,3080,0.63,255.9,2958,713,1920,1764,60.1,8.9,310,3110,0.00,2.38,18.80,0.910,13318,0.000,0.056,2958,2122,1754,1838,1670,0,0,0,0,0,0,14.65,14.62,14.09
$GC,3350,0.65,286.2,2958,2121,1838,1667,38.0,8.5,337,3380,0.00,2.42,24.38,0.893,8452,0.000,0.066,2958,3537,1631,1722,1540,0,0,0,0,0,0,15.21,14.83,14.20
$GC,3417,0.66,292.5,2958,3538,1722,1541,31.7,9.8,343,3430,0.03,2.33,6.80,0.788,13318,0.374,0.048,2959,2129,1605,1698,1513,0,0,0,0,0,0,14.40,14.62,14.11
$GC,3691,0.66,292.5,2958,2128,1697,1509,3.8,10.4,392,3700,0.00,2.42,0.00,0.000,516,0.000,0.059,2968,717,1602,1697,1508,0,0,0,0,0,0,15.18,14.78,15.18
$STATE,3705,end climb,SURFACE_DEPTH_REACHED
$STATE,3706,begin surface coast
$FINISH,1.4,1.023040
$STATE,3712,end surface coast,CONTROL_FINISHED_OK
$STATE,3712,begin surface
$SM_CCo,3732,44.55,0.190,0,0,1168,400.08
$SM_GC,1.17,6.43,2.67,44.55,0.055,0.061,0.190,165,2278,1168,-7.89,-0.57,400.08,0,0,0,0,0,0,14.94,14.87,14.62
$IRIDIUM_FIX,2234.68,-15759.32,061021,215737
$TT8_MAMPS,0.02247,0.287616
$HUMID,52.71
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,13.33,170.345
$10V_AH,12.65,0.000
$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,15.900,52.200,337.800,44.550,0.000,26.825,48.052,110.561,0.750,0.000,17.363,1018.068,1362.429,418.658,1166.510,153.390,0.000,896.290,0.000,974.629,0.000,0.554,0.000
$DEVICE_MAMPS,430.695,68.085,1071.000,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.678,293.819,542.954,508.210,595.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,37322,395
$CAP_FILE_SIZE,64933,0
$CFSIZE,1023623168,952483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.211,226.86,1
$GPS,061021,230629,2244.804,-15800.588,7,1.1,48,9.8,1.1,241.2,7,5.0