version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 764
start: 10 7 121 2 40 44
data:
$ID,626
$MISSION,3
$DIVE,764
$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,26
$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
$GPS1,071021,023431,2245.5034,-15800.4297,7,0.9,16,9.8,0.0,173.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.8
$GPS2,071021,023953,2245.5317,-15800.4375,7,0.9,17,9.8,0.0,45.2,8,9.8
$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,153.4,1236,-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,14,begin dive
$GC,17,-0.55,-116.8,124,2263,1203,1113,0.0,0.0,0,80,0.00,0.00,-61.22,0.000,16386,0.000,0.000,124,2263,3164,3128,3201,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,122,2263,3128,3202,4.0,-8.2,9,101,8.48,2.38,-1.73,0.000,18948,0.432,0.068,2572,849,3279,3251,3307,0,0,0,0,0,0,14.15,13.31,14.44
$GC,142,-0.55,-116.8,2572,848,3266,3296,27.0,-24.8,18,150,0.00,2.45,0.00,0.000,3078,0.000,0.056,2563,2273,3280,3267,3294,0,0,0,0,0,0,14.96,14.82,14.97
$GC,401,-0.55,-116.8,2563,2274,3267,3294,76.9,-20.8,44,410,0.00,2.40,0.00,0.000,2564,0.000,0.060,2563,852,3281,3268,3294,0,0,0,0,0,0,15.23,14.57,15.23
$GC,488,-0.55,-116.8,2563,852,3267,3293,91.3,-14.0,52,496,0.05,2.45,0.00,0.000,3078,0.393,0.057,2569,2260,3279,3267,3292,0,0,0,0,0,0,14.63,14.80,14.88
$GC,740,-0.55,-116.8,2569,2263,3268,3292,123.7,-12.5,77,749,0.00,2.35,0.00,0.000,2564,0.000,0.056,2570,852,3280,3268,3292,0,0,0,0,0,0,15.27,14.76,15.27
$GC,805,-0.55,-116.8,2569,851,3269,3292,131.0,-10.3,83,814,0.00,2.40,0.00,0.000,3078,0.000,0.058,2560,2273,3280,3269,3291,0,0,0,0,0,0,15.05,14.91,15.07
$GC,1054,-0.55,-116.8,2560,2273,3269,3291,162.9,-12.9,108,1064,0.00,2.35,0.00,0.000,2564,0.000,0.056,2560,862,3280,3270,3291,0,0,0,0,0,0,15.30,14.71,15.30
$GC,1128,-0.55,-116.8,2560,862,3270,3292,172.1,-11.6,115,1139,0.05,2.33,0.00,0.000,3078,0.311,0.060,2569,2264,3280,3270,3291,0,0,0,0,0,0,14.49,14.77,14.65
$GC,1380,-0.55,-116.8,2568,2265,3270,3290,199.4,-10.3,140,1388,0.00,2.35,0.00,0.000,2564,0.000,0.056,2569,859,3280,3270,3290,0,0,0,0,0,0,15.29,14.77,15.30
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1400,-0.13,0.0,2561,2132,3270,3290,200.5,-10.3,141,1497,0.38,0.00,94.32,1.072,10246,0.227,0.000,2704,2133,2799,2865,2734,0,0,0,0,0,0,14.38,14.62,13.95
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1501,0.55,116.8,2704,2132,2865,2732,204.2,0.0,151,1607,0.50,2.40,96.82,1.054,10500,0.151,0.061,2917,3546,2322,2406,2238,0,0,0,0,0,0,14.57,14.35,13.86
$GC,2044,0.60,202.8,2916,3546,2405,2239,173.7,5.7,204,2119,0.00,2.38,69.20,1.037,11270,0.000,0.043,2928,2113,1973,2054,1892,0,0,0,0,0,0,15.02,14.89,14.04
$GC,2359,0.60,202.8,2933,2105,2045,1885,134.6,16.0,236,2371,0.00,2.38,0.00,0.000,2308,0.000,0.061,2934,3533,1965,2045,1885,0,0,0,0,0,0,15.20,14.63,15.20
$GC,2523,0.60,202.8,2935,3536,2044,1889,106.1,25.4,251,2532,0.00,2.30,0.00,0.000,5126,0.000,0.049,2946,2136,1966,2044,1889,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2773,0.60,202.8,2948,2129,2044,1884,76.4,10.2,276,2783,0.00,2.35,0.00,0.000,4356,0.000,0.065,2948,3532,1964,2044,1884,0,0,0,0,0,0,15.25,14.61,15.26
$GC,3042,0.63,254.2,2949,3533,2044,1885,50.8,7.4,301,3091,0.00,2.30,39.85,0.903,13318,0.000,0.047,2960,2127,1761,1845,1678,0,0,0,0,0,0,14.69,14.65,14.16
$GC,3336,0.63,254.2,2960,2128,1845,1672,23.0,11.0,336,3343,0.00,2.42,0.00,0.000,4612,0.000,0.060,2971,712,1758,1845,1671,0,0,0,0,0,0,15.20,14.82,15.20
$GC,3364,0.64,268.7,2971,712,1841,1673,20.4,9.4,340,3379,0.05,2.42,6.10,0.724,13318,0.354,0.055,2951,2128,1701,1789,1614,0,0,0,0,0,0,14.64,14.84,14.16
$STATE,3563,end climb,SURFACE_DEPTH_REACHED
$STATE,3563,begin surface coast
$FINISH,0.2,1.011196
$STATE,3602,end surface coast,CONTROL_FINISHED_OK
$STATE,3602,begin surface
$SM_CCo,3619,54.35,0.182,0,0,1167,400.08
$SM_GC,1.23,6.35,0.22,54.35,0.045,0.080,0.182,140,2283,1167,-7.93,-0.88,400.08,0,0,0,0,0,0,14.97,14.95,14.66
$IRIDIUM_FIX,2234.68,-15800.20,071021,023604
$TT8_MAMPS,0.02247,0.316078
$HUMID,52.08
$INTERNAL_PRESSURE,9.33591
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.31,170.982
$10V_AH,12.89,0.000
$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,15.850,42.800,306.300,54.350,0.000,31.744,47.749,114.456,0.250,0.000,18.325,1009.617,1269.818,392.071,1209.166,150.452,0.000,872.811,0.000,998.447,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,80.325,1071.765,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,253.354,294.615,525.387,487.598,559.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,34045,383
$CAP_FILE_SIZE,62455,0
$CFSIZE,1023623168,952221696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.142,18.03,1
$GPS,071021,034301,2245.552,-15800.034,7,0.9,25,9.8,0.3,226.6,9,8.2