version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 769
start: 10 7 121 8 44 47
data:
$ID,626
$MISSION,3
$DIVE,769
$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,76
$R_STBD_OVSHOOT,56
$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
$GPS1,071021,083831,2245.0315,-15759.7217,7,0.8,39,9.8,1.6,265.4,9,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.8
$GPS2,071021,084354,2244.9968,-15759.7451,9,0.9,18,9.8,0.0,325.2,8,9.7
$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,289.8,435,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,123,2212,1211,1111,0.0,0.0,0,73,0.00,0.00,-53.65,0.000,16386,0.000,0.000,123,2212,2865,2856,2874,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.58,-116.8,123,2212,2856,2874,3.1,-6.2,8,100,8.43,2.20,-7.22,0.000,19204,0.431,0.071,2554,895,3279,3266,3293,0,0,0,0,0,0,14.19,13.90,14.46
$GC,215,-0.58,-116.8,2554,892,3268,3290,36.2,-19.9,30,224,0.03,2.35,0.00,0.000,3078,0.426,0.061,2555,2238,3279,3268,3290,0,0,0,0,0,0,14.53,14.74,14.66
$GC,465,-0.58,-116.8,2554,2242,3268,3288,88.2,-19.8,55,474,0.00,2.22,0.00,0.000,2564,0.000,0.052,2555,901,3279,3268,3290,0,0,0,0,0,0,15.24,14.78,15.24
$GC,519,-0.58,-116.8,2554,901,3269,3289,96.7,-14.1,60,531,0.05,2.33,0.00,0.000,3078,0.395,0.060,2563,2276,3279,3270,3289,0,0,0,0,0,0,14.65,14.89,14.85
$GC,774,-0.58,-116.8,2563,2279,3271,3289,133.8,-14.1,85,782,0.00,2.25,0.00,0.000,516,0.000,0.051,2563,904,3280,3271,3289,0,0,0,0,0,0,15.27,14.78,15.28
$GC,828,-0.58,-116.8,2563,904,3271,3289,141.0,-11.7,90,839,0.00,2.25,0.00,0.000,3078,0.000,0.056,2554,2257,3280,3271,3289,0,0,0,0,0,0,14.74,14.68,14.76
$GC,1081,-0.58,-116.8,2554,2257,3272,3289,176.3,-14.2,115,1089,0.00,2.28,0.00,0.000,2564,0.000,0.057,2555,895,3280,3271,3289,0,0,0,0,0,0,15.28,14.78,15.28
$GC,1153,-0.58,-116.8,2554,895,3271,3289,185.1,-10.2,122,1164,0.05,2.33,0.00,0.000,3078,0.394,0.057,2561,2278,3280,3272,3289,0,0,0,0,0,0,14.66,14.92,14.92
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1299,-0.13,0.0,2561,2120,3272,3289,200.8,-10.3,136,1397,0.38,0.00,94.50,1.065,10246,0.247,0.000,2704,2119,2798,2866,2731,0,0,0,0,0,0,14.49,14.63,13.95
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1400,0.58,116.8,2705,2119,2866,2732,204.1,0.0,146,1505,0.50,2.50,97.20,1.058,10500,0.129,0.065,2924,3541,2322,2405,2239,0,0,0,0,0,0,14.59,14.57,13.88
$GC,1716,0.59,139.6,2924,3541,2405,2241,190.6,8.8,177,1745,0.00,2.22,20.08,1.017,11270,0.000,0.040,2935,2170,2228,2316,2141,0,0,0,0,0,0,14.70,14.65,14.07
$GC,1985,0.60,150.9,2935,2170,2316,2135,166.1,9.5,204,2005,0.00,2.45,10.27,0.962,10756,0.000,0.057,2946,727,2181,2271,2092,0,0,0,0,0,0,15.22,14.86,14.12
$GC,2171,0.61,167.8,2946,726,2263,2093,149.1,9.1,222,2191,0.00,2.33,14.85,0.980,9222,0.000,0.054,2946,2116,2113,2202,2024,0,0,0,0,0,0,14.67,14.63,14.14
$GC,2431,0.62,187.5,2946,2116,2202,2022,126.6,9.0,248,2454,0.00,2.40,16.85,0.975,8708,0.000,0.057,2957,719,2034,2122,1946,0,0,0,0,0,0,15.23,14.87,14.16
$GC,2920,0.66,254.5,2957,719,2108,1946,82.8,6.3,296,2980,0.00,2.42,52.62,0.959,11270,0.000,0.053,2957,2123,1760,1845,1675,0,0,0,0,0,0,14.83,14.76,14.14
$GC,3220,0.68,276.0,2956,2123,1845,1669,57.0,8.9,326,3250,0.00,2.38,17.88,0.901,10500,0.000,0.066,2957,3536,1672,1763,1582,0,0,0,0,0,0,15.20,14.80,14.18
$GC,3789,0.68,276.0,2956,3536,1763,1582,5.6,11.1,402,3796,0.00,2.40,0.00,0.000,1030,0.000,0.047,2968,2112,1672,1764,1581,0,0,0,0,0,0,14.97,14.85,14.99
$STATE,3814,end climb,SURFACE_DEPTH_REACHED
$STATE,3814,begin surface coast
$FINISH,0.4,1.023078
$STATE,3845,end surface coast,CONTROL_FINISHED_OK
$STATE,3845,begin surface
$SM_CCo,3863,51.60,0.186,0,0,1164,400.08
$SM_GC,1.30,6.50,0.28,51.60,0.067,0.064,0.186,177,2287,1164,-7.91,-0.88,400.08,0,0,0,0,0,0,14.92,14.95,14.63
$IRIDIUM_FIX,2234.68,-15757.16,071021,084000
$TT8_MAMPS,0.023219,0.285369
$HUMID,52.67
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.88,171.822
$10V_AH,12.60,0.000
$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,15.925,37.825,324.250,51.600,0.000,25.460,44.712,126.028,0.250,0.000,19.275,1088.429,1330.193,387.775,1310.635,158.286,0.000,905.687,0.000,1109.152,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,131.580,1064.880,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.257,297.437,565.747,517.190,609.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,37110,411
$CAP_FILE_SIZE,65759,0
$CFSIZE,1023623168,951877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.158,203.80,1
$GPS,071021,095058,2244.561,-15759.928,7,0.9,18,9.8,0.0,130.2,9,9.7