version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 780
start: 10 7 121 22 4 19
data:
$ID,626
$MISSION,3
$DIVE,780
$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,380
$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,50
$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
$GPS1,071021,215802,2244.7493,-15800.1572,7,0.9,34,9.8,0.5,210.8,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.4
$GPS2,071021,220328,2244.7273,-15800.1846,6,0.9,19,9.8,0.7,105.8,10,10.0
$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,9.6,596,-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,-116.8,123,2296,1204,1111,0.0,0.0,0,81,0.00,0.00,-62.22,0.000,16386,0.000,0.000,124,2297,3178,3140,3216,0,0,0,0,0,0,15.18,28.83,15.19
$GC,85,-0.55,-116.8,123,2297,3141,3217,3.9,-7.6,9,101,8.50,2.30,-1.50,0.000,18692,0.431,0.066,2556,3676,3279,3249,3309,0,0,0,0,0,0,14.14,13.31,14.42
$GC,137,-0.55,-116.8,2555,3676,3256,3303,25.4,-28.0,17,145,0.05,2.40,0.00,0.000,3078,0.358,0.054,2573,2266,3280,3261,3299,0,0,0,0,0,0,14.61,14.81,14.85
$GC,396,-0.55,-116.8,2573,2262,3265,3295,71.7,-15.9,44,405,0.00,2.33,0.00,0.000,260,0.000,0.062,2565,3649,3280,3265,3295,0,0,0,0,0,0,15.24,14.57,15.25
$GC,523,-0.55,-116.8,2564,3649,3264,3295,85.7,-9.1,56,534,0.00,2.28,0.00,0.000,3078,0.000,0.045,2565,2256,3280,3266,3295,0,0,0,0,0,0,14.69,14.65,14.73
$GC,776,-0.55,-116.8,2564,2256,3266,3295,116.9,-12.4,81,785,0.00,2.33,0.00,0.000,2564,0.000,0.058,2565,855,3280,3267,3294,0,0,0,0,0,0,15.26,14.74,15.26
$GC,903,-0.55,-116.8,2564,855,3268,3294,132.6,-11.2,93,911,0.05,2.35,0.00,0.000,3078,0.378,0.058,2573,2253,3280,3268,3293,0,0,0,0,0,0,14.68,14.91,14.92
$GC,1154,-0.55,-116.8,2572,2254,3268,3292,158.7,-10.2,118,1163,0.00,2.30,0.00,0.000,516,0.000,0.054,2573,862,3280,3268,3292,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1248,-0.55,-116.8,2573,862,3269,3293,168.6,-9.8,127,1258,0.00,2.35,0.00,0.000,3078,0.000,0.058,2563,2265,3280,3269,3291,0,0,0,0,0,0,14.80,14.74,14.80
$GC,1500,-0.55,-116.8,2563,2266,3269,3291,196.5,-11.0,152,1508,0.00,2.38,0.00,0.000,2564,0.000,0.056,2563,853,3280,3269,3291,0,0,0,0,0,0,15.28,14.75,15.28
$STATE,1530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1530,begin apogee
$GC,1538,-0.13,0.0,2554,2128,3269,3291,200.5,-11.4,155,1642,0.38,0.00,94.85,1.072,10246,0.226,0.000,2700,2129,2798,2862,2734,0,0,0,0,0,0,14.54,14.62,13.94
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1646,0.55,116.8,2700,2129,2862,2734,204.9,0.0,166,1753,0.50,2.40,97.10,1.061,10500,0.143,0.062,2916,3538,2323,2405,2241,0,0,0,0,0,0,14.57,14.33,13.85
$GC,1850,0.56,130.0,2916,3538,2405,2242,196.0,9.4,186,1870,0.00,2.33,12.52,0.975,9222,0.000,0.044,2927,2130,2267,2353,2182,0,0,0,0,0,0,14.68,14.67,14.01
$GC,2111,0.58,171.3,2926,2130,2353,2178,171.7,8.0,212,2150,0.00,0.00,34.17,1.027,10246,0.000,0.000,2926,2130,2100,2188,2012,0,0,0,0,0,0,15.21,14.74,14.09
$GC,2392,0.60,207.2,2926,2130,2186,2007,148.2,8.2,240,2429,0.00,0.00,29.42,1.007,10246,0.000,0.000,2927,2130,1952,2032,1872,0,0,0,0,0,0,15.21,14.56,14.08
$GC,2672,0.60,207.2,2926,2130,2032,1867,120.1,10.4,268,2682,0.00,2.38,0.00,0.000,2564,0.000,0.060,2937,717,1948,2029,1867,0,0,0,0,0,0,15.21,14.62,15.21
$GC,2697,0.60,207.2,2937,717,2025,1867,117.4,10.6,270,2705,0.00,2.42,0.00,0.000,3078,0.000,0.058,2938,2126,1946,2025,1867,0,0,0,0,0,0,15.00,14.85,15.01
$GC,2947,0.60,207.2,2938,2127,2025,1867,90.9,10.1,295,2957,0.00,2.35,0.00,0.000,2308,0.000,0.064,2938,3541,1946,2025,1867,0,0,0,0,0,0,15.24,14.75,15.25
$GC,3064,0.61,216.1,2937,3541,2025,1867,79.5,9.6,306,3084,0.00,2.38,7.57,0.866,13318,0.000,0.045,2950,2121,1917,1998,1837,0,0,0,0,0,0,15.02,14.88,14.04
$GC,3323,0.62,239.7,2949,2121,1998,1835,56.8,8.9,332,3353,0.00,2.42,19.92,0.923,8708,0.000,0.062,2961,712,1819,1900,1739,0,0,0,0,0,0,15.25,14.79,14.19
$GC,3359,0.65,288.9,2961,712,1898,1739,54.7,7.6,335,3408,0.00,2.42,39.30,0.923,9222,0.000,0.057,2961,2127,1620,1710,1530,0,0,0,0,0,0,14.97,14.85,14.11
$GC,3648,0.65,288.9,2961,2127,1710,1524,26.2,10.4,367,3657,0.00,2.40,0.00,0.000,260,0.000,0.065,2961,3541,1617,1710,1524,0,0,0,0,0,0,15.17,14.82,15.18
$GC,3670,0.65,288.9,2960,3540,1710,1524,23.8,10.9,370,3677,0.00,2.40,0.00,0.000,5126,0.000,0.044,2971,2116,1617,1710,1524,0,0,0,0,0,0,14.97,14.83,14.98
$STATE,3860,end climb,SURFACE_DEPTH_REACHED
$STATE,3860,begin surface coast
$FINISH,0.2,1.023083
$STATE,3883,end surface coast,CONTROL_FINISHED_OK
$STATE,3883,begin surface
$SM_CCo,3901,37.97,0.183,0,0,1246,380.21
$SM_GC,1.15,6.32,0.28,37.97,0.031,0.070,0.183,170,2299,1246,-7.95,-0.79,380.21,0,0,0,0,0,0,14.89,14.94,14.62
$IRIDIUM_FIX,2237.01,-15802.37,071021,215929
$TT8_MAMPS,0.02247,0.312333
$HUMID,53.62
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.31,173.687
$10V_AH,12.53,0.000
$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,15.800,47.350,334.875,37.975,0.000,25.709,46.494,124.726,0.500,0.000,20.294,1044.697,1479.834,424.496,1194.566,157.909,0.000,906.696,0.000,986.295,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,69.615,1071.765,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.101,297.073,559.647,506.743,590.150,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,37358,409
$CAP_FILE_SIZE,63782,0
$CFSIZE,1023623168,951173120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.150,203.87,1
$GPS,071021,231054,2244.742,-15800.340,7,1.1,18,9.8,0.0,186.5,8,9.8