version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 781
start: 10 7 121 23 17 2
data:
$ID,626
$MISSION,3
$DIVE,781
$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,64
$R_STBD_OVSHOOT,58
$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
$GPS1,071021,231054,2244.7424,-15800.3398,7,1.1,18,9.8,0.0,186.5,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.5
$GPS2,071021,231609,2244.7109,-15800.3916,7,1.1,19,9.8,1.1,284.3,8,9.5
$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,23.7,857,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,122,2232,1281,1193,0.0,0.0,0,75,0.00,0.00,-55.50,0.000,16386,0.000,0.000,123,2230,2994,2972,3016,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.55,-116.8,123,2231,2972,3017,3.4,-6.8,8,101,8.52,2.40,-4.75,0.000,18692,0.435,0.073,2553,3662,3277,3255,3299,0,0,0,0,0,0,14.13,13.91,14.45
$GC,136,-0.55,-116.8,2553,3663,3257,3298,22.2,-22.7,17,145,0.03,2.35,0.00,0.000,3078,0.203,0.053,2579,2293,3278,3261,3295,0,0,0,0,0,0,14.57,14.76,14.82
$GC,390,-0.55,-116.8,2579,2288,3263,3293,63.6,-15.1,46,394,0.00,2.30,0.00,0.000,4356,0.000,0.063,2571,3653,3278,3266,3290,0,0,0,0,0,0,15.24,14.86,15.25
$GC,527,-0.55,-116.8,2570,3653,3266,3292,79.0,-11.0,59,534,0.00,2.35,0.00,0.000,1030,0.000,0.045,2570,2266,3278,3265,3291,0,0,0,0,0,0,14.86,14.80,14.89
$GC,774,-0.55,-116.8,2570,2266,3266,3292,111.8,-12.4,84,779,0.00,2.35,0.00,0.000,2564,0.000,0.059,2570,856,3279,3267,3291,0,0,0,0,0,0,15.28,14.90,15.28
$GC,902,-0.55,-116.8,2570,850,3267,3291,125.2,-10.5,96,909,0.00,2.38,0.00,0.000,3078,0.000,0.058,2559,2242,3278,3267,3290,0,0,0,0,0,0,15.00,14.84,15.03
$GC,1151,-0.55,-116.8,2559,2243,3268,3290,151.9,-11.4,121,1160,0.00,2.33,0.00,0.000,2564,0.000,0.056,2559,858,3279,3268,3290,0,0,0,0,0,0,15.27,14.82,15.27
$GC,1227,-0.55,-116.8,2558,857,3268,3290,160.2,-10.3,128,1234,0.08,2.38,0.00,0.000,3078,0.327,0.059,2577,2266,3279,3269,3289,0,0,0,0,0,0,14.66,14.90,14.90
$GC,1477,-0.55,-116.8,2576,2267,3268,3289,185.8,-9.8,153,1487,0.00,2.33,0.00,0.000,516,0.000,0.054,2576,863,3279,3269,3289,0,0,0,0,0,0,15.28,14.57,15.29
$GC,1530,-0.55,-116.8,2576,863,3269,3289,191.1,-9.4,158,1536,0.00,2.38,0.00,0.000,3078,0.000,0.058,2567,2273,3279,3269,3289,0,0,0,0,0,0,15.05,14.90,15.07
$STATE,1621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1628,-0.13,0.0,2567,2084,3268,3289,200.0,-10.0,167,1727,0.35,0.10,94.85,1.078,10246,0.223,0.127,2704,2160,2798,2864,2733,0,0,0,0,0,0,14.52,14.61,13.91
$STATE,1728,end apogee,CONTROL_FINISHED_OK
$STATE,1728,begin climb
$GC,1731,0.55,116.8,2704,2161,2863,2733,204.1,0.0,177,1837,0.50,2.42,97.10,1.073,10756,0.125,0.052,2935,758,2321,2402,2240,0,0,0,0,0,0,14.59,14.56,13.88
$GC,1919,0.57,154.8,2935,758,2389,2240,200.3,8.1,196,1958,0.00,2.25,31.83,1.043,13318,0.000,0.052,2935,2094,2166,2251,2082,0,0,0,0,0,0,14.72,14.66,13.97
$GC,2198,0.57,154.8,2936,2094,2250,2076,171.2,11.0,224,2207,0.00,2.40,0.00,0.000,260,0.000,0.066,2935,3544,2163,2250,2076,0,0,0,0,0,0,15.18,14.70,15.19
$GC,2385,0.57,154.8,2935,3544,2250,2077,149.9,11.2,242,2396,0.00,2.28,0.00,0.000,5126,0.000,0.047,2946,2164,2163,2250,2077,0,0,0,0,0,0,15.03,14.92,15.05
$GC,2640,0.57,154.8,2946,2163,2250,2076,125.8,10.8,267,2648,0.00,2.42,0.00,0.000,4612,0.000,0.061,2958,718,2162,2250,2075,0,0,0,0,0,0,15.26,14.73,15.26
$GC,2672,0.57,154.8,2958,718,2246,2074,122.0,10.3,270,2683,0.08,2.40,0.00,0.000,5126,0.329,0.056,2925,2143,2160,2245,2075,0,0,0,0,0,0,14.50,14.92,14.57
$GC,2924,0.61,218.6,2925,2143,2246,2075,102.1,6.8,295,2984,0.00,2.38,50.08,0.992,10500,0.000,0.060,2925,3542,1908,1990,1827,0,0,0,0,0,0,15.27,14.48,14.02
$GC,3021,0.62,232.1,2925,3542,1991,1828,94.2,9.4,304,3041,0.00,2.38,12.95,0.926,11270,0.000,0.044,2934,2124,1851,1933,1769,0,0,0,0,0,0,14.90,14.78,14.04
$GC,3291,0.64,270.6,2934,2124,1932,1763,69.1,8.1,331,3330,0.00,0.00,30.98,0.944,10246,0.000,0.000,2934,2123,1693,1782,1605,0,0,0,0,0,0,15.21,14.49,14.06
$GC,3573,0.68,326.7,2934,2123,1781,1600,46.9,7.2,359,3624,0.05,2.40,43.80,0.913,10756,0.259,0.060,3052,721,1466,1553,1379,0,0,0,0,0,0,14.85,14.73,14.14
$GC,3635,0.68,326.7,3052,721,1551,1380,39.2,14.4,365,3643,0.25,2.42,0.00,0.000,5126,0.260,0.054,2963,2134,1464,1550,1378,0,0,0,0,0,0,14.54,14.74,14.78
$GC,3895,0.68,326.7,2963,2136,1551,1373,9.6,11.4,407,3903,0.00,2.40,0.00,0.000,2308,0.000,0.063,2963,3538,1462,1551,1373,0,0,0,0,0,0,15.16,14.78,15.17
$GC,3928,0.68,326.7,2963,3538,1550,1372,5.9,11.0,412,3935,0.00,2.40,0.00,0.000,5126,0.000,0.048,2972,2121,1462,1551,1373,0,0,0,0,0,0,14.96,14.83,14.97
$STATE,3953,end climb,SURFACE_DEPTH_REACHED
$STATE,3953,begin surface coast
$FINISH,0.3,1.012960
$STATE,3983,end surface coast,CONTROL_FINISHED_OK
$STATE,3983,begin surface
$SM_CCo,4001,22.12,0.187,0,0,1248,380.21
$SM_GC,1.35,6.35,0.28,22.12,0.038,0.080,0.187,171,2285,1248,-7.90,-0.71,380.21,0,0,0,0,0,0,14.96,14.91,14.63
$IRIDIUM_FIX,2234.68,-15759.32,071021,231222
$TT8_MAMPS,0.023219,0.313831
$HUMID,54.13
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,13.88,173.854
$10V_AH,11.86,0.000
$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,16.200,52.750,361.575,22.125,0.000,26.364,46.866,114.835,0.500,0.000,20.991,1092.881,1470.842,407.372,1242.634,162.116,0.000,921.152,0.000,1042.336,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,181.305,1077.885,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.413,305.170,573.409,527.762,613.633,0.000,0.000,0.000,0.000,0.000
$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,40541,421
$CAP_FILE_SIZE,67427,0
$CFSIZE,1023623168,951091200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.172,233.31,1
$GPS,081021,002517,2244.771,-15800.645,7,0.9,34,9.8,0.0,278.8,8,9.8