version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 785
start: 10 8 121 4 7 58
data:
$ID,626
$MISSION,3
$DIVE,785
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,081021,040125,2245.4116,-15800.2236,7,0.8,40,9.8,0.6,291.8,10,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.1
$GPS2,081021,040706,2245.4780,-15800.2285,7,0.8,22,9.8,0.0,62.9,10,9.0
$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,170.5,968,-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,-116.8,122,2234,1280,1195,0.0,0.0,0,73,0.00,0.00,-53.55,0.000,16386,0.000,0.000,123,2233,2934,2915,2953,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,122,2234,2915,2952,3.1,-4.8,8,99,8.45,2.28,-5.70,0.000,18948,0.428,0.067,2571,875,3277,3260,3294,0,0,0,0,0,0,14.17,13.88,14.44
$GC,225,-0.55,-116.8,2570,875,3267,3289,38.8,-20.1,31,229,0.00,2.35,0.00,0.000,3078,0.000,0.057,2562,2264,3277,3266,3289,0,0,0,0,0,0,14.99,14.85,15.00
$GC,477,-0.55,-116.8,2562,2264,3267,3288,87.8,-17.2,56,487,0.00,2.30,0.00,0.000,2564,0.000,0.058,2560,889,3277,3267,3288,0,0,0,0,0,0,15.26,14.81,15.26
$GC,544,-0.55,-116.8,2561,889,3267,3289,97.3,-13.9,62,552,0.05,2.38,0.00,0.000,3078,0.398,0.057,2568,2282,3278,3268,3288,0,0,0,0,0,0,14.61,14.83,14.86
$GC,794,-0.55,-116.8,2568,2283,3268,3288,128.7,-13.0,87,798,0.00,2.35,0.00,0.000,2564,0.000,0.054,2568,881,3277,3267,3288,0,0,0,0,0,0,15.27,14.92,15.27
$GC,847,-0.55,-116.8,2568,881,3268,3289,135.4,-11.5,92,856,0.00,2.33,0.00,0.000,3078,0.000,0.057,2559,2273,3278,3268,3288,0,0,0,0,0,0,14.82,14.84,14.82
$GC,1098,-0.55,-116.8,2559,2273,3268,3288,169.8,-13.7,117,1103,0.00,2.33,0.00,0.000,2564,0.000,0.050,2559,878,3278,3268,3289,0,0,0,0,0,0,15.28,14.94,15.28
$GC,1134,-0.55,-116.8,2559,878,3268,3288,174.3,-13.1,120,1142,0.08,2.38,0.00,0.000,3078,0.343,0.057,2575,2271,3278,3268,3288,0,0,0,0,0,0,14.62,14.85,14.88
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1337,-0.13,0.0,2575,2092,3269,3287,201.3,-14.2,140,1435,0.32,0.00,94.00,1.071,10246,0.265,0.000,2698,2090,2799,2866,2732,0,0,0,0,0,0,14.45,14.62,13.93
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1439,0.55,116.8,2698,2090,2865,2732,207.7,0.0,150,1544,0.52,2.50,97.20,1.066,11012,0.145,0.057,2920,3535,2322,2406,2238,0,0,0,0,0,0,14.57,14.55,13.88
$GC,1799,0.57,155.7,2921,3535,2406,2238,190.8,8.1,186,1837,0.00,2.28,32.50,1.032,9222,0.000,0.038,2931,2173,2164,2250,2078,0,0,0,0,0,0,14.85,14.81,14.07
$GC,2077,0.59,182.0,2931,2171,2248,2072,167.2,8.7,214,2106,0.00,2.45,22.15,1.008,10756,0.000,0.054,2943,715,2054,2139,1970,0,0,0,0,0,0,15.21,14.57,14.08
$GC,2272,0.59,182.0,2943,714,2131,1968,148.0,10.3,233,2280,0.00,2.35,0.00,0.000,5126,0.000,0.051,2943,2122,2049,2131,1968,0,0,0,0,0,0,14.80,14.73,14.83
$GC,2522,0.61,219.3,2943,2122,2130,1967,124.5,8.2,258,2560,0.00,2.38,29.95,0.980,8452,0.000,0.063,2943,3538,1904,1983,1825,0,0,0,0,0,0,15.24,14.59,14.12
$GC,3073,0.63,249.7,2943,3538,1983,1825,74.8,8.5,312,3104,0.00,2.33,24.88,0.925,9222,0.000,0.047,2953,2126,1781,1864,1698,0,0,0,0,0,0,15.03,14.94,14.19
$GC,3343,0.64,265.6,2954,2126,1863,1694,52.8,9.3,339,3363,0.00,2.40,13.20,0.870,8452,0.000,0.060,2953,3542,1718,1805,1632,0,0,0,0,0,0,15.22,14.59,14.13
$STATE,3781,end climb,SURFACE_DEPTH_REACHED
$STATE,3781,begin surface coast
$FINISH,0.4,1.023088
$STATE,3809,end surface coast,CONTROL_FINISHED_OK
$STATE,3809,begin surface
$SM_CCo,3828,48.05,0.177,0,0,1247,380.21
$SM_GC,1.30,6.30,2.12,48.05,0.039,0.039,0.177,146,2259,1247,-7.90,1.13,380.21,0,0,0,0,0,0,14.98,14.90,14.64
$IRIDIUM_FIX,2237.01,-15759.32,081021,040254
$TT8_MAMPS,0.02247,0.316078
$HUMID,52.83
$INTERNAL_PRESSURE,9.33591
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.88,174.494
$10V_AH,12.59,0.000
$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,15.725,37.800,313.875,48.050,0.000,29.525,47.946,136.768,0.750,0.000,23.254,1082.251,1352.804,361.906,1304.088,153.659,0.000,859.889,0.000,1081.277,0.000,0.556,0.000
$DEVICE_MAMPS,427.635,90.270,1071.000,177.480,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,269.945,298.047,560.868,504.266,583.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,37419,407
$CAP_FILE_SIZE,63397,0
$CFSIZE,1023623168,950845440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155,30.23,1
$GPS,081021,051331,2245.444,-15759.863,7,1.2,19,9.8,0.8,312.2,8,9.5