version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 788
start: 10 8 121 7 46 29
data:
$ID,626
$MISSION,3
$DIVE,788
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,081021,074006,2245.2014,-15759.3311,7,0.8,21,9.8,0.0,249.8,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.6
$GPS2,081021,074539,2245.1797,-15759.3262,6,0.8,20,9.8,0.5,106.0,10,9.1
$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,251.3,1198,-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,-116.8,124,2242,1286,1171,0.0,0.0,0,73,0.00,0.00,-54.75,0.000,16386,0.000,0.000,124,2243,2978,2952,3004,0,0,0,0,0,0,15.19,28.83,15.19
$GC,77,-0.55,-116.8,123,2243,2954,3003,3.4,-6.2,8,100,8.50,2.42,-4.95,0.000,18692,0.432,0.072,2557,3684,3279,3260,3298,0,0,0,0,0,0,14.16,13.89,14.45
$GC,151,-0.55,-116.8,2557,3685,3260,3298,22.3,-9.9,20,161,0.03,2.42,0.00,0.000,3078,0.383,0.048,2566,2264,3279,3263,3295,0,0,0,0,0,0,14.52,14.72,14.62
$GC,406,-0.55,-116.8,2566,2261,3265,3294,67.4,-19.5,49,417,0.00,2.38,0.00,0.000,2308,0.000,0.065,2558,3668,3280,3266,3294,0,0,0,0,0,0,15.25,14.55,15.25
$GC,432,-0.55,-116.8,2557,3668,3266,3294,71.0,-16.8,51,443,0.00,2.30,0.00,0.000,3078,0.000,0.047,2558,2270,3279,3266,3293,0,0,0,0,0,0,14.66,14.62,14.67
$GC,683,-0.55,-116.8,2557,2270,3267,3294,110.2,-14.6,76,693,0.00,2.38,0.00,0.000,2308,0.000,0.065,2548,3676,3279,3267,3291,0,0,0,0,0,0,15.26,14.58,15.26
$GC,748,-0.55,-116.8,2548,3676,3267,3292,118.0,-11.4,82,758,0.08,2.30,0.00,0.000,3078,0.256,0.047,2576,2262,3279,3267,3291,0,0,0,0,0,0,14.35,14.63,14.49
$GC,1000,-0.55,-116.8,2576,2260,3267,3292,149.2,-12.1,107,1009,0.00,2.35,0.00,0.000,260,0.000,0.064,2567,3674,3280,3268,3292,0,0,0,0,0,0,15.27,14.73,15.28
$GC,1085,-0.55,-116.8,2567,3674,3267,3293,158.0,-9.1,115,1094,0.00,2.30,0.00,0.000,3078,0.000,0.046,2567,2258,3279,3267,3292,0,0,0,0,0,0,14.89,14.90,14.89
$GC,1336,-0.55,-116.8,2567,2258,3267,3291,183.0,-10.4,140,1345,0.00,2.33,0.00,0.000,2564,0.000,0.059,2566,860,3279,3268,3291,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1423,-0.55,-116.8,2567,860,3268,3291,191.5,-9.5,148,1431,0.05,2.38,0.00,0.000,3078,0.368,0.060,2575,2265,3279,3268,3290,0,0,0,0,0,0,14.68,14.90,14.92
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1516,-0.13,0.0,2575,2076,3269,3290,200.2,-9.5,157,1615,0.32,0.10,94.78,1.072,10246,0.219,0.122,2705,2165,2798,2865,2732,0,0,0,0,0,0,14.52,14.62,13.93
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1619,0.55,116.8,2705,2166,2865,2732,204.4,0.0,167,1724,0.47,2.42,96.90,1.066,10756,0.115,0.050,2930,767,2321,2406,2237,0,0,0,0,0,0,14.62,14.57,13.88
$GC,2004,0.56,143.6,2930,767,2392,2236,185.9,8.7,205,2032,0.00,2.20,22.38,1.037,9222,0.000,0.047,2931,2091,2212,2300,2125,0,0,0,0,0,0,14.98,14.88,14.09
$GC,2273,0.60,194.5,2930,2091,2300,2122,162.5,7.5,232,2322,0.00,2.45,41.58,1.042,10500,0.000,0.063,2930,3541,2005,2091,1920,0,0,0,0,0,0,15.22,14.57,14.07
$GC,2459,0.60,195.2,2930,3541,2090,1921,144.8,10.1,250,2469,0.00,2.28,0.00,0.000,1030,0.000,0.053,2941,2178,2005,2091,1920,0,0,0,0,0,0,14.67,14.65,14.75
$GC,2712,0.60,209.0,2940,2177,2090,1916,121.3,9.4,275,2731,0.00,2.42,12.02,0.972,8964,0.000,0.059,2952,761,1948,2030,1867,0,0,0,0,0,0,15.22,14.90,14.14
$GC,3260,0.64,264.3,2952,761,2018,1866,71.4,7.2,327,3312,0.00,2.28,44.38,0.950,9222,0.000,0.054,2953,2119,1720,1806,1635,0,0,0,0,0,0,14.67,14.63,14.15
$GC,3562,0.70,361.6,2952,2119,1806,1628,50.1,5.1,357,3643,0.00,2.40,75.07,0.916,10756,0.000,0.065,2962,767,1324,1418,1231,0,0,0,0,0,0,15.21,14.69,14.08
$GC,3831,0.70,361.6,2962,766,1410,1229,30.1,10.6,382,3841,0.00,2.28,0.00,0.000,3078,0.000,0.054,2962,2120,1319,1410,1228,0,0,0,0,0,0,14.63,14.60,14.65
$GC,4104,0.72,401.8,2962,2120,1410,1227,8.9,8.0,431,4126,0.00,2.45,16.45,0.229,10500,0.000,0.067,2962,3545,1159,1257,1062,0,0,0,0,0,0,15.19,14.83,14.57
$GC,4156,0.74,422.6,2962,3545,1256,1062,4.8,9.0,439,4171,0.00,2.35,8.75,0.211,11270,0.000,0.044,2972,2167,1072,1171,974,0,0,0,0,0,0,14.85,14.78,14.62
$STATE,4177,end climb,SURFACE_DEPTH_REACHED
$STATE,4177,begin surface coast
$FINISH,0.3,1.023099
$STATE,4206,end surface coast,CONTROL_FINISHED_OK
$STATE,4206,begin surface
$SM_CCo,4283,0.00,0.000,0,0,1069,424.61
$SM_GC,1.22,6.45,0.17,0.00,0.054,0.077,0.000,178,2345,1069,-7.92,-0.90,424.61,0,0,0,0,0,0,14.92,14.95,14.97
$IRIDIUM_FIX,2234.68,-15800.20,081021,074137
$TT8_MAMPS,0.023219,0.340046
$HUMID,52.59
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.88,175.025
$10V_AH,12.65,0.000
$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,15.900,47.575,412.300,0.000,0.000,26.282,43.438,133.195,0.250,0.000,21.895,1163.325,1497.217,402.812,1414.475,168.853,0.000,983.303,0.000,1200.755,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,121.635,1071.765,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.236,323.873,611.792,573.491,674.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,40715,447
$CAP_FILE_SIZE,71229,0
$CFSIZE,1023623168,950632448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,178.06,1
$GPS,081021,085901,2244.920,-15759.262,7,0.8,34,9.8,0.5,290.1,9,6.4