version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 790
start: 10 8 121 10 21 17
data:
$ID,626
$MISSION,3
$DIVE,790
$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,44
$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
$GPS1,081021,101501,2244.5684,-15759.3623,7,0.9,40,9.8,0.5,182.7,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.5
$GPS2,081021,102028,2244.5222,-15759.3887,6,0.9,18,9.8,0.6,302.1,8,9.9
$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,345.5,1369,-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,17,-0.55,-116.8,123,2294,1250,1131,0.0,0.0,0,74,0.00,0.00,-55.50,0.000,16386,0.000,0.000,123,2295,2943,2926,2961,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,123,2295,2926,2962,3.2,-6.2,8,101,8.43,2.28,-5.80,0.000,18692,0.425,0.070,2556,3666,3277,3257,3298,0,0,0,0,0,0,14.14,13.88,14.43
$GC,158,-0.55,-116.8,2555,3666,3261,3298,21.1,-10.9,21,166,0.05,2.40,0.00,0.000,3078,0.357,0.051,2574,2256,3278,3262,3295,0,0,0,0,0,0,14.61,14.81,14.84
$GC,415,-0.55,-116.8,2574,2253,3264,3295,64.7,-16.6,51,425,0.00,2.33,0.00,0.000,260,0.000,0.059,2565,3655,3279,3263,3295,0,0,0,0,0,0,15.23,14.56,15.24
$GC,451,-0.55,-116.8,2565,3655,3264,3295,69.9,-15.5,54,460,0.00,2.38,0.00,0.000,3078,0.000,0.050,2565,2263,3279,3264,3294,0,0,0,0,0,0,14.88,14.81,14.98
$GC,700,-0.55,-116.8,2564,2262,3266,3294,105.0,-13.6,79,709,0.00,2.35,0.00,0.000,2564,0.000,0.062,2565,855,3280,3268,3292,0,0,0,0,0,0,15.26,14.71,15.27
$GC,796,-0.55,-116.8,2565,855,3267,3292,116.2,-10.8,88,807,0.05,2.35,0.00,0.000,3078,0.379,0.060,2578,2249,3279,3268,3290,0,0,0,0,0,0,14.50,14.90,14.56
$GC,1047,-0.55,-116.8,2578,2251,3268,3290,146.0,-12.7,113,1056,0.00,2.33,0.00,0.000,516,0.000,0.055,2578,857,3279,3268,3291,0,0,0,0,0,0,15.27,14.78,15.28
$GC,1121,-0.55,-116.8,2578,856,3268,3291,154.1,-10.1,120,1131,0.00,2.35,0.00,0.000,3078,0.000,0.055,2569,2269,3279,3269,3290,0,0,0,0,0,0,14.66,14.62,14.69
$GC,1375,-0.55,-116.8,2569,2269,3269,3290,181.9,-11.1,145,1384,0.00,2.38,0.00,0.000,2564,0.000,0.056,2569,854,3279,3269,3290,0,0,0,0,0,0,15.28,14.74,15.28
$GC,1419,-0.55,-116.8,2569,854,3269,3290,186.4,-9.7,149,1428,0.03,2.38,0.00,0.000,3078,0.384,0.056,2569,2274,3279,3269,3290,0,0,0,0,0,0,14.54,14.74,14.64
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1573,-0.13,0.0,2569,2084,3269,3289,200.1,-8.8,164,1671,0.32,0.08,94.60,1.073,10246,0.225,0.147,2699,2148,2798,2863,2734,0,0,0,0,0,0,14.52,14.61,13.93
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1673,begin climb
$GC,1675,0.55,116.8,2699,2148,2863,2734,202.9,0.0,174,1780,0.50,2.35,96.68,1.064,10500,0.143,0.062,2914,3514,2321,2404,2239,0,0,0,0,0,0,14.57,14.55,13.87
$GC,2065,0.60,206.4,2913,3515,2404,2240,180.5,5.5,213,2144,0.00,2.22,71.75,1.052,11270,0.000,0.044,2924,2153,1956,2035,1878,0,0,0,0,0,0,14.81,14.83,14.00
$GC,2385,0.62,232.8,2924,2154,2033,1872,152.6,8.7,245,2415,0.00,2.33,22.05,1.004,10500,0.000,0.064,2924,3518,1848,1929,1768,0,0,0,0,0,0,15.19,14.58,14.09
$GC,2927,0.62,232.8,2924,3517,1928,1768,97.1,10.5,298,2937,0.00,2.30,0.00,0.000,3078,0.000,0.054,2935,2137,1847,1928,1767,0,0,0,0,0,0,14.76,14.74,14.77
$GC,3180,0.66,293.2,2935,2137,1929,1763,76.2,7.0,323,3237,0.00,2.33,48.17,0.952,10500,0.000,0.063,2935,3507,1602,1693,1511,0,0,0,0,0,0,15.26,14.60,14.13
$GC,3583,0.67,321.5,2935,3507,1693,1510,46.8,8.6,361,3613,0.00,2.30,22.85,0.894,11270,0.000,0.053,2946,2122,1487,1579,1395,0,0,0,0,0,0,14.73,14.75,14.19
$GC,3861,0.70,369.7,2945,2122,1580,1390,22.6,7.6,396,3890,0.00,2.40,21.23,0.835,10756,0.000,0.063,2957,708,1288,1383,1194,0,0,0,0,0,0,15.20,14.59,14.16
$GC,3963,0.70,369.7,2956,707,1379,1193,12.9,11.2,413,3971,0.00,2.40,0.00,0.000,3078,0.000,0.057,2957,2099,1286,1379,1193,0,0,0,0,0,0,14.94,14.80,14.96
$STATE,4056,end climb,SURFACE_DEPTH_REACHED
$STATE,4057,begin surface coast
$FINISH,0.6,1.023101
$STATE,4085,end surface coast,CONTROL_FINISHED_OK
$STATE,4085,begin surface
$SM_CCo,4103,3.58,0.216,0,0,1248,380.21
$SM_GC,2.20,6.45,0.28,3.58,0.061,0.073,0.216,176,2294,1248,-7.91,-0.74,380.21,0,0,0,0,0,0,14.90,14.92,14.64
$IRIDIUM_FIX,2234.68,-15800.20,081021,101633
$TT8_MAMPS,0.02247,0.345289
$HUMID,53.22
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.87,175.381
$10V_AH,12.20,0.000
$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,15.825,42.725,377.325,3.575,0.000,27.186,44.553,126.687,0.500,0.000,19.529,1135.172,1409.956,385.111,1373.341,163.157,0.000,941.727,0.000,1169.485,0.000,0.555,0.000
$DEVICE_MAMPS,425.340,146.880,1072.530,216.495,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,287.578,317.483,596.793,553.861,649.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,40577,435
$CAP_FILE_SIZE,67811,0
$CFSIZE,1023623168,950501376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.199,213.57,1
$GPS,081021,113041,2244.141,-15759.789,8,1.0,19,9.8,0.0,210.2,8,9.6