version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 797
start: 10 8 121 18 52 11
data:
$ID,626
$MISSION,3
$DIVE,797
$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,32
$R_STBD_OVSHOOT,52
$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
$GPS1,081021,184549,2245.0266,-15759.9346,7,0.8,47,9.8,0.3,223.2,10,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.6
$GPS2,081021,185117,2245.0725,-15759.9336,6,1.0,17,9.8,0.0,136.7,9,9.4
$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,197.8,176,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,122,2297,1285,1193,0.0,0.0,0,74,0.00,0.00,-55.20,0.000,16386,0.000,0.000,123,2298,2986,2966,3006,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.58,-116.8,123,2298,2967,3007,3.3,-6.5,8,101,8.48,2.45,-4.78,0.000,18948,0.435,0.067,2562,845,3277,3258,3297,0,0,0,0,0,0,14.14,13.89,14.44
$GC,224,-0.58,-116.8,2561,845,3266,3291,39.9,-16.6,29,229,0.00,2.38,0.00,0.000,3078,0.000,0.059,2553,2244,3278,3266,3290,0,0,0,0,0,0,14.99,14.85,15.01
$GC,479,-0.58,-116.8,2553,2244,3266,3290,89.3,-18.6,54,489,0.00,2.35,0.00,0.000,2564,0.000,0.059,2553,853,3278,3267,3290,0,0,0,0,0,0,15.24,14.57,15.24
$GC,553,-0.58,-116.8,2553,853,3267,3290,100.6,-13.1,61,559,0.05,2.40,0.00,0.000,3078,0.398,0.060,2559,2272,3278,3267,3290,0,0,0,0,0,0,14.64,14.89,14.89
$GC,809,-0.58,-116.8,2559,2276,3268,3290,133.4,-12.5,86,818,0.00,2.38,0.00,0.000,2564,0.000,0.057,2559,856,3278,3268,3289,0,0,0,0,0,0,15.27,14.58,15.27
$GC,883,-0.58,-116.8,2559,856,3268,3290,142.0,-10.8,93,888,0.00,2.38,0.00,0.000,3078,0.000,0.058,2550,2267,3278,3268,3289,0,0,0,0,0,0,15.04,14.91,15.07
$GC,1139,-0.58,-116.8,2550,2268,3268,3289,174.2,-12.4,118,1148,0.00,2.38,0.00,0.000,2564,0.000,0.057,2549,856,3279,3268,3290,0,0,0,0,0,0,15.28,14.74,15.28
$GC,1195,-0.58,-116.8,2550,856,3268,3289,180.9,-12.2,123,1203,0.08,2.42,0.00,0.000,3078,0.348,0.058,2566,2265,3278,3268,3289,0,0,0,0,0,0,14.61,14.86,14.88
$STATE,1389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1389,begin apogee
$GC,1398,-0.13,0.0,2566,2076,3268,3289,200.3,-8.7,143,1502,0.35,0.08,94.75,1.072,10246,0.224,0.080,2704,2153,2798,2864,2733,0,0,0,0,0,0,14.52,14.35,13.85
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1506,0.58,116.8,2704,2153,2864,2732,203.3,0.0,154,1612,0.52,2.38,97.30,1.060,10500,0.131,0.063,2930,3519,2322,2406,2239,0,0,0,0,0,0,14.59,14.57,13.88
$GC,1690,0.59,136.3,2930,3520,2405,2241,198.7,9.0,172,1718,0.00,2.25,17.40,1.004,9222,0.000,0.045,2941,2156,2243,2330,2157,0,0,0,0,0,0,14.72,14.67,13.99
$GC,1960,0.60,153.1,2941,2155,2329,2152,173.4,9.1,199,1980,0.00,2.45,14.95,0.993,8708,0.000,0.060,2953,714,2172,2261,2084,0,0,0,0,0,0,15.19,14.81,14.09
$GC,1999,0.61,165.8,2952,714,2255,2085,169.5,9.4,203,2019,0.00,2.33,11.35,0.953,13318,0.000,0.055,2953,2100,2122,2210,2035,0,0,0,0,0,0,14.78,14.73,14.02
$GC,2259,0.61,165.8,2952,2100,2210,2032,141.7,10.7,229,2269,0.00,2.40,0.00,0.000,4356,0.000,0.066,2953,3534,2121,2210,2032,0,0,0,0,0,0,15.22,14.72,15.23
$GC,2375,0.61,165.8,2952,3534,2210,2032,128.7,11.3,240,2384,0.05,2.40,0.00,0.000,5126,0.337,0.049,2945,2125,2121,2210,2032,0,0,0,0,0,0,14.54,14.82,14.72
$GC,2627,0.62,190.5,2945,2122,2210,2031,106.2,8.7,265,2655,0.00,2.40,20.77,0.962,10756,0.000,0.059,2955,718,2020,2107,1934,0,0,0,0,0,0,15.26,14.86,14.14
$GC,2671,0.63,207.6,2955,718,2102,1934,102.1,9.1,269,2691,0.00,2.38,14.85,0.929,9222,0.000,0.056,2955,2125,1951,2032,1870,0,0,0,0,0,0,14.97,14.87,14.10
$GC,2941,0.66,248.4,2954,2125,2031,1865,76.8,7.8,296,2981,0.00,2.45,32.70,0.935,10500,0.000,0.063,2955,3542,1785,1869,1702,0,0,0,0,0,0,15.23,14.80,14.14
$GC,3079,0.66,248.4,2954,3542,1869,1702,63.4,10.7,309,3090,0.00,2.33,0.00,0.000,5126,0.000,0.047,2965,2131,1785,1869,1702,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3332,0.66,248.4,2965,2131,1869,1699,39.9,10.2,334,3339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2131,1784,1869,1699,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3587,0.66,248.4,2965,2129,1869,1698,13.5,11.1,374,3594,0.00,2.42,0.00,0.000,4612,0.000,0.060,2976,717,1782,1868,1697,0,0,0,0,0,0,15.22,14.82,15.22
$GC,3624,0.66,248.4,2976,718,1864,1698,9.5,10.6,380,3632,0.05,2.42,0.00,0.000,5126,0.363,0.058,2957,2124,1780,1864,1697,0,0,0,0,0,0,14.62,14.83,14.86
$STATE,3702,end climb,SURFACE_DEPTH_REACHED
$STATE,3702,begin surface coast
$FINISH,0.5,1.023095
$STATE,3738,end surface coast,CONTROL_FINISHED_OK
$STATE,3738,begin surface
$SM_CCo,3755,55.10,0.179,0,0,1247,380.21
$SM_GC,1.42,6.32,0.22,55.10,0.044,0.080,0.179,164,2278,1247,-7.89,-0.90,380.21,0,0,0,0,0,0,15.00,14.95,14.62
$IRIDIUM_FIX,2234.68,-15800.20,081021,184714
$TT8_MAMPS,0.02247,0.341544
$HUMID,52.52
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.85,176.566
$10V_AH,12.17,0.000
$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,15.900,48.275,304.075,55.100,0.000,23.412,50.667,127.595,0.250,0.000,18.646,1041.949,1401.264,395.792,1176.537,162.512,0.000,866.384,0.000,966.454,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,79.560,1071.765,179.010,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,264.706,291.894,550.749,501.035,575.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339084
$DATA_FILE_SIZE,37092,400
$CAP_FILE_SIZE,66169,0
$CFSIZE,1023623168,950042624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,52.79,1
$GPS,081021,195638,2244.727,-15759.957,6,0.9,18,9.8,1.3,70.8,9,8.9