version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 826
start: 10 10 121 6 45 38
data:
$ID,626
$MISSION,3
$DIVE,826
$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,100
$R_STBD_OVSHOOT,26
$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
$GPS1,101021,063852,2245.8528,-15759.9053,6,1.1,28,9.8,1.1,88.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.4
$GPS2,101021,064448,2245.8904,-15759.8965,6,1.2,46,9.8,0.7,45.1,7,5.7
$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,184.8,1658,-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,-116.8,122,2352,653,518,0.0,0.0,0,94,0.00,0.00,-75.40,0.000,16386,0.000,0.000,122,2353,3116,3085,3148,0,0,0,0,0,0,15.19,28.83,15.20
$GC,98,-0.55,-116.8,122,2353,3085,3148,3.9,-8.4,11,121,8.45,2.42,-2.53,0.000,18948,0.429,0.068,2571,913,3280,3255,3305,0,0,0,0,0,0,14.07,13.27,14.38
$GC,194,-0.55,-116.8,2571,912,3262,3299,30.2,-13.3,27,203,0.00,2.25,0.00,0.000,3078,0.000,0.058,2563,2259,3280,3262,3298,0,0,0,0,0,0,14.66,14.62,14.69
$GC,444,-0.55,-116.8,2562,2263,3263,3296,87.7,-23.4,52,448,0.00,2.25,0.00,0.000,2564,0.000,0.054,2563,921,3279,3263,3296,0,0,0,0,0,0,15.25,14.90,15.26
$GC,527,-0.55,-116.8,2562,920,3264,3296,102.7,-14.5,60,533,0.05,2.25,0.00,0.000,3078,0.399,0.052,2569,2269,3279,3265,3294,0,0,0,0,0,0,14.64,14.90,14.89
$GC,785,-0.55,-116.8,2569,2272,3266,3295,139.4,-12.5,85,794,0.00,2.22,0.00,0.000,2564,0.000,0.048,2569,921,3280,3266,3295,0,0,0,0,0,0,15.27,14.79,15.27
$GC,861,-0.55,-116.8,2569,920,3266,3296,147.4,-9.8,92,869,0.00,2.33,0.00,0.000,3078,0.000,0.055,2560,2264,3281,3267,3295,0,0,0,0,0,0,14.87,14.79,14.99
$GC,1109,-0.55,-116.8,2560,2264,3267,3295,178.4,-14.4,117,1119,0.00,2.22,0.00,0.000,2564,0.000,0.054,2560,926,3281,3267,3295,0,0,0,0,0,0,15.28,14.64,15.28
$GC,1185,-0.55,-116.8,2559,926,3267,3295,187.0,-11.2,124,1193,0.08,2.25,0.00,0.000,3078,0.334,0.055,2577,2275,3281,3267,3295,0,0,0,0,0,0,14.64,14.90,14.90
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1318,-0.13,0.0,2577,2120,3267,3294,200.1,-9.7,137,1422,0.30,0.00,94.47,1.062,10246,0.214,0.000,2699,2117,2799,2860,2739,0,0,0,0,0,0,14.53,14.62,13.91
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1426,0.55,116.8,2699,2118,2860,2739,204.6,0.0,148,1533,0.50,2.42,97.55,1.048,10500,0.112,0.063,2925,3535,2322,2406,2238,0,0,0,0,0,0,14.62,14.33,13.84
$GC,2038,0.60,209.4,2923,3535,2405,2237,177.3,5.3,208,2117,0.00,2.17,74.30,1.037,11270,0.000,0.038,2935,2182,1945,2031,1859,0,0,0,0,0,0,14.86,14.82,14.00
$GC,2357,0.60,209.4,2935,2182,2029,1852,144.0,10.9,240,2366,0.00,2.35,0.00,0.000,2564,0.000,0.058,2947,778,1938,2024,1852,0,0,0,0,0,0,15.20,14.57,15.20
$GC,2615,0.61,221.7,2946,778,2017,1852,119.3,9.5,265,2633,0.00,2.25,9.98,0.918,9222,0.000,0.052,2946,2125,1893,1978,1809,0,0,0,0,0,0,15.02,14.90,14.15
$GC,2874,0.64,265.7,2946,2125,1978,1808,96.6,7.8,291,2916,0.00,2.40,35.97,0.958,10500,0.000,0.067,2946,3531,1715,1806,1625,0,0,0,0,0,0,15.25,14.79,14.14
$GC,3447,0.67,316.0,2946,3531,1805,1624,55.9,7.5,345,3495,0.00,2.25,39.85,0.903,11270,0.000,0.043,2957,2193,1509,1605,1413,0,0,0,0,0,0,14.86,14.79,14.16
$GC,3735,0.74,422.3,2957,2190,1605,1407,35.0,4.6,374,3825,0.00,2.33,80.40,0.872,10500,0.000,0.065,2957,3532,1075,1170,980,0,0,0,0,0,0,15.21,14.59,14.09
$GC,3934,0.74,422.3,2957,3531,1171,980,14.9,11.3,404,3941,0.00,2.30,0.00,0.000,3078,0.000,0.049,2965,2190,1075,1171,980,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,4064,end climb,SURFACE_DEPTH_REACHED
$STATE,4064,begin surface coast
$FINISH,0.2,1.023168
$STATE,4087,end surface coast,CONTROL_FINISHED_OK
$STATE,4087,begin surface
$SM_CCo,4165,0.00,0.000,0,0,1071,424.12
$SM_GC,1.16,6.32,0.15,0.00,0.034,0.087,0.000,177,2317,1071,-7.94,-0.71,424.12,0,0,0,0,0,0,14.85,14.92,14.94
$IRIDIUM_FIX,2234.68,-15759.32,101021,064026
$TT8_MAMPS,0.023219,0.342293
$HUMID,52.40
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,13.27,181.589
$10V_AH,12.75,0.000
$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,15.700,36.975,432.525,0.000,0.000,26.773,44.444,126.708,0.750,0.000,47.433,1108.906,1446.911,415.977,1416.529,161.981,0.000,987.553,0.000,1183.469,0.000,0.556,0.000
$DEVICE_MAMPS,429.165,87.210,1061.820,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.066,312.181,586.830,539.548,634.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,40734,431
$CAP_FILE_SIZE,63047,0
$CFSIZE,1023623168,948158464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.176,20.07,1
$GPS,101021,075555,2246.056,-15759.536,6,0.8,18,9.8,1.0,89.8,9,9.5