version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 640
start: 10 1 121 0 15 21
data:
$ID,626
$MISSION,3
$DIVE,640
$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,400
$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,95
$R_STBD_OVSHOOT,72
$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
$GPS1,011021,000931,2245.1716,-15800.7598,7,0.8,43,9.8,0.5,257.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.7
$GPS2,011021,001430,2245.1699,-15800.7881,9,0.7,15,9.8,0.5,43.6,12,9.9
$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,103.6,1383,-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,-116.8,123,2322,1199,1115,0.0,0.0,0,73,0.00,0.00,-54.50,0.000,16386,0.000,0.000,123,2324,2883,2872,2894,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.55,-116.8,123,2324,2872,2895,3.1,-6.3,8,99,8.40,2.38,-6.95,0.000,18948,0.432,0.067,2573,907,3279,3262,3297,0,0,0,0,0,0,14.25,13.38,14.56
$GC,118,-0.55,-116.8,2572,907,3267,3295,16.9,-31.6,14,126,0.00,2.28,0.00,0.000,3078,0.000,0.053,2564,2222,3281,3267,3295,0,0,0,0,0,0,14.84,14.76,14.88
$GC,378,-0.55,-116.8,2564,2222,3267,3295,75.2,-18.9,44,387,0.00,2.17,0.00,0.000,2564,0.000,0.054,2564,913,3281,3268,3294,0,0,0,0,0,0,15.25,14.66,15.26
$GC,442,-0.55,-116.8,2564,913,3268,3294,85.2,-14.6,50,452,0.05,2.28,0.00,0.000,3078,0.406,0.056,2571,2272,3281,3268,3294,0,0,0,0,0,0,14.64,14.90,14.90
$GC,694,-0.55,-116.8,2571,2274,3269,3294,120.7,-14.0,75,699,0.00,2.35,0.00,0.000,260,0.000,0.066,2562,3681,3281,3270,3292,0,0,0,0,0,0,15.26,14.90,15.28
$GC,727,-0.55,-116.8,2561,3681,3270,3293,125.2,-12.9,78,737,0.00,2.22,0.00,0.000,3078,0.000,0.045,2561,2315,3281,3270,3292,0,0,0,0,0,0,15.07,14.96,15.09
$GC,979,-0.55,-116.8,2561,2315,3270,3293,160.1,-14.1,103,984,0.00,2.42,0.00,0.000,2564,0.000,0.056,2561,851,3282,3271,3293,0,0,0,0,0,0,15.28,14.92,15.29
$GC,1062,-0.55,-116.8,2561,851,3271,3293,170.8,-11.5,111,1067,0.05,2.38,0.00,0.000,3078,0.388,0.055,2569,2270,3282,3272,3292,0,0,0,0,0,0,14.69,14.93,14.94
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1320,-0.13,0.0,2569,2074,3271,3290,200.8,-9.9,136,1418,0.35,0.10,93.45,1.086,10246,0.233,0.127,2705,2163,2798,2864,2733,0,0,0,0,0,0,14.54,14.65,14.01
$STATE,1419,end apogee,CONTROL_FINISHED_OK
$STATE,1419,begin climb
$GC,1421,0.55,116.8,2705,2164,2864,2733,203.5,0.0,146,1526,0.50,2.47,95.50,1.069,10756,0.139,0.045,2933,714,2324,2406,2242,0,0,0,0,0,0,14.58,14.36,13.91
$GC,1707,0.57,153.1,2933,714,2394,2241,186.4,8.2,174,1747,0.00,2.38,30.60,1.033,9222,0.000,0.050,2933,2093,2173,2260,2086,0,0,0,0,0,0,14.83,14.78,14.11
$GC,1986,0.57,153.1,2933,2095,2259,2081,159.4,10.1,202,1995,0.00,2.40,0.00,0.000,260,0.000,0.064,2933,3534,2170,2259,2081,0,0,0,0,0,0,15.20,14.73,15.20
$GC,2142,0.57,153.1,2933,3533,2259,2082,142.2,11.0,217,2151,0.00,2.30,0.00,0.000,5126,0.000,0.046,2944,2127,2171,2260,2082,0,0,0,0,0,0,14.86,14.83,14.88
$GC,2392,0.58,164.0,2943,2127,2259,2081,116.7,9.5,242,2410,0.00,2.28,9.68,0.931,12804,0.000,0.054,2955,713,2129,2217,2041,0,0,0,0,0,0,15.26,14.71,14.22
$GC,2497,0.61,217.1,2955,713,2211,2041,107.8,7.4,252,2546,0.00,2.35,42.30,0.987,13318,0.000,0.051,2955,2125,1912,1993,1832,0,0,0,0,0,0,14.77,14.74,14.21
$GC,2786,0.64,264.4,2955,2124,1992,1826,83.3,7.7,281,2828,0.00,2.38,37.42,0.956,8452,0.000,0.067,2955,3533,1720,1806,1634,0,0,0,0,0,0,15.21,14.79,14.21
$GC,2864,0.64,264.4,2955,3533,1806,1634,75.7,10.5,288,2872,0.00,2.40,0.00,0.000,5126,0.000,0.052,2966,2137,1720,1806,1634,0,0,0,0,0,0,14.77,14.71,14.79
$GC,3114,0.64,264.4,2965,2136,1804,1631,49.4,11.3,313,3119,0.00,2.40,0.00,0.000,4612,0.000,0.061,2977,707,1718,1806,1631,0,0,0,0,0,0,15.21,14.87,15.21
$GC,3191,0.64,264.4,2977,706,1799,1631,40.5,11.8,320,3199,0.05,2.45,0.00,0.000,5126,0.282,0.053,2957,2132,1714,1799,1630,0,0,0,0,0,0,14.55,14.76,14.71
$GC,3448,0.64,264.4,2957,2133,1799,1630,11.7,11.7,360,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2133,1714,1799,1629,0,0,0,0,0,0,15.21,15.22,15.22
$STATE,3523,end climb,SURFACE_DEPTH_REACHED
$STATE,3524,begin surface coast
$FINISH,0.2,1.023055
$STATE,3557,end surface coast,CONTROL_FINISHED_OK
$STATE,3557,begin surface
$SM_CCo,3574,55.97,0.181,0,0,1167,400.08
$SM_GC,1.07,6.32,0.20,55.97,0.044,0.074,0.181,184,2322,1167,-7.90,-0.99,400.08,0,0,0,0,0,0,14.94,15.00,14.67
$IRIDIUM_FIX,2234.68,-15802.37,011021,001052
$TT8_MAMPS,0.023219,0.313082
$HUMID,52.44
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.38,150.360
$10V_AH,13.02,0.000
$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,15.725,42.800,308.950,55.975,0.000,27.196,46.612,112.751,0.250,0.000,15.877,990.456,1314.236,389.449,1138.222,135.657,0.000,848.701,0.000,944.657,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,126.990,1086.300,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,251.365,273.756,520.216,469.162,547.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339144
$DATA_FILE_SIZE,33907,380
$CAP_FILE_SIZE,63033,0
$CFSIZE,1023623168,960348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,329.93,1
$GPS,011021,011646,2245.134,-15800.499,8,0.8,18,9.8,0.0,292.4,11,9.9