version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 649
start: 10 1 121 10 53 7
data:
$ID,626
$MISSION,3
$DIVE,649
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,011021,104649,2244.9543,-15801.4404,8,0.9,43,9.8,0.5,12.2,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.1
$GPS2,011021,105218,2244.9773,-15801.4961,7,0.9,21,9.8,1.0,265.3,8,10.0
$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,92.0,2555,-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,14,begin dive
$GC,16,-0.55,-116.8,125,2290,1209,1113,0.0,0.0,0,73,0.00,0.00,-54.03,0.000,16386,0.000,0.000,125,2289,2866,2860,2872,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.55,-116.8,124,2290,2861,2872,3.1,-6.5,8,98,8.38,0.00,-7.22,0.000,18694,0.431,0.000,2562,2290,3278,3261,3296,0,0,0,0,0,0,14.23,13.42,14.52
$GC,344,-0.55,-116.8,2562,2290,3266,3295,67.3,-23.2,42,348,0.00,2.40,0.00,0.000,2564,0.000,0.054,2563,848,3280,3266,3294,0,0,0,0,0,0,15.24,14.90,15.24
$GC,381,-0.55,-116.8,2562,848,3267,3293,73.6,-19.4,45,389,0.05,2.45,0.00,0.000,3078,0.343,0.057,2570,2262,3279,3268,3291,0,0,0,0,0,0,14.46,14.73,14.64
$GC,630,-0.55,-116.8,2570,2265,3268,3291,115.0,-15.4,70,635,0.00,2.38,0.00,0.000,2564,0.000,0.054,2571,845,3278,3266,3291,0,0,0,0,0,0,15.26,14.92,15.26
$GC,672,-0.55,-116.8,2570,844,3268,3291,121.1,-13.9,74,677,0.00,2.40,0.00,0.000,3078,0.000,0.059,2562,2266,3279,3269,3290,0,0,0,0,0,0,15.05,14.92,15.07
$GC,925,-0.55,-116.8,2561,2266,3270,3290,155.7,-12.7,99,935,0.00,2.35,0.00,0.000,2308,0.000,0.065,2551,3679,3280,3270,3290,0,0,0,0,0,0,15.29,14.92,15.30
$GC,951,-0.55,-116.8,2550,3679,3269,3291,158.5,-13.0,101,958,0.08,2.33,0.00,0.000,3078,0.276,0.050,2582,2262,3280,3270,3290,0,0,0,0,0,0,14.74,14.95,14.95
$GC,1198,-0.55,-116.8,2581,2259,3270,3290,182.8,-9.5,126,1204,0.00,2.35,0.00,0.000,4612,0.000,0.057,2582,848,3280,3271,3290,0,0,0,0,0,0,15.30,14.93,15.30
$GC,1287,-0.55,-116.8,2582,847,3271,3290,190.3,-9.0,134,1294,0.00,2.38,0.00,0.000,1030,0.000,0.057,2573,2268,3280,3272,3289,0,0,0,0,0,0,15.05,14.94,15.08
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1398,-0.13,0.0,2574,2079,3272,3289,200.2,-8.9,145,1496,0.32,0.10,93.45,1.082,10246,0.215,0.128,2701,2157,2798,2862,2735,0,0,0,0,0,0,14.58,14.65,14.02
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1499,0.55,116.8,2703,2157,2862,2735,203.5,0.0,155,1604,0.50,0.00,96.50,1.069,10758,0.146,0.000,2917,2157,2321,2403,2239,0,0,0,0,0,0,14.58,14.38,13.93
$GC,1844,0.57,154.4,2916,2157,2401,2234,185.4,8.2,190,1883,0.00,2.28,30.85,1.043,10500,0.000,0.061,2916,3516,2168,2256,2081,0,0,0,0,0,0,15.17,14.59,14.12
$GC,2070,0.59,178.1,2916,3516,2256,2081,162.8,8.9,212,2099,0.00,2.25,19.95,1.014,11270,0.000,0.047,2927,2159,2073,2161,1986,0,0,0,0,0,0,15.00,14.90,14.15
$GC,2340,0.62,226.7,2927,2158,2160,1981,141.6,7.6,239,2388,0.00,2.28,39.00,1.014,10500,0.000,0.064,2928,3506,1874,1956,1793,0,0,0,0,0,0,15.22,14.73,14.19
$GC,2433,0.62,226.7,2927,3506,1956,1793,132.0,11.2,248,2444,0.00,2.30,0.00,0.000,3078,0.000,0.050,2938,2128,1875,1956,1794,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2687,0.62,226.7,2938,2128,1956,1788,106.3,10.3,273,2695,0.00,2.33,0.00,0.000,2308,0.000,0.067,2938,3503,1872,1956,1788,0,0,0,0,0,0,15.21,14.74,15.22
$GC,3002,0.63,257.7,2938,3503,1956,1788,76.6,8.5,303,3033,0.00,2.28,25.12,0.943,11270,0.000,0.049,2949,2124,1747,1833,1661,0,0,0,0,0,0,14.71,14.68,14.28
$GC,3272,0.68,332.6,2948,2124,1832,1656,58.6,6.2,330,3343,0.00,2.40,58.20,0.929,10756,0.000,0.063,2960,710,1441,1532,1351,0,0,0,0,0,0,15.23,14.59,14.19
$GC,3536,0.70,360.1,2959,710,1526,1349,35.8,8.7,355,3565,0.00,2.33,21.58,0.877,11270,0.000,0.057,2959,2092,1329,1425,1234,0,0,0,0,0,0,14.69,14.66,14.23
$GC,3822,0.72,401.0,2959,2092,1425,1230,10.2,8.0,402,3845,0.00,2.47,16.98,0.227,10500,0.000,0.070,2960,3535,1162,1259,1066,0,0,0,0,0,0,15.17,14.83,14.61
$GC,3886,0.73,405.8,2959,3535,1259,1066,3.2,9.9,412,3896,0.00,2.42,2.00,0.226,11270,0.000,0.050,2970,2122,1141,1237,1045,0,0,0,0,0,0,14.81,14.76,14.65
$STATE,3901,end climb,SURFACE_DEPTH_REACHED
$STATE,3901,begin surface coast
$FINISH,0.3,1.006055
$STATE,3932,end surface coast,CONTROL_FINISHED_OK
$STATE,3932,begin surface
$SM_CCo,4008,0.00,0.000,0,0,1139,407.44
$SM_GC,1.15,6.38,0.28,0.00,0.047,0.070,0.000,156,2299,1139,-7.89,-0.59,407.44,0,0,0,0,0,0,14.95,14.93,15.00
$IRIDIUM_FIX,2237.01,-15802.37,011021,104814
$TT8_MAMPS,0.023219,0.287616
$HUMID,52.24
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,13.42,151.886
$10V_AH,12.82,0.000
$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,15.700,42.975,403.625,0.000,0.000,26.666,42.623,129.126,0.000,0.000,22.318,1078.571,1465.453,402.099,1275.790,146.215,0.000,921.177,0.000,1062.953,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,127.755,1082.475,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,276.519,303.110,576.342,527.798,619.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,37354,419
$CAP_FILE_SIZE,67811,0
$CFSIZE,1023623168,959741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.159,293.43,1
$GPS,011021,120101,2245.130,-15801.481,8,0.8,32,9.8,1.1,294.5,10,5.6