version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 651
start: 10 1 121 13 16 50
data:
$ID,626
$MISSION,3
$DIVE,651
$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,84
$R_STBD_OVSHOOT,30
$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
$GPS1,011021,131053,2245.0881,-15801.3535,8,0.9,20,9.8,0.8,277.9,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,011021,131559,2245.0991,-15801.3926,8,0.9,21,9.8,1.4,301.1,9,8.9
$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,92.8,2385,-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,-116.8,124,2339,1171,1043,0.0,0.0,0,80,0.00,0.00,-61.85,0.000,16386,0.000,0.000,123,2341,3101,3068,3135,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2341,3068,3135,3.7,-7.6,9,99,8.43,0.00,-2.80,0.000,19206,0.432,0.000,2566,2340,3279,3250,3308,0,0,0,0,0,0,14.23,13.44,14.52
$GC,346,-0.55,-116.8,2566,2340,3262,3297,69.6,-21.6,41,355,0.00,2.40,0.00,0.000,2564,0.000,0.058,2566,904,3281,3266,3296,0,0,0,0,0,0,15.23,14.61,15.23
$GC,452,-0.55,-116.8,2566,904,3267,3295,86.7,-14.4,51,460,0.05,2.30,0.00,0.000,3078,0.391,0.060,2574,2269,3280,3267,3294,0,0,0,0,0,0,14.66,14.89,14.90
$GC,701,-0.55,-116.8,2574,2273,3267,3294,127.7,-16.1,76,706,0.00,2.25,0.00,0.000,516,0.000,0.052,2574,906,3281,3268,3294,0,0,0,0,0,0,15.27,14.93,15.28
$GC,744,-0.55,-116.8,2574,905,3267,3294,134.7,-16.0,80,749,0.00,2.30,0.00,0.000,3078,0.000,0.065,2565,2263,3281,3268,3294,0,0,0,0,0,0,15.06,14.91,15.08
$GC,998,-0.55,-116.8,2565,2263,3268,3294,168.3,-10.4,105,1005,0.00,0.00,0.00,0.000,2054,0.000,0.000,2566,2263,3280,3268,3293,0,0,0,0,0,0,15.28,15.29,15.28
$GC,1249,-0.55,-116.8,2565,2263,3268,3293,193.1,-10.1,130,1259,0.00,2.25,0.00,0.000,2564,0.000,0.054,2566,908,3281,3268,3294,0,0,0,0,0,0,15.30,14.82,15.30
$GC,1284,-0.55,-116.8,2565,907,3268,3294,196.7,-9.9,133,1293,0.03,2.28,0.00,0.000,3078,0.399,0.060,2567,2273,3280,3269,3292,0,0,0,0,0,0,14.56,14.79,14.68
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1326,-0.13,0.0,2567,2125,3268,3292,200.6,-9.9,137,1422,0.35,0.00,93.22,1.086,10246,0.242,0.000,2702,2124,2798,2863,2734,0,0,0,0,0,0,14.53,14.65,14.03
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1426,0.55,116.8,2702,2124,2863,2733,204.3,0.0,147,1531,0.50,0.00,96.00,1.075,10758,0.142,0.000,2917,2123,2322,2406,2238,0,0,0,0,0,0,14.59,14.54,13.95
$GC,1772,0.59,178.0,2917,2123,2402,2233,187.4,6.9,182,1827,0.00,2.33,49.17,1.061,10756,0.000,0.055,2928,757,2073,2161,1985,0,0,0,0,0,0,15.18,14.70,14.10
$GC,2342,0.62,238.1,2928,757,2150,1981,138.9,7.0,237,2399,0.00,2.30,47.28,1.028,11270,0.000,0.055,2928,2129,1827,1910,1744,0,0,0,0,0,0,15.04,14.92,14.15
$GC,2639,0.65,288.5,2928,2129,1910,1738,116.1,7.5,267,2688,0.05,2.38,40.40,1.000,10500,0.258,0.067,3050,3532,1621,1711,1532,0,0,0,0,0,0,14.88,14.65,14.19
$GC,2850,0.65,288.5,3050,3532,1711,1532,84.4,15.9,287,2858,0.30,2.28,0.00,0.000,5126,0.262,0.051,2954,2166,1621,1711,1532,0,0,0,0,0,0,14.62,14.87,14.86
$GC,3101,0.67,320.4,2954,2164,1710,1527,60.8,8.5,312,3129,0.00,0.00,25.62,0.925,10246,0.000,0.000,2954,2164,1491,1585,1397,0,0,0,0,0,0,15.23,14.84,14.27
$GC,3371,0.67,320.4,2954,2164,1584,1393,33.9,10.9,339,3380,0.00,2.42,0.00,0.000,2564,0.000,0.062,2964,718,1488,1583,1393,0,0,0,0,0,0,15.21,14.61,15.21
$GC,3414,0.67,320.4,2964,718,1578,1394,29.0,10.5,344,3422,0.00,2.42,0.00,0.000,1030,0.000,0.057,2964,2132,1487,1581,1393,0,0,0,0,0,0,14.99,14.87,15.02
$STATE,3660,end climb,SURFACE_DEPTH_REACHED
$STATE,3660,begin surface coast
$FINISH,0.3,1.023133
$STATE,3684,end surface coast,CONTROL_FINISHED_OK
$STATE,3684,begin surface
$SM_CCo,3700,32.70,0.187,0,0,1166,400.08
$SM_GC,1.03,6.45,0.20,32.70,0.056,0.077,0.187,159,2283,1166,-7.96,-1.02,400.08,0,0,0,0,0,0,14.97,14.98,14.67
$IRIDIUM_FIX,2234.68,-15802.37,011021,131214
$TT8_MAMPS,0.021721,0.348285
$HUMID,52.95
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,13.44,152.233
$10V_AH,12.84,0.000
$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,16.150,28.275,351.700,32.700,0.000,25.930,41.550,119.010,0.250,0.000,23.072,1019.547,1343.153,392.999,1188.652,133.967,0.000,860.345,0.000,991.192,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,78.030,1086.300,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.491,282.961,542.946,487.513,566.489,0.000,0.000,0.000,0.000,0.000
$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,37385,394
$CAP_FILE_SIZE,61497,0
$CFSIZE,1023623168,959627264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.097,274.20,1
$GPS,011021,142019,2245.068,-15801.235,9,0.9,38,9.8,0.4,335.8,9,5.8