version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 652
start: 10 1 121 14 26 7
data:
$ID,626
$MISSION,3
$DIVE,652
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,011021,142019,2245.0681,-15801.2354,9,0.9,38,9.8,0.4,335.8,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.8
$GPS2,011021,142517,2245.0686,-15801.2617,7,0.9,15,9.8,0.0,147.1,9,9.4
$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,83.9,2158,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,124,2294,1206,1112,0.0,0.0,0,74,0.00,0.00,-55.38,0.000,16386,0.000,0.000,124,2294,2899,2882,2917,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,123,2294,2883,2916,3.1,-6.2,8,101,8.43,2.28,-6.65,0.000,18692,0.434,0.076,2558,3664,3279,3261,3297,0,0,0,0,0,0,14.23,13.97,14.52
$GC,119,-0.55,-116.8,2557,3664,3261,3298,16.4,-29.9,14,128,0.00,2.40,0.00,0.000,3078,0.000,0.053,2557,2251,3278,3262,3295,0,0,0,0,0,0,14.97,14.83,14.99
$GC,379,-0.55,-116.8,2557,2247,3266,3294,72.6,-21.1,45,391,0.05,2.35,0.00,0.000,2308,0.441,0.060,2564,3655,3280,3266,3294,0,0,0,0,0,0,14.70,14.64,14.89
$GC,489,-0.55,-116.8,2563,3656,3266,3295,87.0,-11.4,55,499,0.00,2.28,0.00,0.000,3078,0.000,0.044,2563,2254,3280,3266,3294,0,0,0,0,0,0,14.84,14.80,14.86
$GC,740,-0.55,-116.8,2563,2251,3267,3294,122.3,-14.5,80,750,0.00,2.30,0.00,0.000,2564,0.000,0.058,2564,856,3279,3267,3292,0,0,0,0,0,0,15.27,14.84,15.28
$GC,847,-0.55,-116.8,2563,856,3268,3292,134.8,-10.4,90,855,0.03,2.40,0.00,0.000,3078,0.409,0.060,2564,2239,3280,3269,3291,0,0,0,0,0,0,14.54,14.75,14.68
$GC,1098,-0.55,-116.8,2564,2242,3269,3291,166.2,-12.7,115,1107,0.00,2.40,0.00,0.000,2308,0.000,0.068,2554,3679,3279,3269,3290,0,0,0,0,0,0,15.28,14.73,15.29
$GC,1132,-0.55,-116.8,2554,3679,3269,3290,170.0,-11.5,118,1141,0.03,2.30,0.00,0.000,3078,0.370,0.047,2565,2263,3279,3269,3290,0,0,0,0,0,0,14.57,14.82,14.69
$GC,1380,-0.55,-116.8,2565,2260,3269,3290,197.0,-11.6,143,1390,0.00,2.33,0.00,0.000,2564,0.000,0.058,2566,860,3279,3269,3290,0,0,0,0,0,0,15.30,14.92,15.30
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1412,begin apogee
$GC,1420,-0.13,0.0,2558,2139,3270,3290,200.8,-11.9,146,1516,0.38,0.00,93.25,1.081,10246,0.237,0.000,2701,2139,2799,2864,2734,0,0,0,0,0,0,14.52,14.66,14.03
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1517,begin climb
$GC,1520,0.55,116.8,2701,2139,2863,2734,204.6,0.0,156,1626,0.50,2.42,96.45,1.069,10500,0.150,0.063,2913,3539,2322,2405,2240,0,0,0,0,0,0,14.46,14.57,13.95
$GC,1878,0.58,171.6,2913,3539,2405,2241,184.6,7.3,191,1934,0.00,2.33,44.65,1.050,11270,0.000,0.044,2925,2122,2097,2184,2011,0,0,0,0,0,0,15.00,14.88,14.12
$GC,2174,0.59,189.7,2924,2122,2183,2006,159.1,9.2,221,2195,0.00,2.40,15.25,0.995,10756,0.000,0.060,2935,717,2024,2108,1940,0,0,0,0,0,0,15.21,14.85,14.20
$GC,2609,0.63,244.1,2935,717,2096,1938,123.2,7.3,262,2658,0.00,2.40,42.88,1.004,11270,0.000,0.054,2936,2129,1803,1886,1720,0,0,0,0,0,0,15.03,14.89,14.20
$GC,2898,0.64,268.4,2935,2129,1886,1714,99.4,8.8,291,2926,0.00,2.40,20.23,0.958,10756,0.000,0.059,2947,717,1704,1793,1615,0,0,0,0,0,0,15.21,14.80,14.23
$GC,3196,0.67,319.0,2946,717,1784,1614,73.8,7.5,319,3243,0.00,2.40,40.00,0.948,11270,0.000,0.058,2946,2125,1496,1588,1405,0,0,0,0,0,0,15.01,14.87,14.23
$GC,3483,0.70,365.2,2946,2125,1589,1400,55.9,7.7,348,3525,0.00,2.45,35.97,0.921,10500,0.000,0.070,2947,3539,1309,1404,1214,0,0,0,0,0,0,15.21,14.76,14.22
$GC,3588,0.73,407.2,2946,3540,1403,1214,46.6,7.9,358,3627,0.00,2.35,33.15,0.903,11270,0.000,0.053,2955,2122,1137,1234,1040,0,0,0,0,0,0,14.70,14.64,14.16
$GC,3869,0.73,407.2,2955,2122,1233,1035,23.6,10.4,391,3878,0.00,2.40,0.00,0.000,2564,0.000,0.060,2966,717,1134,1234,1035,0,0,0,0,0,0,15.17,14.81,15.17
$GC,3914,0.73,407.2,2966,717,1232,1035,18.7,11.4,398,3922,0.00,2.42,0.00,0.000,3078,0.000,0.057,2966,2132,1133,1231,1035,0,0,0,0,0,0,14.98,14.84,15.00
$STATE,4075,end climb,SURFACE_DEPTH_REACHED
$STATE,4075,begin surface coast
$FINISH,0.3,1.023123
$STATE,4102,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4181,0.00,0.000,0,0,1131,409.40
$SM_GC,1.04,6.45,0.20,0.00,0.058,0.072,0.000,164,2304,1131,-7.92,-0.96,409.40,0,0,0,0,0,0,14.99,15.00,15.02
$IRIDIUM_FIX,2237.01,-15759.32,011021,142141
$TT8_MAMPS,0.023219,0.342293
$HUMID,52.00
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,13.95,152.417
$10V_AH,12.86,0.000
$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,15.850,47.375,421.825,0.000,0.000,27.177,43.106,112.810,0.000,0.000,16.441,1116.462,1499.891,423.561,1328.503,145.077,0.000,974.973,0.000,1128.942,0.000,0.555,0.000
$DEVICE_MAMPS,441.405,76.500,1080.945,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.467,309.534,587.800,540.878,626.401,0.000,0.000,0.000,0.000,0.000
$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,40416,433
$CAP_FILE_SIZE,67414,0
$CFSIZE,1023623168,959545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,263.43,1
$GPS,011021,153701,2245.036,-15801.382,8,0.9,39,9.8,0.6,292.1,9,5.3