version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 654
start: 10 1 121 16 50 46
data:
$ID,626
$MISSION,3
$DIVE,654
$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,67
$R_STBD_OVSHOOT,62
$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
$GPS1,011021,164438,2244.9714,-15801.2852,8,0.9,22,9.8,0.0,181.1,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.6
$GPS2,011021,164954,2244.9749,-15801.3174,8,0.9,21,9.8,0.0,222.2,9,9.1
$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,68.4,2251,-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,-116.8,124,2215,1206,1112,0.0,0.0,0,80,0.00,0.00,-62.05,0.000,16386,0.000,0.000,123,2215,3143,3107,3180,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2215,3108,3180,3.5,-6.3,9,100,8.40,2.40,-2.12,0.000,18692,0.430,0.067,2554,3656,3279,3250,3309,0,0,0,0,0,0,14.23,13.41,14.52
$GC,135,-0.55,-116.8,2553,3656,3256,3305,24.7,-29.2,17,143,0.05,2.33,0.00,0.000,3078,0.302,0.055,2586,2304,3281,3261,3301,0,0,0,0,0,0,14.58,14.78,14.84
$GC,388,-0.55,-116.8,2586,2300,3264,3296,70.7,-18.5,44,397,0.00,2.40,0.00,0.000,4612,0.000,0.061,2587,865,3281,3266,3296,0,0,0,0,0,0,15.25,14.58,15.25
$GC,537,-0.55,-116.8,2586,865,3267,3294,93.2,-12.0,58,544,0.00,2.35,0.00,0.000,5126,0.000,0.058,2578,2225,3281,3268,3294,0,0,0,0,0,0,15.02,14.82,15.04
$GC,784,-0.55,-116.8,2578,2225,3268,3294,127.2,-13.4,83,793,0.00,2.40,0.00,0.000,260,0.000,0.069,2567,3662,3280,3268,3293,0,0,0,0,0,0,15.28,14.74,15.28
$GC,807,-0.55,-116.8,2567,3662,3268,3294,130.4,-13.8,85,817,0.00,2.30,0.00,0.000,3078,0.000,0.048,2567,2260,3281,3268,3294,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1058,-0.55,-116.8,2567,2259,3268,3295,166.3,-14.4,110,1067,0.00,2.33,0.00,0.000,2564,0.000,0.060,2567,855,3281,3268,3294,0,0,0,0,0,0,15.28,14.79,15.28
$GC,1164,-0.55,-116.8,2566,855,3269,3294,179.0,-10.5,120,1172,0.03,2.42,0.00,0.000,3078,0.402,0.057,2566,2259,3281,3270,3293,0,0,0,0,0,0,14.57,14.76,14.69
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1377,-0.13,0.0,2567,2085,3270,3293,200.4,-10.5,141,1475,0.35,0.08,93.18,1.087,10246,0.236,0.150,2702,2149,2798,2863,2734,0,0,0,0,0,0,14.40,14.63,14.02
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1478,0.55,116.8,2702,2149,2863,2733,204.0,0.0,151,1582,0.50,2.42,96.12,1.069,10756,0.147,0.051,2924,752,2322,2405,2239,0,0,0,0,0,0,14.52,14.58,13.95
$GC,1658,0.57,158.2,2924,752,2391,2239,198.2,8.0,169,1698,0.00,2.25,34.10,1.055,11270,0.000,0.052,2924,2100,2153,2240,2067,0,0,0,0,0,0,14.71,14.67,14.02
$GC,1938,0.58,170.1,2924,2100,2239,2062,172.3,9.5,197,1958,0.00,2.42,10.55,0.979,10500,0.000,0.067,2924,3525,2105,2193,2017,0,0,0,0,0,0,15.19,14.74,14.16
$GC,2136,0.58,170.1,2924,3525,2193,2017,150.2,11.0,216,2144,0.00,2.30,0.00,0.000,5126,0.000,0.049,2935,2166,2105,2193,2017,0,0,0,0,0,0,14.90,14.85,14.92
$GC,2386,0.60,208.9,2935,2166,2193,2017,128.1,8.1,241,2423,0.00,0.00,31.38,1.014,10758,0.000,0.000,2935,2166,1947,2028,1866,0,0,0,0,0,0,15.25,14.83,14.23
$GC,2664,0.63,244.5,2934,2166,2028,1861,101.5,8.3,269,2704,0.00,2.50,28.48,0.995,10756,0.000,0.063,2947,712,1801,1884,1718,0,0,0,0,0,0,15.23,14.83,14.21
$GC,2720,0.64,271.8,2946,712,1879,1718,96.9,8.7,274,2748,0.00,2.42,22.60,0.966,11270,0.000,0.059,2946,2126,1690,1779,1601,0,0,0,0,0,0,14.95,14.82,14.13
$GC,2988,0.65,287.7,2946,2126,1779,1596,68.9,9.3,301,3008,0.00,2.38,13.23,0.917,10500,0.000,0.066,2947,3536,1625,1719,1532,0,0,0,0,0,0,15.21,14.63,14.18
$GC,3035,0.65,287.7,2946,3536,1719,1532,64.3,10.4,305,3043,0.00,2.38,0.00,0.000,1030,0.000,0.053,2957,2122,1626,1719,1533,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3283,0.65,287.7,2956,2121,1719,1531,36.4,12.1,330,3293,0.00,2.30,0.00,0.000,516,0.000,0.061,2968,731,1625,1719,1531,0,0,0,0,0,0,15.21,14.62,15.23
$GC,3337,0.65,287.7,2968,730,1715,1531,30.2,11.4,335,3342,0.00,2.35,0.00,0.000,5126,0.000,0.057,2968,2125,1623,1716,1531,0,0,0,0,0,0,15.04,14.90,15.05
$STATE,3583,end climb,SURFACE_DEPTH_REACHED
$STATE,3583,begin surface coast
$FINISH,0.4,1.011897
$STATE,3614,end surface coast,CONTROL_FINISHED_OK
$STATE,3614,begin surface
$SM_CCo,3631,46.60,0.188,0,0,1169,400.08
$SM_GC,1.27,6.38,0.22,46.60,0.042,0.085,0.188,163,2284,1169,-7.95,-0.88,400.08,0,0,0,0,0,0,14.95,14.95,14.66
$IRIDIUM_FIX,2234.68,-15800.20,011021,164600
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.20
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,13.41,152.726
$10V_AH,11.90,0.000
$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,15.700,43.250,329.625,46.600,0.000,27.084,48.486,119.818,0.250,0.000,22.924,992.059,1352.432,401.332,1148.047,139.019,0.000,860.520,0.000,940.129,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,149.940,1087.065,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.076,276.306,525.310,476.975,554.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,33936,385
$CAP_FILE_SIZE,61730,0
$CFSIZE,1023623168,959430656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,266.26,1
$GPS,011021,175319,2245.110,-15801.276,9,0.8,39,9.8,0.4,281.8,10,5.7