version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 663
start: 10 2 121 3 0 52
data:
$ID,626
$MISSION,3
$DIVE,663
$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,64
$R_STBD_OVSHOOT,73
$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
$GPS1,021021,025454,2244.8921,-15759.7246,8,0.8,15,9.8,0.0,318.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.3
$GPS2,021021,025959,2244.8887,-15759.7412,8,0.8,15,9.8,0.0,315.7,9,9.9
$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,282.4,488,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,124,2232,1198,1117,0.0,0.0,0,82,0.00,0.00,-63.72,0.000,16386,0.000,0.000,124,2232,3245,3209,3281,0,0,0,0,0,0,15.19,28.83,15.19
$GC,86,-0.58,-116.8,124,2232,3209,3282,4.3,-8.6,9,102,8.43,2.25,-0.47,0.000,19204,0.435,0.059,2564,859,3278,3249,3308,0,0,0,0,0,0,14.23,13.42,14.52
$GC,250,-0.58,-116.8,2564,858,3262,3296,47.8,-17.7,30,254,0.00,2.30,0.00,0.000,3078,0.000,0.058,2555,2224,3279,3263,3295,0,0,0,0,0,0,15.01,14.87,15.02
$GC,505,-0.58,-116.8,2555,2225,3266,3294,102.7,-20.1,55,513,0.00,2.25,0.00,0.000,2564,0.000,0.059,2555,881,3279,3266,3293,0,0,0,0,0,0,15.26,14.78,15.26
$GC,529,-0.58,-116.8,2555,881,3266,3292,106.9,-18.4,57,536,0.05,2.33,0.00,0.000,3078,0.417,0.057,2561,2267,3279,3266,3293,0,0,0,0,0,0,14.63,14.90,14.90
$GC,778,-0.58,-116.8,2561,2269,3267,3293,144.0,-14.6,82,783,0.00,2.33,0.00,0.000,2564,0.000,0.057,2561,881,3280,3267,3293,0,0,0,0,0,0,15.28,14.92,15.28
$GC,841,-0.58,-116.8,2561,881,3267,3293,152.6,-12.6,88,846,0.00,2.33,0.00,0.000,3078,0.000,0.060,2552,2264,3279,3267,3292,0,0,0,0,0,0,15.06,14.92,15.07
$GC,1096,-0.58,-116.8,2552,2265,3267,3291,185.3,-13.0,113,1104,0.00,2.30,0.00,0.000,2564,0.000,0.057,2552,884,3278,3267,3290,0,0,0,0,0,0,15.28,14.78,15.29
$GC,1148,-0.58,-116.8,2552,884,3267,3291,191.7,-12.0,118,1154,0.05,2.33,0.00,0.000,3078,0.411,0.059,2558,2269,3278,3267,3290,0,0,0,0,0,0,14.66,14.92,14.92
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1230,begin apogee
$GC,1236,-0.13,0.0,2558,2104,3267,3290,200.8,-11.2,126,1333,0.38,0.00,92.70,1.086,10246,0.249,0.000,2700,2101,2798,2864,2733,0,0,0,0,0,0,14.38,14.65,14.02
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1336,0.58,116.8,2701,2101,2864,2733,204.7,0.0,136,1442,0.52,2.25,95.75,1.076,10756,0.149,0.052,2935,755,2319,2401,2238,0,0,0,0,0,0,14.53,14.57,13.95
$GC,1589,0.61,165.0,2935,755,2390,2237,195.6,7.4,161,1636,0.00,2.30,38.67,1.061,11270,0.000,0.052,2935,2129,2128,2215,2041,0,0,0,0,0,0,14.94,14.82,14.04
$GC,1878,0.61,165.0,2935,2128,2215,2035,164.6,12.0,190,1882,0.00,2.33,0.00,0.000,2564,0.000,0.057,2946,752,2125,2215,2035,0,0,0,0,0,0,15.19,14.87,15.19
$GC,1911,0.61,165.0,2946,752,2209,2035,160.7,11.5,193,1919,0.00,2.30,0.00,0.000,5126,0.000,0.057,2946,2123,2122,2209,2035,0,0,0,0,0,0,14.83,14.77,14.84
$GC,2162,0.63,196.9,2946,2123,2209,2035,135.1,8.3,218,2194,0.00,2.35,26.15,1.019,10500,0.000,0.067,2946,3537,1995,2078,1912,0,0,0,0,0,0,15.24,14.87,14.22
$GC,2238,0.63,203.2,2946,3536,2079,1912,128.1,9.7,225,2251,0.00,2.25,7.03,0.886,13318,0.000,0.047,2956,2165,1969,2051,1887,0,0,0,0,0,0,14.84,14.79,14.14
$GC,2499,0.63,203.2,2956,2164,2051,1882,101.1,11.1,251,2509,0.00,2.40,0.00,0.000,4612,0.000,0.061,2968,723,1965,2048,1882,0,0,0,0,0,0,15.23,14.74,15.24
$GC,2585,0.63,203.2,2967,723,2042,1882,91.4,11.0,259,2593,0.05,2.38,0.00,0.000,5126,0.369,0.057,2950,2132,1962,2043,1882,0,0,0,0,0,0,14.69,14.91,14.95
$GC,2836,0.66,255.5,2949,2134,2043,1882,68.4,7.1,284,2884,0.00,2.38,40.60,0.955,10500,0.000,0.064,2949,3545,1755,1841,1670,0,0,0,0,0,0,15.26,14.62,14.19
$GC,2955,0.67,257.8,2949,3545,1841,1670,58.3,10.0,295,2964,0.00,2.38,0.00,0.000,3078,0.000,0.049,2959,2127,1755,1841,1670,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3205,0.67,257.8,2959,2127,1841,1669,32.0,10.8,320,3214,0.00,2.35,0.00,0.000,2564,0.000,0.061,2970,720,1753,1839,1668,0,0,0,0,0,0,15.22,14.60,15.22
$GC,3255,0.67,257.8,2970,720,1836,1668,26.3,10.9,327,3263,0.00,2.42,0.00,0.000,5126,0.000,0.057,2970,2134,1752,1836,1668,0,0,0,0,0,0,15.00,14.86,15.02
$STATE,3476,end climb,SURFACE_DEPTH_REACHED
$STATE,3476,begin surface coast
$FINISH,0.3,1.023075
$STATE,3512,end surface coast,CONTROL_FINISHED_OK
$STATE,3512,begin surface
$SM_CCo,3529,59.88,0.189,0,0,1165,400.08
$SM_GC,1.57,6.47,0.20,59.88,0.063,0.084,0.189,168,2277,1165,-7.91,-0.99,400.08,0,0,0,0,0,0,14.99,14.96,14.65
$IRIDIUM_FIX,2234.68,-15800.20,021021,025616
$TT8_MAMPS,0.02247,0.289863
$HUMID,51.92
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.42,154.099
$10V_AH,12.00,0.000
$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,15.950,46.950,300.900,59.875,0.000,25.878,50.182,106.187,0.000,0.000,16.340,984.670,1303.054,388.848,1120.664,136.789,0.000,837.202,0.000,922.830,0.000,0.554,0.000
$DEVICE_MAMPS,435.285,130.050,1086.300,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,247.360,267.169,514.009,468.872,545.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,33935,374
$CAP_FILE_SIZE,63274,0
$CFSIZE,1023623168,958840832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,201.95,1
$GPS,021021,040201,2244.888,-15800.143,8,0.9,41,9.8,0.5,323.1,9,5.0