version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 664
start: 10 2 121 4 8 0
data:
$ID,626
$MISSION,3
$DIVE,664
$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,41
$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
$GPS1,021021,040201,2244.8882,-15800.1426,8,0.9,41,9.8,0.5,323.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.4
$GPS2,021021,040708,2244.8782,-15800.1553,7,0.8,19,9.8,0.4,181.2,10,10.0
$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,32.5,349,-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,-116.8,124,2287,1197,1118,0.0,0.0,0,75,0.00,0.00,-56.42,0.000,16386,0.000,0.000,124,2288,2932,2914,2950,0,0,0,0,0,0,15.19,28.83,15.20
$GC,78,-0.58,-116.8,123,2287,2914,2951,3.0,-5.2,8,102,8.40,2.30,-5.93,0.000,19204,0.434,0.072,2543,3669,3276,3257,3295,0,0,0,0,0,0,14.26,13.94,14.52
$GC,110,-0.58,-116.8,2543,3669,3257,3295,15.3,-34.9,12,118,0.05,2.40,0.00,0.000,3078,0.419,0.049,2557,2245,3276,3258,3294,0,0,0,0,0,0,14.57,14.83,14.84
$GC,362,-0.58,-116.8,2557,2242,3262,3290,73.6,-22.6,42,366,0.00,2.30,0.00,0.000,2564,0.000,0.057,2558,857,3275,3261,3290,0,0,0,0,0,0,15.24,14.88,15.25
$GC,445,-0.58,-116.8,2557,856,3263,3290,88.2,-16.3,50,450,0.00,2.35,0.00,0.000,3078,0.000,0.059,2549,2251,3276,3264,3289,0,0,0,0,0,0,15.03,14.89,15.05
$GC,702,-0.58,-116.8,2549,2252,3266,3289,132.0,-15.8,75,710,0.00,2.33,0.00,0.000,2564,0.000,0.055,2549,855,3277,3266,3289,0,0,0,0,0,0,15.27,14.77,15.27
$GC,737,-0.58,-116.8,2548,855,3266,3289,137.8,-16.4,78,745,0.08,2.42,0.00,0.000,3078,0.350,0.060,2564,2271,3277,3266,3288,0,0,0,0,0,0,14.62,14.88,14.89
$GC,986,-0.58,-116.8,2563,2272,3266,3288,169.1,-11.1,103,995,0.00,2.35,0.00,0.000,260,0.000,0.070,2554,3677,3278,3267,3289,0,0,0,0,0,0,15.28,14.72,15.28
$GC,1007,-0.58,-116.8,2554,3676,3266,3288,171.7,-11.0,105,1017,0.00,2.30,0.00,0.000,3078,0.000,0.044,2554,2263,3277,3266,3288,0,0,0,0,0,0,15.08,14.98,15.10
$STATE,1235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1243,-0.13,0.0,2554,2080,3266,3288,201.5,-14.6,128,1340,0.40,0.10,92.20,1.095,10246,0.261,0.124,2703,2161,2798,2864,2733,0,0,0,0,0,0,14.46,14.65,14.00
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,0.58,116.8,2703,2160,2863,2732,207.6,0.0,138,1448,0.52,2.28,96.03,1.076,11012,0.144,0.057,2925,3512,2321,2404,2238,0,0,0,0,0,0,14.59,14.38,13.91
$GC,1456,0.71,329.1,2924,3512,2404,2240,210.0,-2.0,149,1635,0.08,2.22,167.95,1.069,11270,0.174,0.039,3033,2162,1456,1542,1370,0,0,0,0,0,0,14.62,14.64,13.93
$GC,1877,0.71,329.1,3033,2162,1542,1365,146.5,15.9,191,1887,0.12,2.25,0.00,0.000,4356,0.279,0.060,2980,3505,1453,1542,1365,0,0,0,0,0,0,14.65,14.72,14.79
$GC,2076,0.71,329.1,2980,3504,1542,1365,119.7,12.8,210,2084,0.00,2.33,0.00,0.000,5126,0.000,0.050,2989,2140,1453,1542,1365,0,0,0,0,0,0,14.83,14.76,14.86
$GC,2326,0.71,329.1,2989,2139,1542,1365,87.8,13.0,235,2335,0.00,2.38,0.00,0.000,4612,0.000,0.062,3000,715,1453,1542,1364,0,0,0,0,0,0,15.25,14.76,15.26
$GC,2369,0.71,329.1,3000,714,1541,1364,81.9,13.1,239,2380,0.05,2.30,0.00,0.000,5126,0.270,0.056,2980,2096,1451,1540,1363,0,0,0,0,0,0,14.58,14.79,14.69
$GC,2620,0.71,329.1,2980,2098,1541,1363,53.1,11.3,264,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2098,1452,1541,1363,0,0,0,0,0,0,15.26,15.27,15.27
$GC,2860,0.71,329.1,2980,2098,1540,1362,26.8,10.9,290,2868,0.00,2.45,0.00,0.000,260,0.000,0.069,2980,3542,1451,1541,1362,0,0,0,0,0,0,15.26,14.88,15.26
$GC,2986,0.71,329.1,2980,3542,1541,1362,11.9,11.2,313,2994,0.00,2.40,0.00,0.000,5126,0.000,0.051,2990,2123,1451,1541,1362,0,0,0,0,0,0,15.02,14.87,15.03
$STATE,3055,end climb,SURFACE_DEPTH_REACHED
$STATE,3055,begin surface coast
$FINISH,0.2,1.021134
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3079,begin surface
$SM_CCo,3095,29.33,0.187,0,0,1167,400.08
$SM_GC,1.31,6.30,0.25,29.33,0.028,0.074,0.187,165,2285,1167,-7.89,-0.93,400.08,0,0,0,0,0,0,15.00,14.97,14.67
$IRIDIUM_FIX,2234.68,-15800.20,021021,040322
$TT8_MAMPS,0.021721,0.316078
$HUMID,52.87
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,13.91,154.260
$10V_AH,13.00,0.000
$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,16.000,37.900,356.175,29.325,0.000,26.426,47.425,109.289,0.250,0.000,20.370,840.019,1105.630,394.364,1002.375,127.830,0.000,805.778,0.000,805.977,0.000,0.554,0.000
$DEVICE_MAMPS,433.755,123.930,1095.480,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,216.098,233.582,452.025,419.250,488.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,30673,329
$CAP_FILE_SIZE,54524,0
$CFSIZE,1023623168,958791680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,209.44,1
$GPS,021021,050058,2244.947,-15800.084,7,1.0,16,9.8,0.0,215.9,8,9.7