version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 666
start: 10 2 121 6 19 22
data:
$ID,626
$MISSION,3
$DIVE,666
$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,36
$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
$GPS1,021021,061331,2244.7156,-15800.2188,7,0.9,31,9.8,0.5,121.3,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.4
$GPS2,021021,061830,2244.7012,-15800.2617,7,0.9,15,9.8,0.7,257.0,9,9.1
$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,21.1,711,-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,-116.8,124,2303,1203,1113,0.0,0.0,0,75,0.00,0.00,-56.67,0.000,16386,0.000,0.000,124,2304,2951,2930,2972,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,124,2304,2931,2972,3.2,-5.6,8,101,8.38,2.25,-5.57,0.000,18692,0.428,0.070,2557,3670,3276,3256,3297,0,0,0,0,0,0,14.23,13.93,14.50
$GC,157,-0.55,-116.8,2557,3669,3258,3295,23.0,-14.0,21,165,0.05,2.38,0.00,0.000,3078,0.359,0.046,2576,2264,3277,3261,3293,0,0,0,0,0,0,14.63,14.81,14.86
$GC,415,-0.55,-116.8,2575,2261,3263,3290,70.6,-17.5,50,419,0.00,2.33,0.00,0.000,260,0.000,0.064,2567,3662,3276,3263,3290,0,0,0,0,0,0,15.24,14.88,15.25
$GC,491,-0.55,-116.8,2567,3662,3263,3291,81.2,-12.5,57,499,0.00,2.25,0.00,0.000,3078,0.000,0.044,2567,2270,3276,3263,3290,0,0,0,0,0,0,14.86,14.81,14.88
$GC,740,-0.55,-116.8,2566,2269,3263,3291,121.6,-15.9,82,745,0.00,2.33,0.00,0.000,2564,0.000,0.057,2567,859,3277,3265,3290,0,0,0,0,0,0,15.28,14.92,15.29
$GC,824,-0.55,-116.8,2566,858,3266,3290,132.8,-11.5,90,829,0.05,2.33,0.00,0.000,3078,0.380,0.059,2574,2247,3278,3267,3289,0,0,0,0,0,0,14.69,14.92,14.93
$GC,1079,-0.55,-116.8,2574,2249,3267,3290,164.1,-11.5,115,1088,0.00,2.38,0.00,0.000,260,0.000,0.069,2565,3677,3278,3267,3289,0,0,0,0,0,0,15.28,14.73,15.29
$GC,1101,-0.55,-116.8,2564,3675,3267,3289,166.7,-11.4,117,1111,0.00,2.30,0.00,0.000,3078,0.000,0.047,2563,2263,3277,3267,3288,0,0,0,0,0,0,15.08,14.97,15.09
$GC,1353,-0.55,-116.8,2564,2261,3267,3289,194.5,-12.0,142,1358,0.00,2.30,0.00,0.000,2564,0.000,0.056,2564,861,3278,3267,3289,0,0,0,0,0,0,15.29,14.93,15.29
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1412,-0.13,0.0,2555,2127,3267,3288,200.9,-10.7,147,1508,0.38,0.00,92.50,1.083,10246,0.236,0.000,2699,2127,2799,2864,2735,0,0,0,0,0,0,14.38,14.66,14.02
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1511,0.55,116.8,2699,2128,2863,2734,205.1,0.0,157,1617,0.52,2.40,96.15,1.069,10500,0.151,0.065,2920,3537,2322,2405,2239,0,0,0,0,0,0,14.53,14.38,13.93
$GC,1845,0.56,136.4,2920,3537,2405,2241,185.1,9.1,190,1873,0.00,2.30,17.33,1.017,9222,0.000,0.045,2931,2124,2241,2327,2155,0,0,0,0,0,0,14.80,14.76,14.14
$GC,2114,0.60,194.9,2931,2124,2327,2151,163.5,7.1,217,2166,0.00,2.35,46.53,1.043,10756,0.000,0.055,2942,717,2003,2086,1920,0,0,0,0,0,0,15.23,14.60,14.14
$GC,2688,0.63,254.1,2942,716,2071,1918,115.8,7.0,272,2741,0.00,2.35,46.17,1.003,11270,0.000,0.054,2942,2130,1763,1846,1680,0,0,0,0,0,0,15.05,14.93,14.20
$GC,2980,0.66,294.9,2942,2130,1845,1673,92.4,8.0,301,3021,0.00,2.42,32.80,0.967,10756,0.000,0.059,2953,722,1595,1687,1503,0,0,0,0,0,0,15.21,14.81,14.21
$GC,3139,0.67,317.3,2953,722,1681,1504,78.3,8.9,316,3170,0.00,2.33,18.45,0.929,11270,0.000,0.055,2953,2114,1504,1595,1413,0,0,0,0,0,0,14.67,14.62,14.19
$GC,3410,0.69,351.8,2953,2114,1595,1409,54.7,8.3,343,3449,0.00,2.35,27.60,0.917,10756,0.000,0.061,2963,721,1361,1453,1269,0,0,0,0,0,0,15.21,14.83,14.24
$GC,3465,0.71,387.3,2963,721,1454,1269,50.2,8.3,348,3503,0.00,2.45,27.92,0.900,11270,0.000,0.057,2963,2151,1219,1315,1123,0,0,0,0,0,0,14.94,14.80,14.09
$GC,3743,0.72,400.7,2963,2152,1315,1119,26.4,9.4,379,3752,0.00,0.00,5.68,0.763,10246,0.000,0.000,2963,2153,1163,1261,1066,0,0,0,0,0,0,15.19,14.82,14.17
$STATE,3997,end climb,SURFACE_DEPTH_REACHED
$STATE,3998,begin surface coast
$FINISH,0.3,1.001338
$STATE,4026,end surface coast,CONTROL_FINISHED_OK
$STATE,4026,begin surface
$SM_CCo,4103,0.00,0.000,0,0,1161,402.29
$SM_GC,1.23,6.22,0.17,0.00,0.023,0.094,0.000,141,2280,1161,-7.91,-0.93,402.29,0,0,0,0,0,0,14.97,14.95,15.02
$IRIDIUM_FIX,2232.34,-15800.20,021021,061451
$TT8_MAMPS,0.02247,0.289114
$HUMID,52.83
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.93,154.607
$10V_AH,11.95,0.000
$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,15.600,42.100,411.125,0.000,0.000,23.779,48.295,113.279,0.750,0.000,16.352,1115.509,1464.551,394.776,1319.274,142.340,0.000,936.369,0.000,1128.215,0.000,0.556,0.000
$DEVICE_MAMPS,427.635,94.095,1083.240,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.539,309.651,598.267,550.633,640.963,0.000,0.000,0.000,0.000,0.000
$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,40912,432
$CAP_FILE_SIZE,69483,0
$CFSIZE,1023623168,958627840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,230.56,1
$GPS,021021,072837,2244.566,-15800.428,7,0.8,18,9.8,0.6,218.3,9,9.9