version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 668
start: 10 2 121 8 45 53
data:
$ID,626
$MISSION,3
$DIVE,668
$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,32
$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
$GPS1,021021,084001,2244.4182,-15800.8320,8,0.8,31,9.8,0.7,272.0,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.7
$GPS2,021021,084503,2244.4165,-15800.9102,8,0.8,15,9.8,0.7,157.7,10,9.8
$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,57.0,1893,-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,16,-0.55,-116.8,123,2306,1208,1109,0.0,0.0,0,80,0.00,0.00,-61.25,0.000,16386,0.000,0.000,124,2306,3145,3110,3180,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2306,3110,3181,3.8,-7.5,9,98,8.45,0.00,-2.12,0.000,18438,0.436,0.000,2563,2304,3279,3251,3308,0,0,0,0,0,0,14.23,13.45,14.51
$GC,350,-0.55,-116.8,2562,2305,3265,3297,70.6,-19.5,41,359,0.00,2.42,0.00,0.000,2564,0.000,0.057,2563,849,3281,3266,3296,0,0,0,0,0,0,15.24,14.59,15.24
$GC,414,-0.55,-116.8,2563,848,3267,3296,81.6,-15.7,47,423,0.05,2.30,0.00,0.000,3078,0.315,0.062,2573,2224,3281,3268,3294,0,0,0,0,0,0,14.49,14.74,14.66
$GC,665,-0.55,-116.8,2572,2226,3268,3294,115.4,-12.7,72,669,0.00,2.28,0.00,0.000,516,0.000,0.050,2573,851,3281,3268,3294,0,0,0,0,0,0,15.27,14.94,15.27
$GC,699,-0.55,-116.8,2573,851,3269,3295,119.8,-13.0,75,706,0.00,2.38,0.00,0.000,3078,0.000,0.060,2563,2266,3281,3269,3294,0,0,0,0,0,0,15.05,14.91,15.07
$GC,948,-0.55,-116.8,2564,2267,3270,3294,152.0,-12.8,100,953,0.00,2.38,0.00,0.000,2308,0.000,0.069,2553,3685,3282,3270,3294,0,0,0,0,0,0,15.29,14.90,15.29
$GC,964,-0.55,-116.8,2552,3685,3270,3294,153.6,-12.7,101,971,0.05,2.33,0.00,0.000,3078,0.339,0.046,2573,2262,3282,3269,3295,0,0,0,0,0,0,14.73,14.95,14.95
$GC,1211,-0.55,-116.8,2573,2258,3270,3294,180.0,-11.1,126,1216,0.00,2.33,0.00,0.000,516,0.000,0.054,2573,849,3282,3270,3294,0,0,0,0,0,0,15.30,14.94,15.30
$GC,1224,-0.55,-116.8,2573,848,3270,3294,181.4,-11.3,127,1233,0.00,2.40,0.00,0.000,3078,0.000,0.059,2564,2275,3282,3271,3293,0,0,0,0,0,0,15.07,14.92,15.09
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1398,-0.13,0.0,2565,2092,3271,3293,201.0,-12.1,144,1495,0.35,0.00,93.25,1.086,10246,0.238,0.000,2699,2088,2799,2864,2734,0,0,0,0,0,0,14.40,14.66,14.01
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1498,0.55,116.8,2699,2088,2864,2734,205.9,0.0,154,1604,0.50,2.25,95.88,1.072,10756,0.151,0.052,2924,746,2320,2401,2239,0,0,0,0,0,0,14.58,14.57,13.95
$GC,1663,0.60,200.0,2923,746,2392,2239,204.6,5.8,170,1743,0.00,2.35,66.55,1.063,11270,0.000,0.050,2924,2137,1982,2060,1904,0,0,0,0,0,0,14.85,14.73,13.97
$GC,1982,0.60,200.0,2923,2138,2059,1899,171.5,10.5,202,1991,0.00,2.33,0.00,0.000,2308,0.000,0.068,2924,3526,1979,2060,1899,0,0,0,0,0,0,15.18,14.72,15.18
$GC,2504,0.63,243.4,2923,3526,2059,1899,121.9,7.9,253,2545,0.00,2.25,34.95,1.006,11270,0.000,0.050,2934,2155,1804,1887,1722,0,0,0,0,0,0,14.86,14.82,14.21
$GC,2784,0.65,277.6,2934,2155,1887,1716,100.9,8.3,281,2823,0.00,2.42,27.62,0.972,10756,0.000,0.060,2946,711,1665,1756,1575,0,0,0,0,0,0,15.23,14.67,14.21
$GC,2989,0.67,308.3,2946,712,1748,1576,83.6,8.5,301,3020,0.00,2.38,25.02,0.946,11270,0.000,0.057,2946,2127,1541,1636,1447,0,0,0,0,0,0,14.81,14.74,14.21
$GC,3260,0.70,369.4,2945,2126,1635,1443,63.6,6.9,328,3320,0.00,2.38,47.58,0.936,10500,0.000,0.068,2945,3533,1290,1386,1195,0,0,0,0,0,0,15.21,14.62,14.19
$GC,3397,0.72,395.1,2946,3533,1387,1195,52.1,8.8,341,3428,0.00,2.35,20.08,0.897,11270,0.000,0.052,2955,2126,1191,1288,1094,0,0,0,0,0,0,14.65,14.59,14.10
$GC,3668,0.75,442.7,2955,2123,1288,1089,31.4,7.6,368,3709,0.05,2.42,34.75,0.887,10756,0.259,0.063,3078,716,992,1093,892,0,0,0,0,0,0,14.87,14.79,14.24
$STATE,3844,end climb,SURFACE_DEPTH_REACHED
$STATE,3844,begin surface coast
$FINISH,0.3,1.021228
$STATE,3860,end surface coast,CONTROL_FINISHED_OK
$STATE,3860,begin surface
$SM_CCo,3940,0.00,0.000,0,0,987,444.72
$SM_GC,1.13,6.60,2.65,0.00,0.044,0.049,0.000,163,2278,987,-7.89,-0.76,444.72,0,0,0,0,0,0,14.93,14.88,14.97
$IRIDIUM_FIX,2234.68,-15800.20,021021,084125
$TT8_MAMPS,0.02247,0.293608
$HUMID,53.46
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.45,154.961
$10V_AH,12.85,0.000
$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,16.050,42.825,445.675,0.000,0.000,31.440,41.992,114.214,0.250,0.000,16.177,1019.779,1470.405,421.794,1229.628,133.180,0.000,947.469,0.000,1029.801,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,68.850,1086.300,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.897,287.520,540.364,485.523,562.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,37496,401
$CAP_FILE_SIZE,59945,0
$CFSIZE,1023623168,958513152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.181,271.93,1
$GPS,021021,095225,2244.508,-15801.258,8,0.9,19,9.8,0.6,295.2,8,9.3