version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 670
start: 10 2 121 11 13 42
data:
$ID,626
$MISSION,3
$DIVE,670
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,021021,110731,2244.7090,-15801.4883,8,0.9,31,9.8,0.2,353.8,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.7
$GPS2,021021,111253,2244.7356,-15801.5459,8,0.9,22,9.8,0.0,164.6,9,9.5
$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,88.6,2686,-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,14,begin dive
$GC,16,-0.55,-116.8,124,2260,1206,1081,0.0,0.0,0,80,0.00,0.00,-61.45,0.000,16386,0.000,0.000,124,2261,3089,3059,3119,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2261,3060,3120,3.1,-4.5,9,107,8.40,2.38,-3.12,0.000,18948,0.430,0.069,2572,845,3280,3257,3303,0,0,0,0,0,0,14.23,13.38,14.51
$GC,115,-0.55,-116.8,2571,845,3261,3300,17.6,-39.3,13,122,0.00,2.45,0.00,0.000,3078,0.000,0.057,2563,2271,3280,3263,3297,0,0,0,0,0,0,14.97,14.83,14.99
$GC,367,-0.55,-116.8,2563,2273,3266,3295,73.9,-21.1,42,377,0.00,2.38,0.00,0.000,2564,0.000,0.059,2563,854,3281,3267,3295,0,0,0,0,0,0,15.24,14.60,15.25
$GC,402,-0.55,-116.8,2562,854,3267,3295,80.8,-20.0,45,411,0.05,2.38,0.00,0.000,3078,0.328,0.063,2570,2260,3281,3268,3294,0,0,0,0,0,0,14.50,14.73,14.66
$GC,652,-0.55,-116.8,2570,2262,3267,3294,121.8,-13.9,70,663,0.00,2.33,0.00,0.000,2564,0.000,0.053,2571,858,3280,3267,3294,0,0,0,0,0,0,15.28,14.64,15.28
$GC,689,-0.55,-116.8,2570,858,3268,3295,126.2,-12.8,73,696,0.00,2.40,0.00,0.000,3078,0.000,0.060,2562,2281,3280,3268,3293,0,0,0,0,0,0,15.04,14.90,15.07
$GC,936,-0.55,-116.8,2561,2281,3268,3294,161.3,-13.2,98,946,0.00,2.40,0.00,0.000,2564,0.000,0.054,2561,843,3281,3269,3294,0,0,0,0,0,0,15.29,14.94,15.28
$GC,963,-0.55,-116.8,2561,842,3269,3294,164.3,-13.0,100,972,0.05,2.38,0.00,0.000,3078,0.366,0.062,2570,2264,3281,3270,3293,0,0,0,0,0,0,14.71,14.91,14.94
$GC,1212,-0.55,-116.8,2570,2265,3271,3292,194.5,-12.6,125,1220,0.00,2.35,0.00,0.000,2564,0.000,0.053,2570,849,3282,3271,3293,0,0,0,0,0,0,15.29,14.78,15.30
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1271,-0.13,0.0,2562,2127,3270,3292,200.7,-11.3,130,1368,0.38,0.00,93.22,1.084,10246,0.228,0.000,2707,2128,2798,2863,2734,0,0,0,0,0,0,14.54,14.65,14.01
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1371,0.55,116.8,2707,2128,2863,2733,205.5,0.0,140,1476,0.47,2.42,95.65,1.072,10756,0.145,0.050,2925,709,2320,2404,2237,0,0,0,0,0,0,14.59,14.37,13.91
$GC,1990,0.59,178.1,2924,708,2389,2234,167.0,6.9,201,2049,0.00,2.38,48.67,1.046,11270,0.000,0.051,2924,2135,2072,2160,1984,0,0,0,0,0,0,15.04,14.93,14.15
$GC,2291,0.61,220.9,2924,2135,2160,1978,143.5,7.9,231,2332,0.00,2.40,34.10,1.017,10500,0.000,0.067,2924,3535,1897,1980,1814,0,0,0,0,0,0,15.21,14.79,14.18
$GC,2649,0.65,277.0,2924,3535,1979,1814,111.8,7.2,266,2700,0.00,2.33,44.90,0.985,11270,0.000,0.049,2936,2121,1667,1759,1575,0,0,0,0,0,0,14.71,14.66,14.18
$GC,2940,0.67,323.9,2935,2121,1760,1571,89.1,7.7,295,2982,0.00,2.35,36.78,0.960,10756,0.000,0.063,2947,720,1477,1570,1384,0,0,0,0,0,0,15.21,14.78,14.20
$GC,3023,0.70,370.3,2946,719,1566,1385,83.0,7.7,303,3071,0.00,2.40,36.65,0.942,11270,0.000,0.058,2947,2127,1288,1384,1192,0,0,0,0,0,0,14.92,14.81,14.12
$GC,3312,0.76,462.4,2946,2127,1384,1187,65.0,5.4,332,3392,0.08,2.45,69.68,0.929,10500,0.193,0.070,3084,3535,914,1018,810,0,0,0,0,0,0,14.88,14.62,14.14
$GC,3409,0.76,462.4,3084,3536,1017,810,50.4,18.3,341,3419,0.25,2.42,0.00,0.000,5126,0.237,0.056,2990,2132,914,1017,811,0,0,0,0,0,0,14.53,14.69,14.74
$GC,3663,0.77,484.9,2989,2129,1017,806,20.5,8.9,374,3678,0.00,2.42,9.50,0.786,10756,0.000,0.063,2999,717,820,935,706,0,0,0,0,0,0,15.17,14.85,14.26
$GC,3734,0.81,550.8,2998,716,928,706,14.3,6.7,386,3764,0.00,2.42,22.23,0.243,11270,0.000,0.058,2999,2129,597,700,494,0,0,0,0,0,0,14.97,14.84,14.61
$STATE,3828,end climb,SURFACE_DEPTH_REACHED
$STATE,3828,begin surface coast
$FINISH,0.2,1.023155
$STATE,3852,end surface coast,CONTROL_FINISHED_OK
$STATE,3852,begin surface
$SM_CCo,3929,0.00,0.000,0,0,595,540.88
$SM_GC,1.14,6.40,0.22,0.00,0.037,0.080,0.000,149,2285,595,-7.91,-0.76,540.88,0,0,0,0,0,0,14.96,14.92,15.00
$IRIDIUM_FIX,2234.68,-15802.37,021021,110856
$TT8_MAMPS,0.02247,0.356524
$HUMID,52.24
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.38,155.338
$10V_AH,12.82,0.000
$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,16.075,47.825,491.375,0.000,0.000,25.669,41.990,124.912,0.500,0.000,23.081,1017.362,1396.434,461.303,1264.645,142.491,0.000,1014.889,0.000,1048.509,0.000,0.556,0.000
$DEVICE_MAMPS,429.930,79.560,1084.005,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.131,288.781,550.309,489.112,560.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,37151,406
$CAP_FILE_SIZE,64215,0
$CFSIZE,1023623168,958382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,300.73,1
$GPS,021021,122007,2244.845,-15801.484,8,1.0,22,9.8,0.0,328.3,8,8.9