version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 672
start: 10 2 121 13 36 17
data:
$ID,626
$MISSION,3
$DIVE,672
$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,35
$R_STBD_OVSHOOT,50
$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
$GPS1,021021,133019,2245.0496,-15801.3975,8,0.9,39,9.8,0.4,313.4,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.3
$GPS2,021021,133525,2245.0750,-15801.4287,8,0.9,17,9.8,0.7,235.2,9,9.5
$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,108.0,2445,-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,-116.8,124,2297,1212,1107,0.0,0.0,0,82,0.00,0.00,-63.50,0.000,16386,0.000,0.000,123,2298,3199,3161,3238,0,0,0,0,0,0,15.19,28.83,15.19
$GC,85,-0.55,-116.8,123,2298,3161,3238,3.8,-7.9,9,101,8.43,2.42,-1.23,0.000,18948,0.432,0.060,2576,830,3280,3248,3312,0,0,0,0,0,0,14.23,13.42,14.52
$GC,140,-0.55,-116.8,2576,825,3261,3299,26.0,-24.5,18,148,0.00,2.47,0.00,0.000,3078,0.000,0.073,2567,2232,3280,3263,3297,0,0,0,0,0,0,14.83,14.76,14.87
$GC,399,-0.55,-116.8,2567,2233,3267,3295,80.0,-19.7,45,405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2567,2233,3281,3267,3295,0,0,0,0,0,0,15.24,15.25,15.24
$GC,647,-0.55,-116.8,2566,2233,3267,3295,118.3,-12.7,70,657,0.00,2.28,0.00,0.000,2564,0.000,0.053,2567,849,3281,3267,3295,0,0,0,0,0,0,15.28,14.80,15.28
$GC,673,-0.55,-116.8,2566,849,3267,3295,121.6,-13.4,72,682,0.03,2.47,0.00,0.000,3078,0.394,0.062,2567,2276,3281,3267,3295,0,0,0,0,0,0,14.57,14.77,14.71
$GC,923,-0.55,-116.8,2567,2280,3267,3295,158.3,-15.8,97,932,0.00,2.35,0.00,0.000,2564,0.000,0.051,2567,849,3280,3268,3292,0,0,0,0,0,0,15.28,14.79,15.28
$GC,947,-0.55,-116.8,2567,849,3268,3295,162.2,-15.9,99,955,0.00,2.45,0.00,0.000,3078,0.000,0.063,2557,2255,3281,3268,3294,0,0,0,0,0,0,14.87,14.77,14.90
$GC,1197,-0.55,-116.8,2557,2256,3268,3294,196.1,-13.0,124,1207,0.00,2.33,0.00,0.000,2564,0.000,0.053,2558,851,3281,3268,3294,0,0,0,0,0,0,15.28,14.81,15.29
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1237,-0.13,0.0,2548,2138,3268,3293,200.7,-13.2,127,1339,0.40,0.00,93.30,1.082,10246,0.242,0.000,2699,2138,2798,2864,2732,0,0,0,0,0,0,14.50,14.65,14.02
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1342,0.55,116.8,2700,2138,2864,2732,204.8,0.0,138,1446,0.50,2.40,96.07,1.071,10500,0.146,0.063,2914,3560,2321,2405,2238,0,0,0,0,0,0,14.58,14.57,13.94
$GC,1713,0.57,156.5,2914,3560,2405,2238,180.1,8.1,174,1754,0.00,2.42,32.60,1.047,11270,0.000,0.044,2925,2120,2160,2250,2071,0,0,0,0,0,0,14.99,14.84,14.14
$GC,1994,0.59,187.4,2925,2119,2249,2067,158.1,8.5,202,2025,0.00,2.35,25.42,1.027,10756,0.000,0.057,2936,726,2034,2123,1945,0,0,0,0,0,0,15.21,14.81,14.19
$GC,2536,0.62,237.3,2936,726,2109,1943,115.1,7.5,255,2583,0.00,2.35,39.00,1.001,11270,0.000,0.054,2936,2134,1831,1917,1745,0,0,0,0,0,0,15.05,14.92,14.21
$GC,2823,0.65,277.8,2936,2134,1917,1740,91.2,8.0,284,2863,0.00,2.40,32.60,0.970,10756,0.000,0.057,2947,718,1665,1760,1571,0,0,0,0,0,0,15.21,14.65,14.21
$GC,3034,0.67,319.2,2947,718,1751,1571,75.4,8.0,304,3074,0.00,2.42,32.75,0.949,11270,0.000,0.056,2947,2117,1496,1593,1400,0,0,0,0,0,0,14.99,14.80,14.19
$GC,3314,0.71,385.3,2947,2117,1592,1395,55.8,6.7,332,3372,0.05,0.00,51.20,0.929,10246,0.259,0.000,3058,2117,1226,1321,1132,0,0,0,0,0,0,14.87,14.52,14.14
$GC,3617,0.71,385.3,3058,2118,1321,1127,7.6,19.9,374,3625,0.20,0.00,0.00,0.000,4102,0.257,0.000,2980,2119,1223,1321,1126,0,0,0,0,0,0,14.46,14.69,14.61
$STATE,3646,end climb,SURFACE_DEPTH_REACHED
$STATE,3646,begin surface coast
$FINISH,0.2,1.023098
$STATE,3664,end surface coast,CONTROL_FINISHED_OK
$STATE,3664,begin surface
$SM_CCo,3680,5.53,0.211,0,0,1168,400.08
$SM_GC,1.43,6.30,0.22,5.53,0.028,0.068,0.211,183,2297,1168,-7.90,-1.05,400.08,0,0,0,0,0,0,14.98,14.96,14.66
$IRIDIUM_FIX,2237.01,-15759.32,021021,133156
$TT8_MAMPS,0.02247,0.341544
$HUMID,53.46
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.42,155.681
$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,15.900,33.550,402.950,5.525,0.000,33.170,50.727,106.977,0.250,0.000,18.658,980.880,1331.887,407.606,1177.974,132.139,0.000,897.225,0.000,979.326,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,73.440,1081.710,211.140,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,251.484,275.917,517.827,456.204,521.639,0.000,0.000,0.000,0.000,0.000
$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,34060,382
$CAP_FILE_SIZE,57233,0
$CFSIZE,1023623168,958251008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.098,296.90,1
$GPS,021021,143836,2244.969,-15801.368,8,1.0,17,9.8,0.0,292.8,8,9.8