version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 674
start: 10 2 121 15 58 23
data:
$ID,626
$MISSION,3
$DIVE,674
$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,33
$R_STBD_OVSHOOT,54
$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
$GPS1,021021,154955,2244.9756,-15801.3770,8,0.8,41,9.8,0.4,119.6,10,6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.2
$GPS2,021021,155734,2244.9714,-15801.4102,8,0.8,16,9.8,0.8,153.8,10,10.0
$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,78.2,2409,-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,-116.8,123,2305,1208,1111,0.0,0.0,0,81,0.00,0.00,-62.85,0.000,16386,0.000,0.000,123,2305,3210,3169,3251,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2306,3170,3251,4.1,-8.8,9,99,8.43,0.00,-1.02,0.000,18950,0.431,0.000,2565,2306,3279,3247,3312,0,0,0,0,0,0,14.22,13.45,14.51
$GC,344,-0.55,-116.8,2565,2306,3262,3297,68.9,-20.8,40,354,0.00,2.40,0.00,0.000,2564,0.000,0.055,2565,861,3278,3261,3296,0,0,0,0,0,0,15.24,14.59,15.24
$GC,425,-0.55,-116.8,2565,860,3266,3295,83.3,-16.1,47,434,0.05,2.33,0.00,0.000,3078,0.398,0.058,2573,2239,3280,3267,3294,0,0,0,0,0,0,14.65,14.89,14.90
$GC,675,-0.55,-116.8,2573,2242,3267,3294,121.1,-12.5,72,685,0.00,2.25,0.00,0.000,516,0.000,0.050,2573,858,3280,3267,3294,0,0,0,0,0,0,15.27,14.85,15.27
$GC,718,-0.55,-116.8,2573,858,3267,3295,126.7,-12.4,76,729,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2262,3280,3267,3294,0,0,0,0,0,0,14.68,14.62,14.71
$GC,968,-0.55,-116.8,2563,2262,3267,3294,158.7,-12.8,101,978,0.00,2.35,0.00,0.000,2564,0.000,0.053,2564,853,3280,3267,3293,0,0,0,0,0,0,15.30,14.94,15.30
$GC,1004,-0.55,-116.8,2563,852,3267,3294,163.3,-13.2,104,1012,0.05,2.38,0.00,0.000,3078,0.383,0.058,2571,2265,3280,3267,3294,0,0,0,0,0,0,14.69,14.92,14.93
$GC,1255,-0.55,-116.8,2571,2266,3267,3293,194.0,-12.4,129,1265,0.00,2.33,0.00,0.000,516,0.000,0.052,2572,849,3280,3268,3293,0,0,0,0,0,0,15.29,14.62,15.30
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1315,-0.13,0.0,2563,2128,3268,3292,200.6,-11.4,134,1412,0.38,0.00,93.45,1.081,10246,0.238,0.000,2707,2129,2798,2863,2734,0,0,0,0,0,0,14.52,14.65,14.01
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1416,0.55,116.8,2707,2129,2863,2734,205.6,0.0,144,1520,0.47,2.42,96.68,1.071,11012,0.134,0.058,2916,3541,2321,2402,2241,0,0,0,0,0,0,14.60,14.58,13.94
$GC,2033,0.59,187.0,2916,3540,2401,2240,165.2,6.5,205,2095,0.00,2.30,55.83,1.044,11270,0.000,0.045,2928,2125,2037,2123,1951,0,0,0,0,0,0,14.86,14.82,14.13
$GC,2334,0.59,187.0,2927,2125,2119,1944,137.5,10.2,235,2343,0.00,2.38,0.00,0.000,2308,0.000,0.065,2928,3533,2031,2119,1944,0,0,0,0,0,0,15.21,14.71,15.21
$GC,2458,0.59,187.0,2927,3531,2119,1944,123.6,11.2,247,2467,0.00,2.30,0.00,0.000,1030,0.000,0.050,2938,2138,2031,2119,1944,0,0,0,0,0,0,14.83,14.78,14.87
$GC,2709,0.60,207.0,2938,2137,2119,1943,97.5,9.1,272,2731,0.00,2.38,15.98,0.956,10500,0.000,0.066,2938,3529,1952,2035,1870,0,0,0,0,0,0,15.26,14.88,14.25
$GC,2769,0.60,207.0,2938,3529,2035,1871,91.2,10.3,278,2779,0.00,2.33,0.00,0.000,5126,0.000,0.050,2949,2116,1953,2035,1872,0,0,0,0,0,0,14.76,14.72,14.79
$GC,3023,0.65,277.4,2949,2115,2035,1868,70.5,6.5,303,3090,0.00,2.42,54.90,0.949,10500,0.000,0.067,2949,3530,1666,1757,1575,0,0,0,0,0,0,15.24,14.61,14.19
$GC,3137,0.65,285.2,2949,3531,1757,1575,61.2,9.7,314,3150,0.00,2.35,7.47,0.827,9222,0.000,0.053,2960,2130,1636,1729,1543,0,0,0,0,0,0,14.68,14.64,14.12
$GC,3399,0.65,285.2,2960,2130,1728,1539,32.9,12.2,340,3409,0.00,2.38,0.00,0.000,516,0.000,0.062,2971,713,1633,1727,1539,0,0,0,0,0,0,15.20,14.64,15.21
$GC,3456,0.65,285.2,2971,712,1723,1539,25.5,14.3,348,3464,0.00,2.42,0.00,0.000,5126,0.000,0.054,2971,2132,1630,1722,1538,0,0,0,0,0,0,15.00,14.85,15.02
$STATE,3617,end climb,SURFACE_DEPTH_REACHED
$STATE,3617,begin surface coast
$FINISH,0.4,1.023083
$STATE,3639,end surface coast,CONTROL_FINISHED_OK
$STATE,3640,begin surface
$SM_CCo,3656,47.25,0.184,0,0,1165,400.08
$SM_GC,1.46,6.40,0.20,47.25,0.050,0.077,0.184,157,2286,1165,-7.91,-1.02,400.08,0,0,0,0,0,0,14.99,14.98,14.66
$IRIDIUM_FIX,2237.01,-15802.37,021021,155334
$TT8_MAMPS,0.023219,0.341544
$HUMID,51.96
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.45,156.013
$10V_AH,12.56,0.000
$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,15.775,42.425,324.300,47.250,0.000,57.876,89.706,129.670,0.500,0.000,18.147,992.708,1399.944,398.252,1272.072,134.668,0.000,878.140,0.000,976.303,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,77.265,1080.945,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,252.164,271.775,516.333,463.026,544.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,33873,382
$CAP_FILE_SIZE,60136,0
$CFSIZE,1023623168,958119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,243.47,1
$GPS,021021,170125,2245.058,-15801.212,9,0.8,41,9.8,0.8,312.1,10,5.6