version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 675
start: 10 2 121 17 7 10
data:
$ID,626
$MISSION,3
$DIVE,675
$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,51
$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
$GPS1,021021,170125,2245.0581,-15801.2119,9,0.8,41,9.8,0.8,312.1,10,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.2
$GPS2,021021,170619,2245.0564,-15801.2422,8,0.8,17,9.8,0.9,149.6,10,9.9
$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,74.6,2124,-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,-116.8,124,2295,1202,1114,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,16386,0.000,0.000,124,2296,3119,3085,3154,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2296,3085,3154,3.4,-5.5,9,107,8.45,2.38,-2.55,0.000,18948,0.434,0.059,2576,842,3280,3257,3304,0,0,0,0,0,0,14.23,13.39,14.51
$GC,156,-0.55,-116.8,2576,842,3267,3296,28.9,-20.0,21,164,0.00,2.42,0.00,0.000,3078,0.000,0.057,2568,2236,3281,3267,3295,0,0,0,0,0,0,14.83,14.77,14.88
$GC,414,-0.55,-116.8,2567,2236,3268,3295,79.6,-21.0,47,422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2568,2236,3281,3267,3295,0,0,0,0,0,0,15.24,15.24,15.24
$GC,663,-0.55,-116.8,2567,2236,3267,3295,118.0,-13.4,72,672,0.00,2.30,0.00,0.000,2564,0.000,0.057,2567,854,3281,3268,3295,0,0,0,0,0,0,15.28,14.85,15.28
$GC,708,-0.55,-116.8,2567,854,3268,3295,123.8,-13.4,76,717,0.03,2.45,0.00,0.000,3078,0.401,0.060,2567,2271,3281,3269,3294,0,0,0,0,0,0,14.55,14.74,14.68
$GC,957,-0.55,-116.8,2566,2272,3269,3294,159.6,-15.2,101,966,0.00,2.38,0.00,0.000,2564,0.000,0.057,2567,848,3282,3269,3295,0,0,0,0,0,0,15.28,14.76,15.28
$GC,990,-0.55,-116.8,2567,848,3269,3295,164.4,-14.3,104,999,0.00,2.38,0.00,0.000,3078,0.000,0.058,2557,2265,3281,3270,3293,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1243,-0.55,-116.8,2557,2265,3270,3294,197.6,-12.3,129,1253,0.05,2.35,0.00,0.000,2564,0.416,0.055,2574,857,3282,3270,3294,0,0,0,0,0,0,14.77,14.60,14.94
$STATE,1264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1264,begin apogee
$GC,1272,-0.13,0.0,2566,2132,3270,3293,200.7,-11.9,131,1369,0.35,0.00,93.25,1.082,10246,0.233,0.000,2702,2133,2799,2865,2733,0,0,0,0,0,0,14.53,14.65,14.01
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1372,0.55,116.8,2702,2133,2864,2733,203.7,0.0,141,1477,0.50,0.00,96.07,1.066,10502,0.152,0.000,2914,2133,2322,2406,2239,0,0,0,0,0,0,14.58,14.39,13.92
$GC,1718,0.58,168.5,2914,2133,2404,2234,182.5,7.4,176,1768,0.00,2.42,42.05,1.042,10756,0.000,0.054,2925,710,2109,2196,2023,0,0,0,0,0,0,15.18,14.56,14.08
$GC,1873,0.58,169.0,2925,709,2187,2023,168.0,10.1,191,1883,0.00,2.40,0.00,0.000,3078,0.000,0.054,2925,2133,2104,2187,2022,0,0,0,0,0,0,14.88,14.83,14.88
$GC,2125,0.59,178.3,2926,2133,2187,2022,143.5,9.6,216,2143,0.00,2.33,8.45,0.927,10500,0.000,0.067,2925,3534,2071,2157,1986,0,0,0,0,0,0,15.23,14.69,14.19
$GC,2159,0.59,180.1,2925,3533,2158,1986,140.1,10.0,219,2167,0.00,2.33,0.00,0.000,1030,0.000,0.049,2937,2119,2072,2158,1986,0,0,0,0,0,0,15.02,14.93,15.04
$GC,2409,0.59,180.1,2936,2119,2157,1985,111.8,11.0,244,2418,0.00,2.38,0.00,0.000,260,0.000,0.066,2937,3530,2071,2157,1985,0,0,0,0,0,0,15.24,14.67,15.25
$GC,2503,0.59,180.1,2936,3531,2157,1985,100.3,11.9,253,2512,0.00,2.30,0.00,0.000,5126,0.000,0.049,2947,2129,2071,2158,1985,0,0,0,0,0,0,14.85,14.81,14.88
$GC,2756,0.63,243.8,2947,2128,2157,1985,79.9,6.8,278,2815,0.00,2.42,51.62,0.963,8708,0.000,0.061,2958,716,1802,1887,1718,0,0,0,0,0,0,15.27,14.79,14.20
$GC,2830,0.67,315.7,2958,716,1883,1718,75.0,6.4,285,2899,0.00,2.42,56.15,0.941,11270,0.000,0.056,2959,2132,1509,1600,1419,0,0,0,0,0,0,14.90,14.78,14.05
$GC,3139,0.67,315.7,2958,2132,1600,1413,43.6,11.5,316,3149,0.00,2.35,0.00,0.000,2308,0.000,0.066,2959,3535,1506,1600,1413,0,0,0,0,0,0,15.18,14.59,15.19
$GC,3175,0.67,315.7,2958,3535,1600,1413,39.0,12.8,319,3185,0.00,2.33,0.00,0.000,5126,0.000,0.050,2968,2128,1506,1600,1413,0,0,0,0,0,0,14.67,14.62,14.70
$GC,3435,0.67,315.7,2969,2125,1600,1412,5.5,12.5,361,3442,0.00,2.42,0.00,0.000,4612,0.000,0.063,2980,709,1505,1600,1411,0,0,0,0,0,0,15.21,14.83,15.21
$STATE,3454,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$FINISH,0.3,1.012641
$STATE,3480,end surface coast,CONTROL_FINISHED_OK
$STATE,3480,begin surface
$SM_CCo,3499,34.53,0.187,0,0,1165,400.08
$SM_GC,0.96,6.45,2.65,34.53,0.057,0.050,0.187,162,2260,1165,-7.93,-0.96,400.08,0,0,0,0,0,0,14.98,14.88,14.66
$IRIDIUM_FIX,2234.68,-15802.37,021021,170248
$TT8_MAMPS,0.023219,0.28462
$HUMID,51.89
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.39,156.171
$10V_AH,12.49,0.000
$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,15.825,47.575,347.600,34.525,0.000,26.886,41.723,110.250,0.000,0.000,18.172,923.059,1321.316,418.755,1066.958,135.484,0.000,878.614,0.000,878.396,0.000,0.555,0.000
$DEVICE_MAMPS,433.755,66.555,1082.475,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,241.768,261.873,501.369,453.809,532.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,33794,368
$CAP_FILE_SIZE,58403,0
$CFSIZE,1023623168,958054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.079,244.48,1
$GPS,021021,180655,2245.075,-15800.979,8,0.9,15,9.8,0.8,141.3,9,9.5