version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 676
start: 10 2 121 18 12 49
data:
$ID,626
$MISSION,3
$DIVE,676
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,021021,180655,2245.0752,-15800.9785,8,0.9,15,9.8,0.8,141.3,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.3
$GPS2,021021,181159,2245.0635,-15801.0127,8,0.9,16,9.8,0.8,326.5,9,9.7
$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,74.2,1733,-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,-116.8,124,2271,1205,1112,0.0,0.0,0,81,0.00,0.00,-62.22,0.000,16386,0.000,0.000,124,2272,3163,3126,3200,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2272,3127,3200,3.8,-7.3,9,99,8.48,0.00,-1.80,0.000,18950,0.437,0.000,2562,2272,3279,3250,3309,0,0,0,0,0,0,14.21,13.44,14.50
$GC,346,-0.55,-116.8,2562,2272,3262,3298,73.0,-22.6,40,355,0.00,2.35,0.00,0.000,2564,0.000,0.054,2563,854,3280,3264,3296,0,0,0,0,0,0,15.24,14.64,15.24
$GC,391,-0.55,-116.8,2562,853,3266,3296,82.5,-21.8,44,401,0.05,2.45,0.00,0.000,3078,0.343,0.057,2570,2269,3281,3267,3295,0,0,0,0,0,0,14.46,14.73,14.63
$GC,641,-0.55,-116.8,2570,2272,3267,3295,118.5,-13.3,69,647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2272,3281,3267,3296,0,0,0,0,0,0,15.27,15.27,15.27
$GC,890,-0.55,-116.8,2570,2272,3267,3295,151.4,-13.8,94,894,0.00,2.38,0.00,0.000,2564,0.000,0.054,2571,849,3281,3267,3296,0,0,0,0,0,0,15.29,14.93,15.29
$GC,966,-0.55,-116.8,2570,848,3267,3295,160.6,-12.0,101,972,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2272,3281,3268,3294,0,0,0,0,0,0,15.07,14.93,15.08
$GC,1213,-0.55,-116.8,2561,2273,3269,3294,191.6,-11.8,126,1217,0.00,2.38,0.00,0.000,2564,0.000,0.055,2562,851,3281,3268,3294,0,0,0,0,0,0,15.30,14.94,15.31
$GC,1268,-0.55,-116.8,2561,851,3269,3295,197.4,-10.6,131,1275,0.08,2.40,0.00,0.000,3078,0.329,0.058,2578,2272,3281,3269,3294,0,0,0,0,0,0,14.68,14.92,14.92
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1299,-0.13,0.0,2578,2071,3269,3293,200.2,-9.5,134,1397,0.32,0.10,93.55,1.082,10246,0.228,0.126,2706,2157,2798,2863,2734,0,0,0,0,0,0,14.55,14.65,14.01
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1401,0.55,116.8,2706,2157,2863,2733,202.8,0.0,144,1506,0.50,2.47,96.22,1.071,10756,0.143,0.050,2932,703,2320,2402,2239,0,0,0,0,0,0,14.59,14.38,13.90
$GC,1708,0.57,149.8,2932,703,2389,2237,186.7,8.4,174,1747,0.00,2.38,26.60,1.043,9222,0.000,0.052,2932,2100,2190,2276,2104,0,0,0,0,0,0,14.94,14.82,14.06
$GC,1986,0.58,174.9,2931,2100,2275,2100,161.3,8.8,202,2015,0.00,2.38,21.17,1.021,10756,0.000,0.054,2942,700,2086,2174,1999,0,0,0,0,0,0,15.21,14.60,14.13
$GC,2070,0.59,184.5,2942,700,2166,1999,153.5,9.6,210,2090,0.00,2.38,9.12,0.930,13318,0.000,0.055,2943,2121,2045,2131,1960,0,0,0,0,0,0,14.69,14.64,14.10
$GC,2329,0.59,184.5,2942,2121,2131,1958,126.0,11.6,236,2339,0.00,2.35,0.00,0.000,4356,0.000,0.067,2943,3525,2044,2131,1958,0,0,0,0,0,0,15.23,14.66,15.23
$GC,2373,0.59,184.5,2942,3525,2131,1958,120.8,12.1,240,2383,0.00,2.30,0.00,0.000,5126,0.000,0.049,2953,2124,2044,2131,1958,0,0,0,0,0,0,14.83,14.85,14.83
$GC,2625,0.61,213.1,2953,2125,2131,1958,93.9,8.6,265,2654,0.00,2.45,23.23,0.966,12548,0.000,0.065,2953,3532,1929,2011,1848,0,0,0,0,0,0,15.26,14.88,14.25
$GC,2678,0.62,242.3,2953,3532,2011,1848,89.2,8.6,270,2710,0.03,2.33,24.00,0.946,13318,0.396,0.048,2955,2116,1810,1894,1727,0,0,0,0,0,0,14.47,14.67,14.17
$GC,2949,0.62,242.4,2955,2115,1894,1721,63.5,10.1,297,2950,0.00,0.00,0.00,0.000,4102,0.000,0.000,2955,2115,1807,1894,1721,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3189,0.63,243.3,2955,2115,1894,1720,41.2,10.1,321,3199,0.00,2.33,0.00,0.000,4612,0.000,0.060,2965,724,1805,1890,1720,0,0,0,0,0,0,15.25,14.65,15.25
$GC,3227,0.63,243.3,2964,724,1888,1720,37.5,10.3,324,3234,0.00,2.38,0.00,0.000,5126,0.000,0.055,2965,2125,1803,1887,1720,0,0,0,0,0,0,15.02,14.88,15.04
$GC,3484,0.63,243.3,2964,2125,1888,1720,11.2,10.2,367,3491,0.00,2.42,0.00,0.000,4356,0.000,0.068,2965,3540,1803,1887,1720,0,0,0,0,0,0,15.23,14.83,15.23
$GC,3504,0.63,243.3,2964,3539,1887,1720,8.9,11.1,370,3514,0.08,2.40,0.00,0.000,5126,0.278,0.050,2948,2131,1804,1888,1720,0,0,0,0,0,0,14.51,14.76,14.70
$STATE,3558,end climb,SURFACE_DEPTH_REACHED
$STATE,3558,begin surface coast
$FINISH,0.2,1.022858
$STATE,3584,end surface coast,CONTROL_FINISHED_OK
$STATE,3585,begin surface
$SM_CCo,3601,65.30,0.186,0,0,1166,400.08
$SM_GC,1.03,6.45,0.22,65.30,0.060,0.069,0.186,146,2299,1166,-7.96,-1.10,400.08,0,0,0,0,0,0,14.98,15.00,14.64
$IRIDIUM_FIX,2237.01,-15801.49,021021,180827
$TT8_MAMPS,0.02247,0.338548
$HUMID,51.61
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,13.44,156.318
$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,15.975,43.475,293.900,65.300,0.000,36.460,44.726,108.426,0.250,0.000,17.145,997.449,1348.749,392.913,1132.187,136.254,0.000,852.670,0.000,937.389,0.000,0.555,0.000
$DEVICE_MAMPS,436.815,126.225,1082.475,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,253.791,273.620,529.809,479.663,567.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,34076,384
$CAP_FILE_SIZE,64424,0
$CFSIZE,1023623168,957988864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,265.26,1
$GPS,021021,191501,2245.166,-15800.826,9,1.0,27,9.8,0.6,310.9,9,6.7