version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 677
start: 10 2 121 19 20 53
data:
$ID,626
$MISSION,3
$DIVE,677
$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,38
$R_STBD_OVSHOOT,65
$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
$GPS1,021021,191501,2245.1655,-15800.8262,9,1.0,27,9.8,0.6,310.9,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.1
$GPS2,021021,192003,2245.1594,-15800.8555,8,0.9,16,9.8,0.0,293.4,9,9.5
$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,85.5,1490,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,114,2307,1201,1113,0.0,0.0,0,75,0.00,0.00,-56.25,0.000,16386,0.000,0.000,114,2307,2953,2932,2975,0,0,0,0,0,0,15.19,28.83,15.19
$GC,79,-0.55,-116.8,114,2307,2933,2976,3.4,-7.0,8,101,8.50,0.00,-5.38,0.000,18438,0.436,0.000,2561,2307,3277,3257,3297,0,0,0,0,0,0,14.22,13.97,14.50
$GC,350,-0.55,-116.8,2561,2307,3262,3294,69.8,-23.0,41,360,0.00,2.40,0.00,0.000,2564,0.000,0.056,2561,862,3277,3263,3291,0,0,0,0,0,0,15.23,14.57,15.23
$GC,436,-0.55,-116.8,2561,862,3266,3290,86.4,-16.6,49,446,0.05,2.28,0.00,0.000,3078,0.344,0.056,2570,2230,3278,3266,3290,0,0,0,0,0,0,14.46,14.76,14.62
$GC,687,-0.55,-116.8,2570,2232,3267,3290,124.6,-14.2,74,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2232,3278,3267,3290,0,0,0,0,0,0,15.28,15.28,15.28
$GC,935,-0.55,-116.8,2570,2232,3266,3290,157.3,-12.3,99,945,0.00,2.30,0.00,0.000,2564,0.000,0.054,2570,855,3278,3267,3290,0,0,0,0,0,0,15.30,14.92,15.30
$GC,978,-0.55,-116.8,2570,854,3265,3290,162.4,-12.0,103,987,0.00,2.35,0.00,0.000,3078,0.000,0.058,2562,2257,3278,3267,3289,0,0,0,0,0,0,14.82,14.76,14.85
$GC,1230,-0.55,-116.8,2562,2257,3267,3289,189.6,-10.8,128,1234,0.00,2.35,0.00,0.000,2564,0.000,0.056,2562,855,3278,3267,3289,0,0,0,0,0,0,15.29,14.93,15.30
$GC,1276,-0.55,-116.8,2561,855,3267,3289,194.6,-11.3,132,1285,0.05,2.45,0.00,0.000,3078,0.307,0.059,2570,2268,3278,3268,3289,0,0,0,0,0,0,14.50,14.76,14.67
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1337,-0.13,0.0,2570,2084,3268,3289,200.9,-10.6,138,1435,0.35,0.08,93.12,1.080,10246,0.243,0.147,2704,2152,2798,2864,2733,0,0,0,0,0,0,14.35,14.62,14.01
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1439,0.55,116.8,2704,2153,2864,2733,204.8,0.0,148,1544,0.50,2.42,96.70,1.068,10756,0.148,0.051,2926,755,2321,2404,2238,0,0,0,0,0,0,14.52,14.59,13.93
$GC,1560,0.64,264.7,2925,755,2396,2239,204.7,2.5,160,1687,0.00,2.28,118.05,1.060,11270,0.000,0.051,2925,2104,1718,1802,1635,0,0,0,0,0,0,14.62,14.57,13.92
$GC,1927,0.64,264.7,2925,2104,1801,1630,158.9,12.4,197,1937,0.00,2.25,0.00,0.000,2564,0.000,0.058,2936,769,1715,1801,1630,0,0,0,0,0,0,15.17,14.73,15.18
$GC,1991,0.64,264.7,2935,769,1799,1630,151.7,11.1,203,2001,0.00,2.28,0.00,0.000,3078,0.000,0.055,2936,2124,1713,1798,1629,0,0,0,0,0,0,15.01,14.89,15.02
$GC,2243,0.64,264.7,2935,2124,1798,1628,121.4,12.6,228,2250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2936,2124,1713,1798,1628,0,0,0,0,0,0,15.24,15.25,15.24
$GC,2493,0.64,264.7,2935,2124,1798,1627,91.3,10.8,253,2501,0.00,2.33,0.00,0.000,2308,0.000,0.068,2936,3526,1712,1798,1627,0,0,0,0,0,0,15.27,14.74,15.28
$GC,2528,0.64,264.7,2935,3526,1798,1627,87.5,11.0,256,2537,0.00,2.33,0.00,0.000,3078,0.000,0.054,2946,2166,1712,1798,1627,0,0,0,0,0,0,14.85,14.80,14.88
$GC,2778,0.66,299.4,2946,2166,1798,1627,63.4,8.3,281,2816,0.00,2.42,27.75,0.932,10756,0.000,0.063,2958,716,1576,1669,1484,0,0,0,0,0,0,15.26,14.69,14.23
$GC,2882,0.68,328.4,2958,715,1667,1484,54.2,8.6,291,2911,0.00,2.35,23.45,0.903,11270,0.000,0.058,2958,2115,1459,1553,1365,0,0,0,0,0,0,14.71,14.65,14.19
$GC,3155,0.68,328.4,2957,2115,1553,1362,23.5,12.2,323,3162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2958,2115,1457,1553,1362,0,0,0,0,0,0,15.20,15.20,15.20
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.8,1.023060
$STATE,3349,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3365,29.60,0.183,0,0,1166,400.08
$SM_GC,1.24,6.32,0.25,29.60,0.036,0.063,0.183,157,2313,1166,-7.96,-0.68,400.08,0,0,0,0,0,0,14.95,14.98,14.66
$IRIDIUM_FIX,2234.68,-15759.32,021021,191620
$TT8_MAMPS,0.02247,0.341544
$HUMID,52.71
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.92,156.479
$10V_AH,11.85,0.000
$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,15.775,33.325,359.075,29.600,0.000,23.356,50.639,107.758,0.500,0.000,17.369,897.654,1246.857,411.825,1048.252,129.260,0.000,842.579,0.000,853.710,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,146.880,1080.180,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,236.143,257.468,490.610,448.563,530.250,0.000,0.000,0.000,0.000,0.000
$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,33975,359
$CAP_FILE_SIZE,55957,0
$CFSIZE,1023623168,957923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,285.18,1
$GPS,021021,201828,2245.208,-15800.578,8,0.8,22,9.8,0.9,244.2,10,8.8