version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 682
start: 10 3 121 0 47 56
data:
$ID,626
$MISSION,3
$DIVE,682
$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,44
$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
$GPS1,031021,004145,2244.9822,-15759.9570,8,0.9,26,9.8,0.9,284.5,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.7
$GPS2,031021,004703,2244.9978,-15759.9775,7,0.9,21,9.8,0.0,40.8,8,9.6
$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,244.3,39,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,126,2297,1200,1117,0.0,0.0,0,81,0.00,0.00,-62.12,0.000,16386,0.000,0.000,126,2297,3186,3149,3224,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.58,-116.8,125,2297,3149,3224,4.1,-9.1,9,100,8.40,2.42,-1.42,0.000,18948,0.432,0.065,2567,844,3280,3251,3309,0,0,0,0,0,0,14.21,13.39,14.50
$GC,258,-0.58,-116.8,2567,843,3266,3297,49.3,-18.4,31,267,0.00,2.35,0.00,0.000,1030,0.000,0.056,2558,2242,3281,3267,3296,0,0,0,0,0,0,14.64,14.58,14.66
$GC,509,-0.58,-116.8,2558,2242,3267,3295,100.0,-18.4,56,513,0.00,2.35,0.00,0.000,2564,0.000,0.057,2558,846,3281,3267,3295,0,0,0,0,0,0,15.26,14.91,15.26
$GC,541,-0.58,-116.8,2558,845,3268,3296,105.7,-17.0,59,550,0.00,2.38,0.00,0.000,3078,0.000,0.057,2548,2266,3281,3268,3295,0,0,0,0,0,0,14.83,14.74,14.83
$GC,793,-0.58,-116.8,2547,2266,3268,3295,142.4,-14.2,84,797,0.00,2.38,0.00,0.000,2564,0.000,0.055,2547,848,3281,3268,3295,0,0,0,0,0,0,15.28,14.93,15.28
$GC,858,-0.58,-116.8,2547,848,3269,3295,150.7,-12.5,90,867,0.05,2.45,0.00,0.000,3078,0.332,0.059,2556,2262,3281,3268,3294,0,0,0,0,0,0,14.49,14.76,14.66
$GC,1108,-0.58,-116.8,2556,2263,3270,3294,181.8,-13.0,115,1114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2556,2262,3282,3270,3294,0,0,0,0,0,0,15.28,15.28,15.29
$STATE,1254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1254,begin apogee
$GC,1261,-0.13,0.0,2556,2082,3269,3293,200.9,-12.0,130,1359,0.38,0.08,93.70,1.080,10246,0.243,0.146,2700,2153,2798,2865,2732,0,0,0,0,0,0,14.51,14.63,14.00
$STATE,1360,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1363,0.58,116.8,2700,2153,2864,2733,205.1,0.0,140,1467,0.52,2.38,96.35,1.073,10500,0.148,0.063,2923,3519,2322,2406,2238,0,0,0,0,0,0,14.58,14.57,13.94
$GC,1749,0.61,163.3,2923,3519,2406,2238,182.3,7.5,178,1797,0.00,2.25,38.12,1.050,11270,0.000,0.045,2933,2156,2132,2220,2045,0,0,0,0,0,0,15.00,14.90,14.09
$GC,2038,0.61,163.3,2934,2156,2219,2040,151.0,11.4,207,2039,0.00,0.00,0.00,0.000,2054,0.000,0.000,2934,2156,2129,2219,2039,0,0,0,0,0,0,15.21,15.22,15.21
$GC,2280,0.62,183.9,2934,2156,2219,2038,127.8,8.9,231,2302,0.00,2.28,16.88,0.990,10500,0.000,0.064,2934,3513,2048,2137,1960,0,0,0,0,0,0,15.25,14.90,14.20
$GC,2351,0.62,183.9,2934,3513,2137,1960,120.0,11.6,238,2362,0.00,2.28,0.00,0.000,1030,0.000,0.051,2945,2132,2048,2137,1960,0,0,0,0,0,0,14.76,14.71,14.76
$GC,2603,0.64,212.1,2944,2132,2137,1959,95.6,8.5,263,2632,0.00,2.42,22.83,0.977,10756,0.000,0.060,2956,709,1933,2015,1852,0,0,0,0,0,0,15.25,14.88,14.23
$GC,2697,0.65,226.8,2956,708,2005,1852,86.9,9.3,272,2717,0.00,2.33,12.55,0.926,9222,0.000,0.056,2956,2093,1873,1953,1794,0,0,0,0,0,0,14.69,14.64,14.18
$GC,2957,0.66,246.4,2955,2093,1954,1789,62.0,9.0,298,2980,0.00,2.42,16.30,0.922,10500,0.000,0.066,2956,3533,1793,1877,1710,0,0,0,0,0,0,15.23,14.86,14.23
$GC,3116,0.66,253.3,2956,3533,1877,1710,46.9,9.7,313,3128,0.00,2.40,7.18,0.838,13318,0.000,0.048,2967,2122,1767,1852,1682,0,0,0,0,0,0,14.89,14.83,14.19
$GC,3376,0.66,253.3,2967,2123,1850,1678,20.8,10.7,347,3383,0.00,2.40,0.00,0.000,4612,0.000,0.061,2978,715,1763,1850,1677,0,0,0,0,0,0,15.21,14.84,15.22
$GC,3412,0.66,253.3,2977,715,1846,1677,17.0,10.9,353,3421,0.05,2.42,0.00,0.000,5126,0.369,0.057,2959,2132,1761,1846,1677,0,0,0,0,0,0,14.65,14.86,14.89
$STATE,3563,end climb,SURFACE_DEPTH_REACHED
$STATE,3563,begin surface coast
$FINISH,0.3,1.023051
$STATE,3597,end surface coast,CONTROL_FINISHED_OK
$STATE,3597,begin surface
$SM_CCo,3614,60.85,0.187,0,0,1165,400.08
$SM_GC,1.04,6.40,0.22,60.85,0.056,0.073,0.187,176,2315,1165,-7.90,-0.62,400.08,0,0,0,0,0,0,14.99,14.98,14.66
$IRIDIUM_FIX,2237.01,-15759.32,031021,004306
$TT8_MAMPS,0.02247,0.342293
$HUMID,51.85
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.39,157.244
$10V_AH,12.65,0.000
$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,15.800,38.425,303.900,60.850,0.000,24.283,42.475,126.777,0.500,0.000,22.950,1016.144,1334.587,376.636,1168.149,137.118,0.000,835.851,0.000,958.157,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,146.115,1080.180,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,256.417,280.519,531.937,488.243,561.664,0.000,0.000,0.000,0.000,0.000
$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,34022,387
$CAP_FILE_SIZE,63075,0
$CFSIZE,1023623168,957595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.104,343.75,1
$GPS,031021,015032,2245.025,-15800.344,8,1.0,44,9.8,0.4,25.2,8,8.9