version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 684
start: 10 3 121 3 0 37
data:
$ID,626
$MISSION,3
$DIVE,684
$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,66
$R_STBD_OVSHOOT,77
$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
$GPS1,031021,025458,2244.9978,-15759.9238,8,0.8,17,9.8,0.8,109.4,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.8
$GPS2,031021,025944,2244.9998,-15759.9453,8,0.9,16,9.8,0.0,203.0,9,9.9
$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,251.7,94,-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,-116.8,125,2216,1203,1113,0.0,0.0,0,74,0.00,0.00,-55.95,0.000,16386,0.000,0.000,123,2215,2938,2917,2960,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.58,-116.8,124,2215,2917,2960,3.4,-7.4,8,101,8.38,2.22,-5.72,0.000,18948,0.431,0.076,2561,888,3279,3261,3298,0,0,0,0,0,0,14.21,13.91,14.50
$GC,249,-0.58,-116.8,2561,887,3267,3295,45.2,-19.6,31,257,0.00,2.30,0.00,0.000,3078,0.000,0.057,2552,2212,3281,3267,3295,0,0,0,0,0,0,14.85,14.78,14.88
$GC,497,-0.58,-116.8,2552,2212,3267,3294,96.8,-19.4,56,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2553,2212,3280,3267,3294,0,0,0,0,0,0,15.27,15.27,15.27
$GC,737,-0.58,-116.8,2552,2212,3267,3295,136.3,-17.4,80,746,0.00,2.22,0.00,0.000,2564,0.000,0.056,2553,883,3281,3268,3295,0,0,0,0,0,0,15.29,14.94,15.29
$GC,799,-0.58,-116.8,2552,884,3269,3294,146.1,-14.6,86,810,0.05,2.25,0.00,0.000,3078,0.396,0.057,2559,2225,3281,3269,3293,0,0,0,0,0,0,14.67,14.92,14.92
$GC,1050,-0.58,-116.8,2559,2228,3270,3293,178.9,-13.3,111,1054,0.00,2.25,0.00,0.000,2564,0.000,0.054,2560,878,3281,3269,3293,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1117,-0.58,-116.8,2559,878,3270,3293,186.2,-11.3,117,1125,0.00,2.38,0.00,0.000,3078,0.000,0.057,2550,2269,3281,3270,3292,0,0,0,0,0,0,15.03,14.87,15.05
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1227,-0.13,0.0,2551,2106,3271,3291,200.3,-13.1,128,1324,0.40,0.00,93.72,1.076,10246,0.256,0.000,2700,2103,2798,2865,2732,0,0,0,0,0,0,14.48,14.64,14.00
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1328,0.58,116.8,2700,2103,2864,2733,205.2,0.0,138,1433,0.52,2.28,96.43,1.064,10756,0.155,0.052,2932,756,2320,2402,2238,0,0,0,0,0,0,14.57,14.37,13.90
$GC,1582,0.60,145.6,2932,756,2390,2237,195.9,8.5,163,1613,0.00,2.30,23.98,1.027,11270,0.000,0.051,2933,2131,2204,2291,2118,0,0,0,0,0,0,14.76,14.71,14.09
$GC,1853,0.60,159.8,2932,2131,2291,2114,170.0,9.3,190,1872,0.00,2.40,12.55,0.982,10500,0.000,0.067,2932,3535,2147,2236,2058,0,0,0,0,0,0,15.21,14.87,14.17
$GC,1896,0.61,165.1,2932,3535,2236,2058,165.6,9.8,194,1908,0.00,2.25,6.00,0.867,9222,0.000,0.048,2942,2165,2127,2215,2039,0,0,0,0,0,0,14.84,14.79,14.09
$GC,2156,0.61,168.4,2942,2165,2214,2035,140.3,9.9,220,2167,0.00,0.00,4.43,0.805,8198,0.000,0.000,2943,2165,2111,2200,2022,0,0,0,0,0,0,15.24,14.62,14.09
$GC,2408,0.61,172.9,2942,2165,2199,2021,115.1,9.8,245,2419,0.00,2.35,4.97,0.825,8452,0.000,0.065,2942,3533,2093,2183,2003,0,0,0,0,0,0,15.25,14.91,14.15
$GC,2475,0.62,187.5,2942,3534,2183,2004,108.9,9.3,251,2494,0.00,2.33,13.27,0.954,13318,0.000,0.050,2953,2127,2034,2120,1948,0,0,0,0,0,0,15.06,14.94,14.21
$GC,2734,0.65,225.8,2953,2127,2119,1943,86.9,7.9,277,2773,0.00,2.45,30.20,0.966,10500,0.000,0.065,2953,3534,1878,1960,1796,0,0,0,0,0,0,15.25,14.78,14.23
$GC,2819,0.65,225.8,2953,3534,1960,1796,78.9,10.8,285,2826,0.00,2.42,0.00,0.000,5126,0.000,0.050,2964,2119,1878,1960,1796,0,0,0,0,0,0,14.86,14.80,14.88
$GC,3069,0.67,262.9,2964,2119,1959,1794,53.9,8.0,310,3108,0.00,2.40,29.52,0.925,8452,0.000,0.064,2964,3534,1727,1814,1641,0,0,0,0,0,0,15.21,14.66,14.21
$GC,3142,0.68,276.3,2964,3533,1814,1640,47.4,9.3,317,3162,0.00,2.35,12.18,0.869,13318,0.000,0.052,2975,2121,1671,1760,1583,0,0,0,0,0,0,14.68,14.64,14.17
$GC,3408,0.68,276.3,2974,2121,1760,1577,18.6,12.1,352,3416,0.00,2.40,0.00,0.000,4612,0.000,0.060,2986,717,1668,1760,1576,0,0,0,0,0,0,15.19,14.81,15.19
$GC,3439,0.68,276.3,2986,717,1755,1577,14.6,12.3,357,3449,0.05,2.40,0.00,0.000,5126,0.376,0.054,2968,2125,1665,1755,1576,0,0,0,0,0,0,14.63,14.84,14.90
$STATE,3539,end climb,SURFACE_DEPTH_REACHED
$STATE,3539,begin surface coast
$FINISH,0.2,1.019599
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3567,begin surface
$SM_CCo,3584,51.03,0.186,0,0,1166,400.08
$SM_GC,1.23,6.40,0.22,51.03,0.052,0.080,0.186,172,2284,1166,-7.91,-0.90,400.08,0,0,0,0,0,0,14.97,14.95,14.66
$IRIDIUM_FIX,2237.01,-15759.32,031021,025618
$TT8_MAMPS,0.023219,0.354277
$HUMID,52.00
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.90,157.548
$10V_AH,12.74,0.000
$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,15.800,42.475,327.250,51.025,0.000,23.748,43.467,103.561,0.000,0.000,17.148,989.359,1347.943,393.218,1095.792,135.632,0.000,847.260,0.000,917.391,0.000,0.554,0.000
$DEVICE_MAMPS,430.695,103.275,1075.590,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,250.989,273.055,517.880,470.382,543.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,33918,380
$CAP_FILE_SIZE,63396,0
$CFSIZE,1023623168,957464576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,200.13,1
$GPS,031021,040231,2244.809,-15800.329,8,0.8,41,9.8,0.4,236.3,10,5.3