version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 687
start: 10 3 121 6 30 58
data:
$ID,626
$MISSION,3
$DIVE,687
$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,39
$R_STBD_OVSHOOT,47
$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
$GPS1,031021,062501,2244.5269,-15800.2510,7,0.8,34,9.8,0.8,113.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.9
$GPS2,031021,063009,2244.5095,-15800.2900,8,0.8,15,9.8,0.5,126.5,10,9.3
$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,9.9,1035,-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,-116.8,105,2290,1202,1117,0.0,0.0,0,80,0.00,0.00,-61.70,0.000,16386,0.000,0.000,105,2290,3173,3138,3209,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,106,2290,3138,3210,4.0,-8.7,9,100,8.45,2.28,-1.62,0.000,18692,0.430,0.065,2553,3678,3280,3250,3310,0,0,0,0,0,0,14.21,13.40,14.50
$GC,145,-0.55,-116.8,2553,3681,3257,3305,26.5,-18.7,19,155,0.05,2.40,0.00,0.000,3078,0.362,0.052,2570,2256,3280,3261,3300,0,0,0,0,0,0,14.62,14.83,14.85
$GC,399,-0.55,-116.8,2570,2251,3264,3297,79.2,-21.0,45,408,0.00,2.35,0.00,0.000,2308,0.000,0.063,2562,3661,3280,3264,3297,0,0,0,0,0,0,15.25,14.71,15.25
$GC,505,-0.55,-116.8,2561,3661,3264,3297,93.0,-12.2,55,513,0.00,2.28,0.00,0.000,3078,0.000,0.046,2562,2260,3281,3265,3297,0,0,0,0,0,0,14.84,14.81,14.86
$GC,754,-0.55,-116.8,2561,2257,3266,3296,134.3,-17.4,80,758,0.00,2.33,0.00,0.000,2564,0.000,0.054,2561,846,3281,3267,3295,0,0,0,0,0,0,15.28,14.93,15.28
$GC,837,-0.55,-116.8,2562,845,3267,3295,145.2,-11.1,88,842,0.05,2.35,0.00,0.000,3078,0.384,0.059,2571,2248,3281,3268,3295,0,0,0,0,0,0,14.69,14.92,14.93
$GC,1092,-0.55,-116.8,2570,2248,3268,3295,174.4,-9.8,113,1100,0.00,2.38,0.00,0.000,2308,0.000,0.070,2561,3675,3281,3268,3295,0,0,0,0,0,0,15.30,14.73,15.30
$GC,1116,-0.55,-116.8,2560,3675,3268,3295,176.5,-8.9,115,1123,0.00,2.30,0.00,0.000,3078,0.000,0.047,2560,2263,3282,3269,3295,0,0,0,0,0,0,15.07,14.97,15.09
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1349,-0.13,0.0,2560,2059,3268,3294,200.8,-11.5,138,1447,0.38,0.12,93.80,1.076,10246,0.238,0.109,2702,2159,2798,2863,2734,0,0,0,0,0,0,14.38,14.65,14.00
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1451,0.55,116.8,2701,2159,2863,2734,204.1,0.0,148,1554,0.50,2.35,96.20,1.063,10500,0.145,0.065,2918,3514,2321,2402,2240,0,0,0,0,0,0,14.58,14.57,13.94
$GC,1632,0.57,149.5,2917,3513,2402,2241,198.9,8.4,166,1671,0.00,2.28,27.58,1.036,9222,0.000,0.045,2929,2129,2189,2274,2104,0,0,0,0,0,0,14.71,14.68,14.02
$GC,1911,0.59,190.0,2929,2128,2274,2098,176.1,8.0,194,1952,0.00,2.38,33.00,1.038,10500,0.000,0.063,2930,3502,2024,2107,1941,0,0,0,0,0,0,15.19,14.78,14.14
$GC,2466,0.60,201.4,2930,3502,2105,1941,121.2,9.5,248,2484,0.00,2.25,10.30,0.940,9222,0.000,0.047,2941,2131,1976,2057,1896,0,0,0,0,0,0,14.73,14.69,14.21
$GC,2724,0.63,256.2,2940,2132,2057,1892,102.4,7.3,274,2775,0.00,2.45,43.45,0.985,10756,0.000,0.061,2952,707,1753,1837,1669,0,0,0,0,0,0,15.26,14.81,14.21
$GC,3297,0.67,309.4,2952,707,1825,1667,56.1,7.4,329,3347,0.00,2.30,41.53,0.925,11270,0.000,0.055,2952,2087,1536,1627,1445,0,0,0,0,0,0,14.76,14.76,14.23
$GC,3587,0.70,366.9,2951,2087,1627,1440,35.3,7.1,358,3636,0.00,2.50,44.08,0.895,10500,0.000,0.068,2952,3542,1302,1397,1208,0,0,0,0,0,0,15.21,14.78,14.21
$GC,3683,0.71,381.1,2952,3543,1397,1208,27.3,9.4,369,3700,0.00,2.42,6.35,0.763,11270,0.000,0.049,2962,2126,1243,1338,1149,0,0,0,0,0,0,14.76,14.75,14.07
$STATE,3945,end climb,SURFACE_DEPTH_REACHED
$STATE,3945,begin surface coast
$FINISH,0.2,1.021394
$STATE,3972,end surface coast,CONTROL_FINISHED_OK
$STATE,3972,begin surface
$SM_CCo,3989,7.50,0.201,0,0,1167,400.08
$SM_GC,1.44,6.30,0.25,7.50,0.029,0.063,0.201,162,2314,1167,-7.95,-0.79,400.08,0,0,0,0,0,0,14.91,14.95,14.66
$IRIDIUM_FIX,2234.68,-15800.20,031021,062628
$TT8_MAMPS,0.020223,0.292859
$HUMID,52.00
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.40,158.054
$10V_AH,11.83,0.000
$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,15.725,38.150,396.275,7.500,0.000,26.679,44.252,116.109,0.250,0.000,16.549,1102.606,1387.593,379.320,1320.869,148.949,0.000,922.385,0.000,1124.880,0.000,0.556,0.000
$DEVICE_MAMPS,429.930,108.630,1075.590,201.195,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.882,304.269,577.964,530.454,610.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,40580,422
$CAP_FILE_SIZE,66445,0
$CFSIZE,1023623168,957251584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,3977.85,0x2131ca,7,24
$CURRENT,0.149,218.51,1
$GPS,031021,073831,2244.204,-15800.527,8,0.8,19,9.8,1.2,287.6,10,9.3