version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 688
start: 10 3 121 7 47 6
data:
$ID,626
$MISSION,3
$DIVE,688
$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,65
$R_STBD_OVSHOOT,70
$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
$GPS1,031021,073831,2244.2041,-15800.5273,8,0.8,19,9.8,1.2,287.6,10,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.4
$GPS2,031021,074614,2244.1753,-15800.6055,8,0.9,19,9.8,0.5,188.2,10,9.9
$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,27.2,1844,-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,-116.8,123,2219,1209,1112,0.0,0.0,0,83,0.00,0.00,-65.00,0.000,16390,0.000,0.000,123,2218,3278,3241,3316,0,0,0,0,0,0,15.19,13.14,15.14
$GC,87,-0.55,-116.8,123,2218,3242,3316,4.2,-8.2,9,102,8.43,2.33,0.00,0.000,2308,0.432,0.039,2556,3653,3279,3247,3312,0,0,0,0,0,0,14.22,14.64,14.50
$GC,147,-0.55,-116.8,2556,3653,3258,3303,27.3,-19.9,19,156,0.00,2.30,0.00,0.000,3078,0.000,0.047,2557,2300,3280,3260,3300,0,0,0,0,0,0,14.85,14.78,14.88
$GC,406,-0.55,-116.8,2556,2296,3262,3297,79.6,-18.2,45,417,0.05,2.22,0.00,0.000,2308,0.432,0.058,2563,3639,3279,3262,3297,0,0,0,0,0,0,14.71,14.66,14.90
$GC,471,-0.55,-116.8,2563,3639,3262,3297,89.2,-12.6,51,479,0.00,2.22,0.00,0.000,3078,0.000,0.045,2563,2268,3279,3262,3296,0,0,0,0,0,0,14.85,14.80,14.87
$GC,722,-0.55,-116.8,2563,2267,3262,3296,128.6,-15.5,76,726,0.00,2.35,0.00,0.000,2564,0.000,0.055,2564,850,3280,3266,3295,0,0,0,0,0,0,15.28,14.92,15.28
$GC,734,-0.55,-116.8,2563,850,3266,3295,130.5,-15.3,77,744,0.05,2.30,0.00,0.000,3078,0.404,0.056,2571,2227,3280,3266,3295,0,0,0,0,0,0,14.66,14.92,14.88
$GC,986,-0.55,-116.8,2570,2228,3267,3295,164.3,-12.1,102,990,0.00,2.30,0.00,0.000,2564,0.000,0.050,2571,840,3281,3267,3295,0,0,0,0,0,0,15.29,14.95,15.29
$GC,1073,-0.55,-116.8,2570,840,3267,3295,172.6,-9.1,110,1079,0.00,2.40,0.00,0.000,3078,0.000,0.059,2561,2270,3280,3267,3293,0,0,0,0,0,0,15.06,14.92,15.08
$GC,1322,-0.55,-116.8,2561,2270,3267,3293,196.8,-10.0,135,1332,0.00,2.35,0.00,0.000,2308,0.000,0.071,2550,3674,3280,3267,3293,0,0,0,0,0,0,15.29,14.59,15.30
$GC,1347,-0.55,-116.8,2550,3674,3267,3293,199.5,-10.2,137,1355,0.08,2.35,0.00,0.000,3078,0.261,0.050,2583,2254,3280,3268,3293,0,0,0,0,0,0,14.77,14.95,14.97
$STATE,1365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1365,begin apogee
$GC,1372,-0.13,0.0,2584,2073,3268,3292,201.3,-9.6,139,1474,0.30,0.10,93.30,1.088,10246,0.221,0.126,2703,2157,2798,2862,2734,0,0,0,0,0,0,14.55,14.64,14.00
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1478,0.55,116.8,2704,2157,2862,2734,204.6,0.0,150,1585,0.50,2.33,96.38,1.069,10500,0.138,0.063,2921,3506,2323,2406,2241,0,0,0,0,0,0,14.59,14.51,13.93
$GC,1957,0.56,143.3,2921,3506,2405,2242,174.0,8.7,197,1988,0.00,2.28,22.75,1.033,9222,0.000,0.042,2933,2115,2213,2298,2128,0,0,0,0,0,0,14.95,14.92,14.16
$GC,2228,0.59,179.5,2933,2115,2298,2122,150.8,8.2,224,2267,0.00,2.38,29.27,1.028,10756,0.000,0.058,2944,718,2065,2151,1980,0,0,0,0,0,0,15.23,14.77,14.18
$GC,2485,0.61,216.6,2944,717,2141,1978,128.7,8.2,249,2524,0.00,2.30,29.30,1.001,9222,0.000,0.055,2944,2091,1915,1993,1837,0,0,0,0,0,0,14.81,14.76,14.12
$GC,2766,0.63,242.7,2944,2091,1994,1832,104.9,8.8,277,2795,0.00,2.38,21.27,0.972,10756,0.000,0.059,2954,720,1809,1891,1728,0,0,0,0,0,0,15.22,14.85,14.21
$GC,3201,0.65,291.4,2954,720,1881,1727,66.5,7.6,319,3252,0.00,2.35,38.60,0.944,9222,0.000,0.057,2955,2121,1609,1700,1519,0,0,0,0,0,0,14.73,14.67,14.22
$GC,3492,0.68,334.1,2954,2121,1700,1514,43.7,7.9,348,3532,0.00,2.45,33.75,0.912,10756,0.000,0.062,2965,716,1435,1528,1342,0,0,0,0,0,0,15.21,14.81,14.22
$GC,3622,0.69,356.0,2965,716,1522,1342,32.6,9.0,360,3645,0.00,2.38,17.42,0.874,11270,0.000,0.055,2965,2126,1348,1442,1254,0,0,0,0,0,0,14.69,14.62,14.18
$GC,3903,0.69,356.0,2965,2126,1440,1249,6.3,10.8,410,3909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2965,2126,1345,1442,1249,0,0,0,0,0,0,15.17,15.18,15.18
$STATE,3930,end climb,SURFACE_DEPTH_REACHED
$STATE,3931,begin surface coast
$FINISH,0.5,1.023087
$STATE,3961,end surface coast,CONTROL_FINISHED_OK
$STATE,3961,begin surface
$SM_CCo,3977,18.27,0.190,0,0,1166,400.08
$SM_GC,1.01,6.28,0.22,18.27,0.026,0.073,0.190,150,2296,1166,-7.94,-0.79,400.08,0,0,0,0,0,0,14.94,14.95,14.66
$IRIDIUM_FIX,2234.68,-15800.20,031021,074230
$TT8_MAMPS,0.02247,0.313831
$HUMID,52.48
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.14,158.231
$10V_AH,12.81,0.000
$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,15.675,42.575,382.050,18.275,0.000,52.920,89.782,117.543,0.250,0.000,21.120,1101.055,1429.206,404.278,1407.361,152.939,0.000,949.597,0.000,1115.222,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,126.225,1087.830,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.425,300.758,577.436,524.779,607.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339060
$DATA_FILE_SIZE,37314,420
$CAP_FILE_SIZE,69956,0
$CFSIZE,1023623168,957186048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.203,239.40,1
$GPS,031021,085444,2243.949,-15800.999,9,1.0,25,9.8,0.5,267.5,8,9.5