version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 696
start: 10 3 121 17 31 23
data:
$ID,626
$MISSION,3
$DIVE,696
$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,59
$R_STBD_OVSHOOT,54
$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
$GPS1,031021,172439,2244.6792,-15801.1631,7,1.2,47,9.8,0.0,185.0,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.6
$GPS2,031021,173031,2244.6616,-15801.1738,8,0.9,27,9.8,0.0,220.0,9,7.8
$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,49.3,2100,-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,-116.8,123,2235,1203,1113,0.0,0.0,0,82,0.00,0.00,-63.55,0.000,16386,0.000,0.000,123,2234,3212,3172,3252,0,0,0,0,0,0,15.18,28.83,15.19
$GC,85,-0.55,-116.8,123,2235,3173,3251,3.9,-7.3,9,101,8.48,2.38,-1.00,0.000,18692,0.436,0.063,2556,3664,3279,3249,3309,0,0,0,0,0,0,14.18,13.38,14.48
$GC,135,-0.55,-116.8,2555,3664,3256,3304,25.2,-27.0,17,143,0.03,2.35,0.00,0.000,3078,0.218,0.054,2580,2296,3280,3260,3301,0,0,0,0,0,0,14.59,14.79,14.85
$GC,388,-0.55,-116.8,2580,2291,3263,3295,72.0,-20.8,44,397,0.00,2.38,0.00,0.000,4612,0.000,0.057,2581,858,3280,3266,3295,0,0,0,0,0,0,15.25,14.61,15.25
$GC,524,-0.55,-116.8,2580,858,3267,3295,95.2,-14.3,57,533,0.00,2.33,0.00,0.000,3078,0.000,0.058,2572,2242,3280,3268,3292,0,0,0,0,0,0,14.83,14.79,14.85
$GC,775,-0.55,-116.8,2571,2243,3267,3292,129.6,-11.9,82,785,0.00,2.28,0.00,0.000,516,0.000,0.054,2572,858,3280,3268,3293,0,0,0,0,0,0,15.27,14.64,15.28
$GC,810,-0.55,-116.8,2571,858,3268,3293,133.6,-11.6,85,819,0.00,2.35,0.00,0.000,3078,0.000,0.057,2561,2264,3280,3268,3292,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1058,-0.55,-116.8,2561,2264,3268,3293,165.8,-12.7,110,1067,0.00,2.33,0.00,0.000,2564,0.000,0.054,2561,860,3281,3269,3293,0,0,0,0,0,0,15.30,14.78,15.30
$GC,1083,-0.55,-116.8,2561,860,3268,3293,168.5,-12.5,112,1091,0.08,2.35,0.00,0.000,3078,0.339,0.057,2577,2267,3280,3268,3292,0,0,0,0,0,0,14.67,14.93,14.92
$GC,1331,-0.55,-116.8,2576,2267,3268,3292,196.7,-11.1,137,1341,0.00,2.35,0.00,0.000,516,0.000,0.054,2577,846,3280,3269,3292,0,0,0,0,0,0,15.30,14.94,15.30
$STATE,1362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1362,begin apogee
$GC,1370,-0.13,0.0,2568,2126,3269,3291,200.4,-11.4,140,1467,0.35,0.00,93.62,1.076,10246,0.228,0.000,2704,2127,2799,2864,2734,0,0,0,0,0,0,14.55,14.64,14.00
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1471,0.55,116.8,2704,2126,2864,2734,204.8,0.0,150,1575,0.50,2.45,96.30,1.066,10500,0.138,0.063,2922,3539,2322,2406,2238,0,0,0,0,0,0,14.60,14.57,13.93
$GC,1613,0.60,202.5,2922,3539,2406,2241,204.2,5.7,164,1692,0.00,2.35,68.97,1.059,11270,0.000,0.044,2933,2122,1972,2048,1896,0,0,0,0,0,0,14.81,14.71,13.94
$GC,1931,0.60,202.5,2931,2122,2046,1890,166.8,11.5,196,1940,0.00,2.33,0.00,0.000,2564,0.000,0.058,2944,719,1968,2045,1891,0,0,0,0,0,0,15.18,14.74,15.19
$GC,1983,0.60,202.5,2944,719,2040,1891,160.4,12.0,201,1994,0.00,2.38,0.00,0.000,1030,0.000,0.054,2944,2134,1965,2039,1891,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2236,0.60,203.8,2944,2133,2039,1890,132.8,10.0,226,2245,0.00,2.33,0.00,0.000,260,0.000,0.067,2945,3525,1964,2039,1890,0,0,0,0,0,0,15.24,14.63,15.25
$GC,2260,0.60,203.8,2944,3524,2039,1891,130.0,10.9,228,2268,0.00,2.38,0.00,0.000,5126,0.000,0.050,2956,2132,1965,2039,1891,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2510,0.60,203.8,2955,2131,2039,1891,100.8,10.8,253,2520,0.00,2.35,0.00,0.000,4612,0.000,0.057,2967,709,1965,2039,1891,0,0,0,0,0,0,15.27,14.77,15.27
$GC,2567,0.60,203.8,2967,709,2036,1890,94.7,11.1,258,2575,0.08,2.40,0.00,0.000,5126,0.314,0.056,2939,2124,1963,2036,1890,0,0,0,0,0,0,14.69,14.90,14.92
$GC,2816,0.64,271.8,2939,2125,2036,1890,73.7,6.6,283,2877,0.00,2.42,54.00,0.947,10500,0.000,0.064,2939,3537,1689,1777,1601,0,0,0,0,0,0,15.27,14.77,14.18
$GC,2929,0.65,277.1,2939,3536,1777,1601,64.6,9.8,294,2942,0.00,2.35,5.82,0.788,11270,0.000,0.046,2948,2115,1668,1758,1578,0,0,0,0,0,0,14.65,14.59,14.09
$GC,3191,0.65,277.1,2948,2113,1758,1574,39.0,10.8,320,3201,0.00,2.33,0.00,0.000,2564,0.000,0.060,2959,719,1665,1757,1574,0,0,0,0,0,0,15.22,14.64,15.22
$GC,3216,0.65,277.1,2959,719,1754,1574,36.2,11.6,322,3225,0.00,2.33,0.00,0.000,5126,0.000,0.054,2959,2114,1664,1754,1574,0,0,0,0,0,0,14.66,14.61,14.70
$GC,3476,0.65,277.1,2959,2113,1754,1573,6.7,12.1,366,3483,0.00,2.47,0.00,0.000,260,0.000,0.069,2959,3533,1663,1754,1573,0,0,0,0,0,0,15.21,14.78,15.22
$STATE,3509,end climb,SURFACE_DEPTH_REACHED
$STATE,3509,begin surface coast
$FINISH,1.0,1.023071
$STATE,3522,end surface coast,CONTROL_FINISHED_OK
$STATE,3522,begin surface
$SM_CCo,3541,50.58,0.181,0,0,1167,400.08
$SM_GC,1.22,6.32,2.10,50.58,0.039,0.037,0.181,171,2258,1167,-7.92,1.07,400.08,0,0,0,0,0,0,14.96,14.95,14.66
$IRIDIUM_FIX,2237.01,-15802.37,031021,172602
$TT8_MAMPS,0.023219,0.31458
$HUMID,52.32
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,13.38,159.609
$10V_AH,12.07,0.000
$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,15.825,56.250,318.725,50.575,0.000,25.365,44.778,147.248,0.750,0.000,28.440,960.171,1318.817,414.818,1143.647,144.086,0.000,879.272,0.000,900.534,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,181.305,1076.355,180.540,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,246.220,267.670,509.320,470.312,543.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,33966,374
$CAP_FILE_SIZE,61527,0
$CFSIZE,1023623168,956678144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.099,195.65,1
$GPS,031021,183209,2244.736,-15800.982,7,0.9,17,9.8,0.5,101.6,8,9.6