version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 698
start: 10 3 121 19 42 38
data:
$ID,626
$MISSION,3
$DIVE,698
$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,76
$R_STBD_OVSHOOT,58
$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
$GPS1,031021,193625,2244.8318,-15800.9980,8,0.8,41,9.8,0.2,235.7,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.2
$GPS2,031021,194146,2244.8105,-15801.0322,6,0.8,21,9.8,0.5,230.3,10,10.0
$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,51.5,1797,-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,-116.8,124,2217,1204,1114,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,16386,0.000,0.000,124,2217,2891,2875,2907,0,0,0,0,0,0,15.19,28.83,15.20
$GC,76,-0.55,-116.8,124,2217,2876,2906,3.3,-7.3,8,100,8.38,2.42,-6.70,0.000,18692,0.428,0.076,2551,3655,3277,3258,3296,0,0,0,0,0,0,14.20,13.91,14.48
$GC,150,-0.55,-116.8,2551,3655,3259,3296,23.8,-17.9,20,158,0.05,2.30,0.00,0.000,3078,0.314,0.050,2569,2308,3277,3261,3294,0,0,0,0,0,0,14.54,14.78,14.87
$GC,402,-0.55,-116.8,2569,2304,3263,3292,74.2,-20.3,48,413,0.00,2.40,0.00,0.000,2564,0.000,0.059,2570,862,3278,3266,3291,0,0,0,0,0,0,15.25,14.58,15.25
$GC,556,-0.55,-116.8,2569,861,3266,3290,96.1,-11.5,62,565,0.00,2.38,0.00,0.000,3078,0.000,0.055,2561,2259,3278,3267,3289,0,0,0,0,0,0,15.02,14.87,15.04
$GC,805,-0.55,-116.8,2561,2260,3267,3289,130.2,-14.1,87,814,0.00,2.33,0.00,0.000,2564,0.000,0.056,2561,860,3278,3267,3289,0,0,0,0,0,0,15.28,14.78,15.28
$GC,870,-0.55,-116.8,2560,860,3267,3290,139.2,-12.9,93,879,0.05,2.33,0.00,0.000,3078,0.319,0.057,2569,2258,3278,3268,3289,0,0,0,0,0,0,14.50,14.78,14.66
$GC,1121,-0.55,-116.8,2568,2258,3268,3289,171.1,-12.5,118,1130,0.00,2.33,0.00,0.000,2564,0.000,0.052,2569,857,3278,3268,3289,0,0,0,0,0,0,15.29,14.78,15.30
$GC,1164,-0.55,-116.8,2568,857,3268,3289,176.3,-11.5,122,1174,0.00,2.35,0.00,0.000,3078,0.000,0.055,2560,2265,3278,3268,3288,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,1363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1363,begin apogee
$GC,1369,-0.13,0.0,2560,2085,3268,3288,201.2,-12.4,142,1467,0.38,0.08,93.38,1.082,10246,0.238,0.148,2704,2149,2798,2863,2733,0,0,0,0,0,0,14.52,14.62,13.98
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1471,0.55,116.8,2703,2150,2863,2734,206.7,0.0,152,1576,0.50,2.35,95.85,1.073,10500,0.144,0.062,2917,3521,2324,2407,2242,0,0,0,0,0,0,14.58,14.35,13.89
$GC,1675,0.55,125.9,2917,3521,2406,2242,198.9,9.6,172,1693,0.00,2.25,9.20,0.968,9222,0.000,0.044,2928,2155,2285,2368,2202,0,0,0,0,0,0,14.89,14.81,14.04
$GC,1933,0.57,147.6,2928,2155,2368,2197,174.5,9.0,198,1962,0.00,2.40,18.65,1.026,10756,0.000,0.054,2940,710,2195,2280,2110,0,0,0,0,0,0,15.22,14.66,14.16
$GC,2087,0.58,165.6,2940,710,2272,2110,159.4,9.2,213,2109,0.00,2.33,14.98,0.991,13318,0.000,0.052,2940,2107,2124,2210,2038,0,0,0,0,0,0,14.73,14.69,14.16
$GC,2358,0.58,172.3,2940,2107,2210,2034,131.8,9.8,240,2371,0.00,2.42,6.80,0.896,12548,0.000,0.067,2940,3536,2095,2182,2009,0,0,0,0,0,0,15.24,14.88,14.16
$GC,2420,0.58,172.3,2940,3537,2183,2009,125.6,10.3,246,2431,0.00,2.33,0.00,0.000,5126,0.000,0.049,2950,2125,2095,2182,2009,0,0,0,0,0,0,14.78,14.71,14.79
$GC,2672,0.59,191.7,2950,2123,2183,2008,102.1,9.1,271,2691,0.00,0.00,16.85,0.969,12294,0.000,0.000,2950,2125,2016,2101,1932,0,0,0,0,0,0,15.26,14.85,14.22
$GC,2934,0.62,235.5,2950,2125,2100,1928,80.7,7.8,297,2974,0.00,2.40,34.15,0.968,8708,0.000,0.058,2961,722,1837,1918,1757,0,0,0,0,0,0,15.24,14.82,14.21
$GC,3006,0.63,258.7,2961,721,1914,1758,74.6,8.9,304,3035,0.00,2.42,19.48,0.929,13318,0.000,0.056,2962,2130,1743,1828,1658,0,0,0,0,0,0,14.94,14.81,14.13
$GC,3275,0.65,284.9,2961,2131,1827,1654,48.6,8.8,331,3305,0.00,2.42,20.95,0.906,8452,0.000,0.067,2961,3539,1637,1727,1547,0,0,0,0,0,0,15.20,14.59,14.17
$GC,3361,0.65,284.9,2961,3539,1727,1547,40.0,10.4,339,3371,0.00,2.35,0.00,0.000,5126,0.000,0.051,2972,2122,1637,1727,1547,0,0,0,0,0,0,14.67,14.62,14.70
$GC,3620,0.65,284.9,2972,2123,1727,1545,9.7,12.9,380,3628,0.00,2.40,0.00,0.000,4612,0.000,0.061,2983,717,1636,1727,1545,0,0,0,0,0,0,15.19,14.83,15.19
$GC,3651,0.65,284.9,2983,717,1723,1545,5.4,12.8,385,3661,0.08,2.42,0.00,0.000,5126,0.318,0.055,2956,2136,1633,1724,1543,0,0,0,0,0,0,14.64,14.85,14.88
$STATE,3677,end climb,SURFACE_DEPTH_REACHED
$STATE,3677,begin surface coast
$FINISH,0.2,1.010413
$STATE,3705,end surface coast,CONTROL_FINISHED_OK
$STATE,3705,begin surface
$SM_CCo,3722,47.72,0.185,0,0,1166,400.08
$SM_GC,1.37,6.38,0.20,47.72,0.055,0.080,0.185,162,2283,1166,-7.89,-0.93,400.08,0,0,0,0,0,0,14.97,14.97,14.66
$IRIDIUM_FIX,2234.68,-15800.20,031021,193747
$TT8_MAMPS,0.023219,0.313831
$HUMID,52.36
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,13.89,159.921
$10V_AH,12.70,0.000
$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,15.800,47.875,330.275,47.725,0.000,26.013,48.244,121.578,0.750,0.000,22.881,1017.894,1387.150,406.895,1174.148,144.497,0.000,887.109,0.000,955.078,0.000,0.555,0.000
$DEVICE_MAMPS,427.635,183.600,1082.475,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.111,283.806,535.876,483.357,558.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,37554,394
$CAP_FILE_SIZE,64965,0
$CFSIZE,1023623168,956547072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.155,245.91,1
$GPS,031021,204624,2244.915,-15801.109,8,1.0,19,9.8,0.0,251.5,8,9.6