version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 699
start: 10 3 121 20 52 15
data:
$ID,626
$MISSION,3
$DIVE,699
$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,33
$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
$GPS1,031021,204624,2244.9150,-15801.1094,8,1.0,19,9.8,0.0,251.5,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.6
$GPS2,031021,205124,2244.9060,-15801.1562,7,1.0,17,9.8,0.5,285.1,8,9.8
$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,62.3,1983,-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,-116.8,125,2293,1201,1116,0.0,0.0,0,80,0.00,0.00,-61.60,0.000,16386,0.000,0.000,125,2294,3129,3094,3164,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,125,2293,3095,3163,3.6,-7.0,9,107,8.40,2.30,-2.38,0.000,18692,0.428,0.067,2556,3669,3279,3254,3305,0,0,0,0,0,0,14.21,13.36,14.49
$GC,158,-0.55,-116.8,2555,3669,3259,3302,27.7,-15.4,21,166,0.05,2.40,0.00,0.000,3078,0.373,0.049,2573,2249,3280,3262,3298,0,0,0,0,0,0,14.62,14.83,14.85
$GC,418,-0.55,-116.8,2573,2244,3265,3295,77.8,-17.7,47,423,0.00,2.30,0.00,0.000,516,0.000,0.057,2574,849,3280,3266,3295,0,0,0,0,0,0,15.24,14.90,15.25
$GC,433,-0.55,-116.8,2572,849,3267,3294,80.3,-16.7,48,441,0.00,2.40,0.00,0.000,3078,0.000,0.054,2565,2240,3281,3267,3295,0,0,0,0,0,0,14.83,14.76,14.85
$GC,681,-0.55,-116.8,2565,2241,3268,3295,116.0,-13.4,73,686,0.00,2.33,0.00,0.000,2564,0.000,0.055,2565,852,3281,3268,3295,0,0,0,0,0,0,15.28,14.93,15.28
$GC,837,-0.55,-116.8,2564,851,3268,3294,133.6,-11.3,88,847,0.05,2.38,0.00,0.000,3078,0.301,0.057,2573,2266,3281,3270,3292,0,0,0,0,0,0,14.36,14.61,14.53
$GC,1087,-0.55,-116.8,2573,2267,3270,3293,162.5,-11.7,113,1092,0.00,2.35,0.00,0.000,516,0.000,0.053,2573,844,3282,3271,3293,0,0,0,0,0,0,15.28,14.95,15.28
$GC,1130,-0.55,-116.8,2573,843,3270,3293,167.2,-10.5,117,1135,0.00,2.40,0.00,0.000,3078,0.000,0.058,2564,2272,3282,3271,3293,0,0,0,0,0,0,15.07,14.92,15.09
$GC,1385,-0.55,-116.8,2564,2272,3271,3291,195.7,-11.1,142,1394,0.00,2.38,0.00,0.000,2564,0.000,0.055,2564,847,3281,3271,3292,0,0,0,0,0,0,15.29,14.77,15.29
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1433,-0.13,0.0,2555,2127,3272,3291,200.2,-10.4,146,1530,0.38,0.00,93.68,1.087,10246,0.232,0.000,2700,2127,2799,2864,2734,0,0,0,0,0,0,14.52,14.64,13.98
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1534,0.55,116.8,2700,2127,2864,2733,203.2,0.0,156,1640,0.50,2.45,96.38,1.072,11012,0.142,0.062,2914,3542,2322,2406,2239,0,0,0,0,0,0,14.45,14.57,13.93
$GC,1667,0.60,205.0,2914,3542,2406,2241,201.4,5.5,169,1745,0.00,2.35,70.60,1.060,11270,0.000,0.041,2927,2112,1962,2038,1887,0,0,0,0,0,0,14.65,14.60,13.93
$GC,1984,0.60,205.0,2926,2113,2037,1881,161.8,11.7,201,1993,0.00,2.33,0.00,0.000,2564,0.000,0.060,2938,716,1957,2034,1880,0,0,0,0,0,0,15.17,14.61,15.18
$GC,2078,0.60,205.0,2938,715,2029,1881,151.7,10.4,210,2088,0.00,2.35,0.00,0.000,3078,0.000,0.054,2938,2122,1954,2029,1880,0,0,0,0,0,0,14.74,14.69,14.76
$GC,2330,0.60,205.0,2937,2123,2029,1880,125.2,10.3,235,2339,0.00,2.35,0.00,0.000,2308,0.000,0.065,2938,3534,1954,2029,1880,0,0,0,0,0,0,15.24,14.76,15.24
$GC,2387,0.60,205.0,2938,3534,2029,1881,119.0,11.5,240,2396,0.00,2.38,0.00,0.000,5126,0.000,0.048,2949,2116,1955,2029,1881,0,0,0,0,0,0,15.03,14.90,15.06
$GC,2637,0.60,205.0,2949,2116,2029,1881,89.7,12.4,265,2643,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2116,1954,2028,1881,0,0,0,0,0,0,15.26,15.27,15.26
$GC,2885,0.63,247.6,2948,2115,2029,1881,62.7,7.9,290,2924,0.00,0.00,33.58,0.948,8198,0.000,0.000,2949,2115,1788,1870,1706,0,0,0,0,0,0,15.27,14.83,14.22
$GC,3167,0.65,285.4,2949,2114,1869,1701,41.4,8.1,318,3205,0.00,2.45,30.05,0.903,10500,0.000,0.064,2949,3538,1634,1724,1544,0,0,0,0,0,0,15.22,14.57,14.16
$GC,3229,0.66,296.5,2949,3538,1724,1544,35.5,9.5,324,3249,0.00,2.35,10.27,0.834,9222,0.000,0.049,2960,2122,1589,1680,1498,0,0,0,0,0,0,14.70,14.68,14.09
$GC,3504,0.66,296.5,2959,2122,1680,1493,5.7,11.6,370,3511,0.00,2.38,0.00,0.000,516,0.000,0.060,2971,720,1586,1680,1493,0,0,0,0,0,0,15.16,14.81,15.17
$STATE,3523,end climb,SURFACE_DEPTH_REACHED
$STATE,3523,begin surface coast
$FINISH,1.0,1.023055
$STATE,3534,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3553,42.85,0.184,0,0,1167,400.08
$SM_GC,1.11,6.45,2.65,42.85,0.060,0.049,0.184,164,2281,1167,-7.90,-0.71,400.08,0,0,0,0,0,0,14.96,14.87,14.64
$IRIDIUM_FIX,2237.01,-15802.37,031021,204747
$TT8_MAMPS,0.02247,0.342293
$HUMID,52.44
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.36,160.076
$10V_AH,12.12,0.000
$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,15.825,47.425,334.550,42.850,0.000,23.473,42.998,112.428,0.250,0.000,18.136,957.201,1342.032,417.209,1074.907,140.412,0.000,855.250,0.000,889.027,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,67.320,1087.065,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,247.545,270.880,512.249,475.250,549.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,33988,375
$CAP_FILE_SIZE,59252,0
$CFSIZE,1023623168,956481536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.173,271.79,1
$GPS,031021,215331,2245.046,-15801.272,8,0.9,41,9.8,0.7,139.5,10,5.9