version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 709
start: 10 4 121 8 29 19
data:
$ID,626
$MISSION,3
$DIVE,709
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,041021,082312,2243.9043,-15800.3594,6,0.8,15,9.8,0.8,253.1,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.0
$GPS2,041021,082830,2243.8523,-15800.4033,6,0.8,16,9.8,0.0,253.5,10,9.8
$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,9.1,2235,-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,-116.8,123,2285,1206,1113,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,16386,0.000,0.000,124,2284,3165,3131,3200,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2285,3131,3201,3.8,-7.2,9,100,8.45,2.33,-1.77,0.000,18692,0.435,0.065,2552,3686,3280,3251,3309,0,0,0,0,0,0,14.21,13.38,14.49
$GC,131,-0.55,-116.8,2552,3686,3258,3304,22.6,-29.2,16,139,0.05,2.42,0.00,0.000,3078,0.350,0.055,2571,2266,3280,3262,3299,0,0,0,0,0,0,14.63,14.82,14.85
$GC,384,-0.55,-116.8,2570,2263,3266,3296,70.7,-16.2,44,393,0.00,2.35,0.00,0.000,2308,0.000,0.058,2562,3669,3280,3266,3295,0,0,0,0,0,0,15.24,14.59,15.25
$GC,429,-0.55,-116.8,2562,3669,3266,3296,76.8,-13.5,48,438,0.00,2.30,0.00,0.000,3078,0.000,0.045,2562,2264,3281,3267,3295,0,0,0,0,0,0,14.70,14.66,14.71
$GC,680,-0.55,-116.8,2562,2264,3267,3296,115.1,-15.7,73,690,0.00,2.35,0.00,0.000,2308,0.000,0.061,2551,3669,3281,3267,3296,0,0,0,0,0,0,15.26,14.74,15.27
$GC,777,-0.55,-116.8,2551,3669,3266,3296,127.1,-10.9,82,787,0.05,2.38,0.00,0.000,3078,0.285,0.046,2571,2258,3281,3267,3295,0,0,0,0,0,0,14.54,14.78,14.71
$GC,1028,-0.55,-116.8,2571,2254,3268,3295,159.4,-12.3,107,1038,0.00,2.38,0.00,0.000,2308,0.000,0.064,2562,3667,3281,3267,3295,0,0,0,0,0,0,15.28,14.75,15.29
$GC,1124,-0.55,-116.8,2562,3666,3267,3295,169.8,-10.1,116,1133,0.00,2.28,0.00,0.000,3078,0.000,0.044,2562,2265,3281,3267,3295,0,0,0,0,0,0,14.85,14.81,14.88
$GC,1377,-0.55,-116.8,2562,2265,3268,3295,198.4,-12.2,141,1387,0.00,2.33,0.00,0.000,2564,0.000,0.057,2562,863,3281,3268,3295,0,0,0,0,0,0,15.29,14.63,15.29
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1406,-0.13,0.0,2553,2121,3269,3294,201.5,-11.8,143,1509,0.40,0.00,94.53,1.078,10246,0.236,0.000,2705,2122,2798,2863,2734,0,0,0,0,0,0,14.50,14.64,13.99
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1513,0.55,116.8,2706,2122,2862,2734,205.7,0.0,154,1620,0.47,2.40,96.47,1.069,10500,0.122,0.062,2920,3539,2324,2405,2243,0,0,0,0,0,0,14.61,14.57,13.91
$GC,1924,0.55,123.2,2919,3538,2405,2243,178.9,9.8,194,1943,0.00,2.35,6.93,0.920,13318,0.000,0.043,2930,2121,2295,2378,2213,0,0,0,0,0,0,15.01,14.90,14.10
$GC,2184,0.58,171.0,2931,2120,2377,2210,157.6,7.6,220,2231,0.00,2.40,39.22,1.037,10500,0.000,0.063,2931,3538,2099,2185,2014,0,0,0,0,0,0,15.24,14.80,14.15
$GC,2531,0.61,211.6,2930,3538,2186,2014,127.6,8.0,254,2571,0.00,2.33,32.45,1.006,9222,0.000,0.045,2942,2126,1935,2014,1856,0,0,0,0,0,0,14.69,14.69,14.17
$GC,2811,0.62,229.2,2941,2126,2014,1849,103.3,9.2,282,2832,0.00,2.42,14.43,0.952,10756,0.000,0.060,2953,710,1864,1945,1783,0,0,0,0,0,0,15.22,14.88,14.19
$GC,3362,0.68,324.5,2953,710,1934,1781,61.1,5.2,334,3442,0.00,2.38,73.60,0.946,11270,0.000,0.052,2953,2132,1475,1565,1386,0,0,0,0,0,0,14.66,14.62,14.13
$GC,3682,0.71,388.2,2953,2132,1565,1380,38.2,6.8,366,3742,0.00,2.40,48.80,0.902,10500,0.000,0.064,2953,3535,1215,1311,1119,0,0,0,0,0,0,15.18,14.64,14.16
$GC,3831,0.74,427.7,2953,3534,1311,1119,27.3,8.1,383,3861,0.00,2.40,17.50,0.855,11270,0.000,0.050,2962,2121,1052,1150,955,0,0,0,0,0,0,14.92,14.80,14.09
$GC,4119,0.77,474.0,2961,2120,1150,950,8.7,7.7,435,4143,0.05,2.47,18.90,0.219,10500,0.259,0.072,3065,3536,864,975,753,0,0,0,0,0,0,14.84,14.83,14.60
$STATE,4161,end climb,SURFACE_DEPTH_REACHED
$STATE,4161,begin surface coast
$FINISH,0.3,1.023112
$STATE,4180,end surface coast,CONTROL_FINISHED_OK
$STATE,4180,begin surface
$SM_CCo,4259,0.00,0.000,0,0,863,475.14
$SM_GC,1.17,6.60,2.10,0.00,0.040,0.034,0.000,151,2256,863,-7.93,1.13,475.14,0,0,0,0,0,0,14.95,14.92,15.00
$IRIDIUM_FIX,2234.68,-15802.37,041021,082438
$TT8_MAMPS,0.02247,0.286118
$HUMID,52.40
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,13.38,161.720
$10V_AH,12.75,0.000
$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,16.075,46.900,442.825,0.000,0.000,23.683,43.538,124.557,0.500,0.000,17.157,1139.592,1473.988,426.731,1411.132,156.261,0.000,1016.241,0.000,1207.286,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,71.910,1077.885,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.744,318.944,607.166,567.061,670.523,0.000,0.000,0.000,0.000,0.000
$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,40508,444
$CAP_FILE_SIZE,69502,0
$CFSIZE,1023623168,955809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.206,222.21,1
$GPS,041021,094131,2243.345,-15800.887,7,0.8,38,9.8,0.0,253.3,10,6.1