version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 713
start: 10 4 121 13 33 40
data:
$ID,626
$MISSION,3
$DIVE,713
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,041021,132731,2243.4912,-15802.2871,6,0.9,31,9.8,0.3,64.7,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.8
$GPS2,041021,133250,2243.5193,-15802.3096,5,0.9,16,9.8,0.0,45.9,9,8.8
$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,73.2,4805,-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,-116.8,125,2268,1203,1111,0.0,0.0,0,81,0.00,0.00,-62.38,0.000,16386,0.000,0.000,124,2268,3171,3135,3208,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2268,3136,3208,3.8,-7.8,9,100,8.38,2.35,-1.67,0.000,18692,0.427,0.069,2552,3670,3280,3251,3309,0,0,0,0,0,0,14.19,13.38,14.48
$GC,124,-0.55,-116.8,2552,3671,3257,3304,22.2,-41.4,15,134,0.05,2.42,0.00,0.000,3078,0.355,0.060,2570,2260,3280,3262,3299,0,0,0,0,0,0,14.63,14.82,14.85
$GC,378,-0.55,-116.8,2570,2255,3266,3296,70.2,-20.8,43,382,0.00,2.38,0.00,0.000,2308,0.000,0.063,2562,3664,3281,3266,3296,0,0,0,0,0,0,15.25,14.88,15.25
$GC,471,-0.55,-116.8,2561,3664,3266,3297,84.5,-12.7,52,481,0.00,2.33,0.00,0.000,3078,0.000,0.047,2561,2253,3281,3267,3295,0,0,0,0,0,0,15.04,14.93,15.07
$GC,724,-0.55,-116.8,2561,2252,3267,3296,121.9,-12.4,77,728,0.00,2.38,0.00,0.000,2308,0.000,0.063,2551,3662,3281,3267,3295,0,0,0,0,0,0,15.27,14.91,15.27
$GC,828,-0.55,-116.8,2551,3663,3267,3296,133.2,-10.0,87,834,0.08,2.30,0.00,0.000,3078,0.311,0.044,2578,2254,3281,3267,3296,0,0,0,0,0,0,14.69,14.96,14.93
$GC,1082,-0.55,-116.8,2579,2251,3267,3295,166.6,-13.0,112,1091,0.00,2.30,0.00,0.000,4612,0.000,0.057,2579,858,3281,3268,3295,0,0,0,0,0,0,15.29,14.79,15.30
$GC,1167,-0.55,-116.8,2579,857,3269,3295,175.7,-9.8,120,1175,0.00,2.38,0.00,0.000,3078,0.000,0.057,2570,2251,3282,3271,3293,0,0,0,0,0,0,15.03,14.88,15.05
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1379,-0.13,0.0,2571,2089,3272,3293,200.5,-12.5,141,1477,0.35,0.05,94.28,1.069,10246,0.240,0.190,2704,2147,2798,2862,2734,0,0,0,0,0,0,14.38,14.62,13.98
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1481,0.55,116.8,2704,2147,2862,2734,204.9,0.0,151,1586,0.50,2.42,96.50,1.064,10756,0.142,0.046,2929,745,2320,2402,2239,0,0,0,0,0,0,14.59,14.57,13.93
$GC,2100,0.59,185.2,2928,744,2389,2238,171.6,6.6,212,2160,0.00,2.25,54.83,1.044,11270,0.000,0.051,2929,2099,2043,2129,1958,0,0,0,0,0,0,14.86,14.81,14.11
$GC,2399,0.59,185.2,2929,2099,2126,1952,145.6,10.1,242,2409,0.00,2.28,0.00,0.000,2564,0.000,0.057,2940,753,2038,2124,1952,0,0,0,0,0,0,15.21,14.64,15.21
$GC,2921,0.63,245.0,2939,753,2118,1951,105.5,7.0,293,2973,0.00,2.30,46.70,0.982,11270,0.000,0.053,2940,2129,1801,1886,1717,0,0,0,0,0,0,14.84,14.79,14.17
$GC,3222,0.65,290.9,2939,2129,1884,1710,80.4,7.7,323,3264,0.00,2.33,36.75,0.950,10756,0.000,0.060,2950,757,1612,1705,1520,0,0,0,0,0,0,15.22,14.80,14.18
$GC,3368,0.70,362.6,2950,757,1698,1520,70.6,6.4,337,3431,0.00,2.30,56.25,0.929,11270,0.000,0.057,2951,2121,1318,1413,1224,0,0,0,0,0,0,14.69,14.69,14.09
$GC,3681,0.74,435.9,2950,2120,1413,1218,50.4,6.3,368,3744,0.05,2.40,55.97,0.903,10500,0.259,0.069,3041,3543,1020,1120,920,0,0,0,0,0,0,14.85,14.73,14.16
$GC,3765,0.74,435.9,3041,3543,1120,920,40.5,13.7,376,3774,0.17,2.38,0.00,0.000,5126,0.228,0.052,2986,2143,1020,1120,920,0,0,0,0,0,0,14.60,14.73,14.78
$GC,4023,0.79,505.9,2985,2140,1120,918,14.5,6.5,415,4061,0.00,2.42,29.17,0.246,10756,0.000,0.060,2995,711,733,848,618,0,0,0,0,0,0,15.17,14.60,14.45
$GC,4145,0.79,509.0,2994,712,840,618,3.6,9.9,435,4153,0.00,2.40,0.00,0.000,3078,0.000,0.045,2995,2135,729,840,618,0,0,0,0,0,0,14.97,14.84,14.99
$STATE,4159,end climb,SURFACE_DEPTH_REACHED
$STATE,4159,begin surface coast
$FINISH,0.2,1.022839
$STATE,4188,end surface coast,CONTROL_FINISHED_OK
$STATE,4188,begin surface
$SM_CCo,4265,0.00,0.000,0,0,727,508.50
$SM_GC,1.11,6.43,0.20,0.00,0.042,0.093,0.000,158,2272,727,-7.91,-1.05,508.50,0,0,0,0,0,0,14.96,14.91,15.00
$IRIDIUM_FIX,2234.68,-15802.37,041021,132859
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.44
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,13.38,162.439
$10V_AH,12.86,0.000
$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,16.000,42.750,470.450,0.000,0.000,26.919,46.670,118.103,0.750,0.000,18.886,1143.529,1507.293,424.452,1388.337,151.791,0.000,1008.600,0.000,1177.090,0.000,0.556,0.000
$DEVICE_MAMPS,426.870,190.485,1069.470,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.551,320.029,599.502,543.608,624.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,40633,442
$CAP_FILE_SIZE,68154,0
$CFSIZE,1023623168,955547648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.101,317.36,1
$GPS,041021,144601,2243.572,-15802.334,6,0.9,42,9.8,0.5,273.2,9,4.4