version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 793
start: 10 8 121 14 6 53
data:
$ID,626
$MISSION,3
$DIVE,793
$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,380
$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,32
$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
$GPS1,081021,140031,2243.8384,-15800.4678,7,1.0,30,9.8,0.5,150.7,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.1
$GPS2,081021,140604,2243.8318,-15800.4980,6,1.0,15,9.8,0.0,304.7,8,9.4
$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,32.9,2325,-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,-116.8,124,2276,1296,1192,0.0,0.0,0,73,0.00,0.00,-54.17,0.000,16386,0.000,0.000,124,2276,2941,2923,2959,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,123,2276,2923,2960,3.0,-5.6,8,99,8.48,2.33,-5.85,0.000,18692,0.431,0.070,2553,3681,3277,3255,3299,0,0,0,0,0,0,14.14,13.89,14.44
$GC,130,-0.55,-116.8,2552,3681,3257,3298,18.7,-21.2,16,139,0.05,2.40,0.00,0.000,3078,0.355,0.050,2571,2260,3278,3261,3295,0,0,0,0,0,0,14.62,14.81,14.84
$GC,387,-0.55,-116.8,2571,2257,3262,3294,66.6,-16.5,46,392,0.00,2.40,0.00,0.000,2308,0.000,0.062,2562,3680,3277,3262,3293,0,0,0,0,0,0,15.23,14.86,15.24
$GC,411,-0.55,-116.8,2562,3682,3262,3294,70.2,-16.1,48,416,0.00,2.33,0.00,0.000,3078,0.000,0.047,2562,2265,3278,3262,3294,0,0,0,0,0,0,15.02,14.90,15.04
$GC,664,-0.55,-116.8,2562,2262,3264,3291,106.9,-14.0,73,673,0.00,2.35,0.00,0.000,2308,0.000,0.063,2552,3669,3277,3263,3291,0,0,0,0,0,0,15.27,14.72,15.27
$GC,741,-0.55,-116.8,2551,3669,3264,3292,116.0,-11.2,80,749,0.08,2.38,0.00,0.000,3078,0.297,0.045,2581,2267,3277,3263,3291,0,0,0,0,0,0,14.66,14.83,14.90
$GC,991,-0.55,-116.8,2580,2265,3265,3291,146.5,-11.8,105,1000,0.00,2.35,0.00,0.000,4356,0.000,0.064,2572,3669,3277,3264,3291,0,0,0,0,0,0,15.27,14.72,15.28
$GC,1095,-0.55,-116.8,2572,3669,3264,3292,156.5,-9.0,115,1104,0.00,2.30,0.00,0.000,1030,0.000,0.045,2572,2254,3278,3265,3291,0,0,0,0,0,0,14.88,14.89,14.88
$GC,1345,-0.55,-116.8,2571,2254,3265,3290,184.7,-12.0,140,1350,0.00,2.40,0.00,0.000,260,0.000,0.062,2561,3677,3277,3264,3291,0,0,0,0,0,0,15.27,14.90,15.28
$GC,1439,-0.55,-116.8,2561,3677,3264,3291,195.2,-10.8,149,1448,0.00,2.30,0.00,0.000,3078,0.000,0.047,2561,2268,3277,3265,3290,0,0,0,0,0,0,14.87,14.88,14.88
$STATE,1487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1487,begin apogee
$GC,1494,-0.13,0.0,2561,2090,3265,3290,201.3,-12.3,154,1592,0.38,0.00,94.38,1.070,10246,0.229,0.000,2707,2087,2798,2863,2734,0,0,0,0,0,0,14.51,14.62,13.92
$STATE,1593,end apogee,CONTROL_FINISHED_OK
$STATE,1593,begin climb
$GC,1595,0.55,116.8,2707,2087,2863,2734,208.0,0.0,164,1700,0.47,2.33,97.35,1.067,10756,0.134,0.054,2926,741,2321,2404,2238,0,0,0,0,0,0,14.54,14.57,13.88
$GC,2208,0.62,234.8,2926,741,2389,2237,183.2,4.0,225,2309,0.00,2.30,94.53,1.056,11270,0.000,0.050,2927,2126,1841,1920,1762,0,0,0,0,0,0,15.04,14.92,13.99
$GC,2549,0.63,244.5,2926,2126,1920,1755,152.8,9.6,259,2567,0.00,2.33,8.55,0.923,10756,0.000,0.060,2937,750,1802,1885,1720,0,0,0,0,0,0,15.19,14.60,14.09
$GC,2702,0.63,244.5,2936,750,1879,1721,136.2,11.4,274,2712,0.00,2.33,0.00,0.000,3078,0.000,0.060,2937,2122,1799,1879,1719,0,0,0,0,0,0,15.00,14.88,15.02
$GC,2955,0.63,248.8,2937,2122,1879,1718,110.4,9.9,299,2966,0.00,2.40,4.82,0.806,10500,0.000,0.063,2937,3538,1783,1867,1700,0,0,0,0,0,0,15.24,14.87,14.08
$GC,3289,0.64,268.6,2937,3538,1867,1701,75.4,9.1,331,3316,0.00,2.35,17.83,0.926,11270,0.000,0.047,2948,2155,1702,1790,1614,0,0,0,0,0,0,15.02,14.84,14.14
$GC,3556,0.70,368.4,2948,2153,1790,1609,57.0,5.0,358,3644,0.00,2.38,77.22,0.923,10500,0.000,0.063,2948,3536,1296,1391,1202,0,0,0,0,0,0,15.23,14.51,14.07
$GC,3671,0.75,443.0,2948,3536,1391,1202,50.5,6.3,369,3739,0.05,2.40,58.33,0.891,11270,0.253,0.055,3077,2121,989,1094,885,0,0,0,0,0,0,14.66,14.73,14.01
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FINISH,0.2,0.998214
$STATE,3975,end surface coast,CONTROL_FINISHED_OK
$STATE,3975,begin surface
$SM_CCo,4053,0.00,0.000,0,0,984,445.21
$SM_GC,1.15,6.62,0.28,0.00,0.036,0.075,0.000,175,2286,984,-7.95,-0.65,445.21,0,0,0,0,0,0,14.84,14.89,14.92
$IRIDIUM_FIX,2232.34,-15800.20,081021,140204
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.42
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.88,175.926
$10V_AH,12.38,0.000
$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,16.125,42.825,453.000,0.000,0.000,26.645,47.512,128.592,0.500,0.000,16.335,1066.408,1442.068,419.961,1326.793,160.181,0.000,976.759,0.000,1108.682,0.000,0.556,0.000
$DEVICE_MAMPS,430.695,74.970,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.723,299.267,560.469,491.033,579.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,37292,414
$CAP_FILE_SIZE,62419,0
$CFSIZE,1023623168,950321152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.093,322.48,1
$GPS,081021,151531,2244.100,-15800.496,7,0.9,29,9.8,0.6,14.6,9,7.5