version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 805
start: 10 9 121 4 31 54
data:
$ID,626
$MISSION,3
$DIVE,805
$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,74
$R_STBD_OVSHOOT,30
$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
$GPS1,091021,042525,2245.5110,-15800.2979,8,0.8,39,9.8,0.6,292.1,10,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.4
$GPS2,091021,043103,2245.5696,-15800.3311,7,1.0,16,9.8,0.0,352.9,9,9.9
$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,153.5,1197,-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,-116.8,122,2215,1286,1172,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,16386,0.000,0.000,122,2214,3026,2999,3054,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,121,2214,3000,3055,3.5,-6.4,8,101,8.48,2.22,-4.18,0.000,18948,0.430,0.067,2573,892,3282,3261,3303,0,0,0,0,0,0,14.12,13.28,14.42
$GC,190,-0.55,-116.8,2573,891,3270,3295,30.0,-14.9,27,197,0.00,2.40,0.00,0.000,3078,0.000,0.063,2564,2273,3282,3271,3294,0,0,0,0,0,0,14.94,14.78,14.97
$GC,436,-0.55,-116.8,2564,2273,3272,3293,74.6,-17.5,52,446,0.00,2.30,0.00,0.000,2564,0.000,0.056,2564,903,3282,3272,3293,0,0,0,0,0,0,15.25,14.59,15.24
$GC,512,-0.55,-116.8,2563,903,3272,3293,86.6,-14.3,59,517,0.05,2.33,0.00,0.000,3078,0.380,0.062,2571,2274,3282,3272,3293,0,0,0,0,0,0,14.65,14.88,14.89
$GC,767,-0.55,-116.8,2571,2278,3272,3292,119.5,-13.8,84,777,0.00,2.30,0.00,0.000,2564,0.000,0.054,2571,897,3282,3272,3292,0,0,0,0,0,0,15.26,14.61,15.27
$GC,813,-0.55,-116.8,2571,896,3272,3293,125.5,-13.3,88,821,0.00,2.38,0.00,0.000,3078,0.000,0.059,2562,2280,3281,3272,3291,0,0,0,0,0,0,15.00,14.84,15.02
$GC,1060,-0.55,-116.8,2562,2281,3271,3293,163.1,-15.6,113,1064,0.00,2.33,0.00,0.000,2308,0.000,0.061,2551,3686,3282,3272,3292,0,0,0,0,0,0,15.29,14.90,15.29
$GC,1103,-0.55,-116.8,2551,3687,3272,3293,168.5,-12.8,117,1108,0.08,2.25,0.00,0.000,3078,0.303,0.044,2579,2301,3282,3272,3293,0,0,0,0,0,0,14.69,14.96,14.92
$GC,1358,-0.55,-116.8,2580,2297,3272,3293,196.3,-10.3,142,1366,0.00,2.30,0.00,0.000,4356,0.000,0.065,2571,3673,3282,3272,3292,0,0,0,0,0,0,15.28,14.73,15.29
$GC,1391,-0.55,-116.8,2571,3673,3272,3293,199.3,-9.2,145,1396,0.00,2.30,0.00,0.000,3078,0.000,0.041,2571,2257,3282,3272,3292,0,0,0,0,0,0,15.07,14.96,15.09
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1407,-0.13,0.0,2571,2067,3273,3291,200.5,-9.0,146,1506,0.35,0.12,94.70,1.069,10246,0.231,0.109,2706,2161,2798,2865,2732,0,0,0,0,0,0,14.50,14.62,13.93
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1510,0.55,116.8,2706,2161,2865,2732,204.9,0.0,156,1614,0.50,2.53,97.18,1.060,10756,0.103,0.053,2951,716,2321,2405,2238,0,0,0,0,0,0,14.63,14.57,13.88
$GC,1721,0.59,180.8,2951,714,2390,2239,203.8,6.8,177,1782,0.05,2.30,52.25,1.048,13318,0.330,0.050,2935,2100,2062,2147,1977,0,0,0,0,0,0,14.35,14.60,13.97
$GC,2021,0.60,201.9,2935,2101,2146,1971,177.8,9.0,207,2045,0.00,2.40,17.90,1.002,10500,0.000,0.064,2935,3533,1975,2057,1894,0,0,0,0,0,0,15.19,14.60,14.09
$GC,2180,0.60,201.9,2935,3532,2057,1894,160.6,11.6,222,2190,0.00,2.33,0.00,0.000,1030,0.000,0.047,2944,2124,1976,2058,1894,0,0,0,0,0,0,14.99,14.89,15.00
$GC,2432,0.60,201.9,2944,2122,2056,1892,133.5,10.4,247,2437,0.00,2.40,0.00,0.000,260,0.000,0.067,2944,3533,1974,2057,1892,0,0,0,0,0,0,15.23,14.88,15.23
$GC,2947,0.64,266.8,2944,3533,2057,1892,88.7,6.8,297,3005,0.00,2.33,52.45,0.955,9222,0.000,0.047,2955,2124,1711,1800,1623,0,0,0,0,0,0,15.03,14.93,14.11
$GC,3245,0.66,296.7,2955,2124,1798,1615,63.6,8.6,327,3276,0.00,2.45,24.08,0.907,10500,0.000,0.068,2955,3528,1587,1681,1494,0,0,0,0,0,0,15.20,14.81,14.15
$GC,3562,0.74,432.7,2955,3528,1680,1495,43.6,3.1,357,3673,0.00,2.35,103.85,0.888,11270,0.000,0.053,2966,2125,1032,1140,925,0,0,0,0,0,0,15.01,14.88,14.07
$GC,3930,0.79,505.1,2965,2125,1139,921,21.5,6.4,405,3968,0.05,2.45,30.83,0.807,10500,0.259,0.061,3077,3531,736,854,619,0,0,0,0,0,0,14.83,14.78,14.19
$GC,4015,0.79,505.1,3076,3531,854,619,8.4,16.7,418,4023,0.25,2.42,0.00,0.000,5126,0.223,0.056,2993,2120,736,853,619,0,0,0,0,0,0,14.62,14.78,14.82
$STATE,4044,end climb,SURFACE_DEPTH_REACHED
$STATE,4044,begin surface coast
$FINISH,0.3,1.010474
$STATE,4064,end surface coast,CONTROL_FINISHED_OK
$STATE,4064,begin surface
$SM_CCo,4142,0.00,0.000,0,0,734,506.78
$SM_GC,1.11,6.35,0.25,0.00,0.024,0.068,0.000,142,2284,734,-7.93,-1.02,506.78,0,0,0,0,0,0,14.92,14.90,14.96
$IRIDIUM_FIX,2234.68,-15721.55,091021,042712
$TT8_MAMPS,0.02247,0.343791
$HUMID,52.24
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,13.28,177.901
$10V_AH,12.43,0.000
$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,16.150,47.725,473.225,0.000,0.000,32.958,52.863,125.744,0.250,0.000,17.646,1100.039,1452.897,430.499,1363.095,165.114,0.000,996.809,0.000,1145.060,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,108.630,1068.705,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,280.602,310.063,577.362,541.396,638.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,40620,426
$CAP_FILE_SIZE,66318,0
$CFSIZE,1023623168,949518336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,10.51,1
$GPS,091021,054152,2245.824,-15759.994,7,1.0,21,9.8,0.0,322.4,8,9.6