version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 806
start: 10 9 121 5 48 40
data:
$ID,626
$MISSION,3
$DIVE,806
$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,27
$R_STBD_OVSHOOT,51
$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
$GPS1,091021,054152,2245.8245,-15759.9941,7,1.0,21,9.8,0.0,322.4,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.2
$GPS2,091021,054750,2245.8982,-15759.9932,7,1.1,47,9.8,1.2,25.8,7,5.8
$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,180.4,1664,-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,-116.8,123,2293,794,657,0.0,0.0,0,89,0.00,0.00,-70.60,0.000,16386,0.000,0.000,123,2294,3035,3006,3065,0,0,0,0,0,0,15.18,28.83,15.20
$GC,93,-0.55,-116.8,123,2294,3007,3065,3.4,-6.1,10,116,8.45,2.47,-4.07,0.000,18948,0.428,0.070,2573,847,3279,3255,3303,0,0,0,0,0,0,14.12,13.27,14.41
$GC,172,-0.55,-116.8,2573,847,3261,3298,25.1,-15.3,23,180,0.00,2.40,0.00,0.000,3078,0.000,0.060,2564,2241,3279,3262,3296,0,0,0,0,0,0,14.96,14.81,14.97
$GC,425,-0.55,-116.8,2564,2243,3263,3296,70.6,-19.5,50,434,0.00,2.38,0.00,0.000,2308,0.000,0.059,2553,3678,3280,3264,3296,0,0,0,0,0,0,15.24,14.57,15.25
$GC,470,-0.55,-116.8,2553,3678,3263,3296,77.7,-16.2,54,479,0.05,2.40,0.00,0.000,3078,0.357,0.050,2573,2266,3280,3264,3296,0,0,0,0,0,0,14.66,14.81,14.88
$GC,721,-0.55,-116.8,2573,2262,3266,3295,113.8,-14.2,79,726,0.00,2.40,0.00,0.000,260,0.000,0.065,2563,3684,3280,3266,3295,0,0,0,0,0,0,15.26,14.89,15.26
$GC,737,-0.55,-116.8,2563,3684,3266,3295,116.2,-14.8,80,744,0.00,2.40,0.00,0.000,3078,0.000,0.050,2563,2255,3280,3266,3295,0,0,0,0,0,0,15.02,14.88,15.04
$GC,984,-0.55,-116.8,2563,2254,3266,3295,153.1,-13.8,105,989,0.00,2.35,0.00,0.000,2564,0.000,0.059,2564,846,3280,3266,3295,0,0,0,0,0,0,15.29,14.91,15.29
$GC,1067,-0.55,-116.8,2563,846,3267,3295,162.8,-10.2,113,1072,0.05,2.40,0.00,0.000,3078,0.378,0.058,2571,2272,3280,3267,3294,0,0,0,0,0,0,14.68,14.91,14.92
$GC,1320,-0.55,-116.8,2571,2274,3267,3294,188.8,-10.9,138,1330,0.00,2.38,0.00,0.000,2564,0.000,0.057,2571,857,3280,3267,3294,0,0,0,0,0,0,15.30,14.69,15.30
$GC,1365,-0.55,-116.8,2571,858,3267,3293,193.0,-9.7,142,1374,0.00,2.35,0.00,0.000,3078,0.000,0.056,2562,2266,3279,3267,3292,0,0,0,0,0,0,14.80,14.78,14.83
$STATE,1431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1431,begin apogee
$GC,1438,-0.13,0.0,2562,2070,3267,3292,200.1,-11.0,149,1537,0.38,0.12,94.43,1.064,10246,0.239,0.108,2705,2163,2798,2864,2733,0,0,0,0,0,0,14.50,14.62,13.94
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1541,0.55,116.8,2705,2164,2864,2733,204.1,0.0,159,1646,0.47,2.53,97.25,1.056,10756,0.103,0.050,2937,705,2322,2406,2238,0,0,0,0,0,0,14.64,14.57,13.88
$GC,2159,0.61,225.0,2937,705,2389,2236,174.1,4.5,220,2256,0.00,2.35,86.20,1.041,11270,0.000,0.050,2937,2108,1880,1962,1798,0,0,0,0,0,0,15.04,14.92,14.00
$GC,2497,0.64,266.8,2937,2108,1961,1792,143.7,7.9,254,2536,0.00,2.45,33.97,0.995,10756,0.000,0.059,2948,706,1710,1800,1620,0,0,0,0,0,0,15.19,14.78,14.11
$GC,2790,0.64,266.8,2948,705,1790,1619,113.8,11.4,282,2800,0.00,2.38,0.00,0.000,3078,0.000,0.060,2948,2117,1704,1791,1618,0,0,0,0,0,0,14.90,14.87,14.90
$GC,3043,0.66,302.6,2948,2118,1791,1617,90.0,8.3,307,3081,0.00,2.40,28.75,0.942,10500,0.000,0.063,2948,3540,1563,1658,1469,0,0,0,0,0,0,15.24,14.54,14.10
$GC,3347,0.66,302.6,2948,3540,1658,1469,59.5,10.7,336,3357,0.00,2.35,0.00,0.000,1030,0.000,0.053,2959,2123,1563,1658,1469,0,0,0,0,0,0,14.66,14.61,14.69
$GC,3601,0.71,381.0,2959,2123,1658,1468,41.0,6.1,361,3668,0.00,2.47,60.58,0.887,10500,0.000,0.066,2959,3542,1245,1343,1147,0,0,0,0,0,0,15.23,14.76,14.14
$GC,3737,0.73,415.5,2959,3542,1342,1146,28.6,8.3,375,3761,0.00,2.42,17.40,0.847,11270,0.000,0.050,2969,2115,1102,1199,1006,0,0,0,0,0,0,14.91,14.78,14.12
$GC,4021,0.73,415.5,2969,2114,1199,1000,3.2,12.3,426,4028,0.00,2.42,0.00,0.000,2564,0.000,0.063,2980,712,1099,1199,1000,0,0,0,0,0,0,15.17,14.78,15.18
$STATE,4034,end climb,SURFACE_DEPTH_REACHED
$STATE,4034,begin surface coast
$FINISH,0.3,1.023218
$STATE,4063,end surface coast,CONTROL_FINISHED_OK
$STATE,4063,begin surface
$SM_CCo,4144,0.00,0.000,0,0,1089,419.70
$SM_GC,1.27,6.38,2.83,0.00,0.042,0.109,0.000,177,2258,1089,-7.90,-0.88,419.70,0,0,0,0,0,0,14.92,14.79,14.98
$IRIDIUM_FIX,2237.01,-15802.37,091021,054325
$TT8_MAMPS,0.02247,0.341544
$HUMID,52.95
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.20
$XPDR_PINGS,4
$24V_AH,13.27,178.086
$10V_AH,12.41,0.000
$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,15.775,48.900,418.575,0.000,0.000,26.547,41.927,128.956,1.000,0.000,48.441,1115.991,1450.985,412.928,1384.604,167.214,0.000,978.119,0.000,1143.296,0.000,0.554,0.000
$DEVICE_MAMPS,427.635,109.395,1064.115,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.525,314.816,587.320,539.715,628.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,40621,433
$CAP_FILE_SIZE,66805,0
$CFSIZE,1023623168,949452800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.185,33.70,1
$GPS,091021,065901,2246.085,-15759.793,12,0.8,42,9.8,0.3,264.2,10,7.0