version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 813
start: 10 9 121 14 53 54
data:
$ID,626
$MISSION,3
$DIVE,813
$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,79
$R_STBD_OVSHOOT,36
$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
$GPS1,091021,144325,2244.7170,-15800.4219,7,0.9,39,9.8,0.6,281.4,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.7
$GPS2,091021,145304,2244.6985,-15800.4307,8,0.9,21,9.8,1.1,133.6,9,9.6
$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,44.6,923,-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,-116.8,123,2284,920,797,0.0,0.0,0,80,0.00,0.00,-61.70,0.000,16386,0.000,0.000,123,2285,2896,2879,2914,0,0,0,0,0,0,15.17,28.83,15.19
$GC,84,-0.55,-116.8,123,2285,2879,2913,3.4,-7.3,9,107,8.45,2.33,-6.43,0.000,18692,0.428,0.079,2547,3669,3278,3261,3296,0,0,0,0,0,0,14.12,13.89,14.40
$GC,148,-0.55,-116.8,2547,3671,3261,3297,19.9,-12.7,19,157,0.05,2.33,0.00,0.000,3078,0.275,0.048,2583,2303,3279,3265,3293,0,0,0,0,0,0,14.59,14.78,14.82
$GC,405,-0.55,-116.8,2582,2298,3266,3291,62.8,-18.1,49,415,0.00,2.30,0.00,0.000,4356,0.000,0.064,2575,3663,3278,3266,3290,0,0,0,0,0,0,15.24,14.55,15.24
$GC,430,-0.55,-116.8,2575,3663,3266,3291,67.1,-18.5,51,438,0.00,2.35,0.00,0.000,1030,0.000,0.043,2575,2271,3278,3266,3290,0,0,0,0,0,0,14.85,14.80,14.88
$GC,678,-0.55,-116.8,2574,2271,3267,3290,105.4,-15.0,76,683,0.00,2.33,0.00,0.000,260,0.000,0.062,2564,3669,3278,3267,3290,0,0,0,0,0,0,15.26,14.88,15.28
$GC,752,-0.55,-116.8,2564,3669,3267,3291,114.5,-10.8,83,761,0.00,2.28,0.00,0.000,3078,0.000,0.041,2564,2261,3278,3267,3290,0,0,0,0,0,0,14.85,14.80,14.87
$GC,1003,-0.55,-116.8,2564,2258,3267,3290,146.6,-11.5,108,1008,0.00,2.40,0.00,0.000,2308,0.000,0.068,2554,3671,3279,3268,3290,0,0,0,0,0,0,15.27,14.88,15.27
$GC,1097,-0.55,-116.8,2553,3670,3267,3290,157.2,-11.3,117,1107,0.05,2.28,0.00,0.000,3078,0.275,0.044,2574,2259,3278,3267,3290,0,0,0,0,0,0,14.42,14.69,14.55
$GC,1348,-0.55,-116.8,2574,2259,3267,3290,185.3,-10.9,142,1353,0.00,2.30,0.00,0.000,516,0.000,0.056,2574,863,3279,3268,3290,0,0,0,0,0,0,15.28,14.90,15.29
$GC,1437,-0.55,-116.8,2573,863,3267,3290,193.3,-8.8,150,1444,0.00,2.38,0.00,0.000,3078,0.000,0.056,2565,2258,3278,3268,3289,0,0,0,0,0,0,15.02,14.85,15.04
$STATE,1510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1510,begin apogee
$GC,1517,-0.13,0.0,2565,2087,3268,3289,200.6,-9.4,158,1616,0.35,0.08,94.07,1.065,10246,0.223,0.150,2702,2148,2799,2865,2733,0,0,0,0,0,0,14.51,14.59,13.91
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1620,0.55,116.8,2702,2148,2865,2733,204.2,0.0,168,1725,0.50,2.40,97.18,1.054,10756,0.125,0.051,2933,764,2321,2404,2239,0,0,0,0,0,0,14.59,14.57,13.88
$GC,2237,0.63,246.2,2932,763,2390,2234,183.0,3.4,229,2348,0.00,2.25,103.03,1.046,11270,0.000,0.050,2933,2117,1794,1876,1712,0,0,0,0,0,0,15.03,14.91,13.97
$GC,2597,0.63,246.2,2932,2117,1876,1705,151.0,10.2,265,2606,0.00,2.30,0.00,0.000,2564,0.000,0.059,2943,761,1789,1874,1705,0,0,0,0,0,0,15.19,14.73,15.19
$GC,2843,0.64,259.8,2943,760,1869,1705,126.5,9.4,289,2864,0.00,2.28,11.62,0.925,11270,0.000,0.056,2943,2122,1739,1826,1652,0,0,0,0,0,0,14.81,14.76,14.14
$GC,3103,0.66,304.1,2943,2122,1825,1649,105.2,7.8,315,3145,0.00,2.35,35.95,0.959,10756,0.000,0.056,2953,761,1558,1652,1465,0,0,0,0,0,0,15.25,14.79,14.15
$GC,3185,0.67,316.1,2953,760,1648,1465,97.9,9.5,323,3204,0.00,2.30,10.55,0.879,11270,0.000,0.057,2953,2127,1511,1604,1418,0,0,0,0,0,0,14.76,14.70,14.07
$GC,3445,0.68,333.2,2953,2127,1604,1414,72.0,9.2,349,3464,0.00,0.00,15.07,0.891,10246,0.000,0.000,2953,2127,1439,1536,1343,0,0,0,0,0,0,15.21,14.82,14.18
$GC,3707,0.68,339.6,2953,2127,1536,1340,45.6,9.8,375,3719,0.00,2.40,6.22,0.793,10500,0.000,0.066,2953,3533,1413,1512,1315,0,0,0,0,0,0,15.22,14.87,14.16
$GC,3755,0.69,354.4,2953,3533,1512,1315,40.9,9.3,379,3775,0.00,2.25,13.10,0.850,11270,0.000,0.050,2963,2176,1354,1452,1256,0,0,0,0,0,0,14.69,14.66,14.19
$GC,4026,0.72,404.6,2962,2174,1451,1252,16.4,7.5,420,4055,0.00,2.42,21.30,0.247,10756,0.000,0.062,2974,766,1147,1242,1053,0,0,0,0,0,0,15.20,14.54,14.38
$GC,4122,0.72,404.6,2974,766,1238,1050,4.8,12.3,436,4131,0.00,2.35,0.00,0.000,1030,0.000,0.054,2974,2120,1144,1238,1050,0,0,0,0,0,0,14.83,14.78,14.95
$STATE,4138,end climb,SURFACE_DEPTH_REACHED
$STATE,4138,begin surface coast
$FINISH,0.3,1.023143
$STATE,4161,end surface coast,CONTROL_FINISHED_OK
$STATE,4161,begin surface
$SM_CCo,4239,0.00,0.000,0,0,1142,406.70
$SM_GC,1.53,6.57,0.22,0.00,0.071,0.073,0.000,145,2290,1142,-7.95,-0.99,406.70,0,0,0,0,0,0,14.92,14.95,14.99
$IRIDIUM_FIX,2234.68,-15757.16,091021,144852
$TT8_MAMPS,0.023219,0.343791
$HUMID,52.44
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,13.88,179.373
$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,15.975,47.050,408.100,0.000,0.000,57.363,92.855,182.694,0.750,0.000,22.081,1146.063,1595.931,403.925,1521.399,179.937,0.000,960.955,0.000,1136.772,0.000,0.556,0.000
$DEVICE_MAMPS,428.400,149.940,1064.880,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.806,322.094,601.239,536.566,629.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,40569,442
$CAP_FILE_SIZE,70762,0
$CFSIZE,1023623168,948994048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,0.44,1
$GPS,091021,160532,2244.777,-15800.223,7,1.0,24,9.8,1.8,49.8,8,9.7