version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 815
start: 10 9 121 17 23 4
data:
$ID,626
$MISSION,3
$DIVE,815
$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,71
$R_STBD_OVSHOOT,56
$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
$GPS1,091021,171633,2245.1914,-15800.1689,8,1.6,48,9.8,0.8,109.2,6,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.2
$GPS2,091021,172211,2245.2275,-15800.1719,8,1.1,48,9.8,0.6,210.8,7,6.3
$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,167.0,514,-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,-116.8,122,2221,1283,1192,0.0,0.0,0,73,0.00,0.00,-54.38,0.000,16386,0.000,0.000,123,2221,2963,2944,2982,0,0,0,0,0,0,15.20,28.83,15.21
$GC,77,-0.55,-116.8,123,2220,2945,2983,3.3,-7.2,8,100,8.55,2.22,-5.30,0.000,18948,0.436,0.066,2570,881,3279,3262,3296,0,0,0,0,0,0,14.14,13.88,14.44
$GC,171,-0.55,-116.8,2570,879,3267,3290,29.2,-17.5,24,179,0.00,2.35,0.00,0.000,3078,0.000,0.056,2561,2229,3278,3268,3288,0,0,0,0,0,0,14.83,14.76,14.94
$GC,418,-0.55,-116.8,2561,2231,3268,3289,76.9,-20.5,49,428,0.00,2.22,0.00,0.000,2564,0.000,0.054,2561,900,3278,3268,3289,0,0,0,0,0,0,15.25,14.62,15.26
$GC,474,-0.55,-116.8,2561,900,3268,3289,86.8,-17.7,54,482,0.05,2.38,0.00,0.000,3078,0.326,0.057,2583,2266,3279,3268,3290,0,0,0,0,0,0,14.54,14.78,14.83
$GC,726,-0.55,-116.8,2582,2268,3268,3289,118.4,-11.3,79,735,0.00,2.28,0.00,0.000,4612,0.000,0.054,2583,899,3279,3269,3290,0,0,0,0,0,0,15.27,14.76,15.27
$GC,821,-0.55,-116.8,2583,899,3269,3289,128.3,-9.4,88,831,0.00,2.28,0.00,0.000,1030,0.000,0.058,2574,2256,3279,3270,3289,0,0,0,0,0,0,14.69,14.60,14.68
$GC,1072,-0.55,-116.8,2574,2258,3269,3289,159.8,-13.5,113,1081,0.00,2.28,0.00,0.000,516,0.000,0.057,2574,885,3279,3270,3289,0,0,0,0,0,0,15.27,14.85,15.28
$GC,1157,-0.55,-116.8,2573,885,3270,3290,170.0,-10.7,121,1166,0.00,2.30,0.00,0.000,3078,0.000,0.057,2564,2266,3279,3270,3289,0,0,0,0,0,0,14.83,14.83,14.85
$GC,1409,-0.55,-116.8,2563,2266,3270,3289,195.9,-9.7,146,1417,0.00,2.30,0.00,0.000,2564,0.000,0.057,2564,895,3279,3270,3289,0,0,0,0,0,0,15.28,14.77,15.28
$STATE,1449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1450,begin apogee
$GC,1458,-0.13,0.0,2554,2137,3270,3288,200.1,-9.4,150,1561,0.40,0.00,94.20,1.065,10246,0.227,0.000,2707,2137,2798,2864,2733,0,0,0,0,0,0,14.33,14.62,13.92
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1564,0.55,116.8,2707,2137,2864,2733,202.9,0.0,161,1671,0.50,0.00,97.43,1.053,10502,0.135,0.000,2923,2137,2321,2404,2239,0,0,0,0,0,0,14.59,14.54,13.88
$GC,1913,0.57,158.1,2923,2137,2401,2235,189.2,8.0,196,1953,0.00,2.38,34.12,1.035,10500,0.000,0.063,2923,3533,2154,2241,2067,0,0,0,0,0,0,15.19,14.74,14.06
$GC,2046,0.57,158.1,2923,3533,2241,2067,176.5,10.2,209,2052,0.00,2.28,0.00,0.000,1030,0.000,0.046,2932,2157,2154,2241,2067,0,0,0,0,0,0,14.94,14.84,14.95
$GC,2295,0.60,195.5,2933,2157,2241,2063,154.2,8.2,234,2333,0.00,2.38,30.83,1.006,10500,0.000,0.065,2934,3538,2000,2086,1915,0,0,0,0,0,0,15.23,14.53,14.05
$GC,2398,0.60,195.5,2933,3538,2086,1915,144.3,10.3,244,2409,0.00,2.35,0.00,0.000,5126,0.000,0.050,2945,2129,2000,2086,1915,0,0,0,0,0,0,14.90,14.85,14.90
$GC,2652,0.60,195.5,2944,2129,2086,1912,118.7,10.9,269,2660,0.00,2.35,0.00,0.000,4612,0.000,0.061,2956,721,1996,2082,1911,0,0,0,0,0,0,15.23,14.72,15.23
$GC,2675,0.60,195.5,2955,722,2078,1912,115.9,11.1,271,2684,0.03,2.35,0.00,0.000,5126,0.367,0.057,2945,2124,1995,2078,1912,0,0,0,0,0,0,14.54,14.73,14.66
$GC,2924,0.63,244.7,2945,2125,2077,1911,93.8,7.6,296,2975,0.00,2.45,38.92,0.956,10500,0.000,0.066,2945,3539,1801,1885,1717,0,0,0,0,0,0,15.26,14.81,14.14
$GC,3013,0.63,257.0,2944,3539,1885,1717,86.6,9.5,304,3030,0.00,2.40,11.32,0.888,9222,0.000,0.050,2954,2118,1751,1836,1666,0,0,0,0,0,0,14.92,14.81,14.09
$GC,3271,0.65,276.6,2954,2115,1836,1660,65.1,9.1,330,3294,0.00,2.38,16.67,0.899,8708,0.000,0.059,2965,717,1670,1760,1580,0,0,0,0,0,0,15.21,14.83,14.17
$GC,3326,0.69,348.0,2965,717,1757,1580,61.7,6.4,335,3387,0.00,2.42,55.70,0.911,11270,0.000,0.052,2965,2135,1382,1475,1289,0,0,0,0,0,0,14.96,14.83,14.06
$GC,3635,0.69,348.0,2965,2135,1474,1282,23.5,10.6,370,3642,0.00,2.40,0.00,0.000,2308,0.000,0.065,2965,3538,1378,1474,1282,0,0,0,0,0,0,15.17,14.80,15.18
$GC,3666,0.69,348.0,2965,3538,1474,1282,19.6,11.9,375,3675,0.00,2.40,0.00,0.000,5126,0.000,0.048,2976,2118,1378,1474,1282,0,0,0,0,0,0,14.96,14.83,14.99
$STATE,3789,end climb,SURFACE_DEPTH_REACHED
$STATE,3789,begin surface coast
$FINISH,1.0,1.023149
$STATE,3813,end surface coast,CONTROL_FINISHED_OK
$STATE,3813,begin surface
$SM_CCo,3831,13.27,0.194,0,0,1249,380.21
$SM_GC,0.99,6.50,0.25,13.27,0.063,0.064,0.194,177,2290,1249,-7.90,-1.07,380.21,0,0,0,0,0,0,14.92,14.95,14.64
$IRIDIUM_FIX,2237.01,-15802.37,091021,171758
$TT8_MAMPS,0.02247,0.313831
$HUMID,52.48
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.88,179.707
$10V_AH,12.45,0.000
$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,16.025,51.550,379.200,13.275,0.000,23.082,44.169,117.467,0.000,0.000,49.294,1020.658,1435.767,422.691,1179.424,162.361,0.000,912.650,0.000,956.490,0.000,0.556,0.000
$DEVICE_MAMPS,436.050,182.835,1064.880,193.545,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.845,291.374,543.663,480.655,555.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,37209,401
$CAP_FILE_SIZE,63710,0
$CFSIZE,1023623168,948879360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.131,24.16,1
$GPS,091021,182835,2245.085,-15759.902,7,1.9,48,9.8,1.2,238.3,5,7.5