version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 817
start: 10 9 121 19 45 41
data:
$ID,626
$MISSION,3
$DIVE,817
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,091021,193733,2244.9109,-15800.0029,7,0.9,25,9.8,0.0,261.1,8,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.8
$GPS2,091021,194451,2244.9380,-15800.0342,8,0.9,22,9.8,0.8,65.6,8,9.3
$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,28.9,129,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,122,2298,1272,1201,0.0,0.0,0,74,0.00,0.00,-55.58,0.000,16386,0.000,0.000,122,2298,3025,3000,3050,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.58,-116.8,122,2298,3001,3051,3.9,-9.5,8,101,8.45,2.30,-4.05,0.000,18692,0.428,0.072,2548,3657,3279,3257,3302,0,0,0,0,0,0,14.15,13.27,14.42
$GC,169,-0.58,-116.8,2548,3658,3261,3299,26.4,-12.7,23,177,0.00,2.38,0.00,0.000,3078,0.000,0.047,2548,2266,3279,3263,3296,0,0,0,0,0,0,14.96,14.78,14.97
$GC,426,-0.58,-116.8,2547,2264,3266,3295,77.1,-20.1,50,430,0.00,2.35,0.00,0.000,2308,0.000,0.060,2538,3662,3280,3266,3295,0,0,0,0,0,0,15.25,14.87,15.25
$GC,562,-0.58,-116.8,2538,3662,3266,3295,95.0,-11.8,63,570,0.08,2.30,0.00,0.000,3078,0.308,0.042,2565,2257,3280,3266,3295,0,0,0,0,0,0,14.66,14.93,14.90
$GC,812,-0.58,-116.8,2565,2254,3267,3295,128.3,-13.5,88,817,0.00,2.30,0.00,0.000,516,0.000,0.057,2566,859,3280,3267,3294,0,0,0,0,0,0,15.26,14.90,15.27
$GC,962,-0.58,-116.8,2566,857,3268,3293,144.4,-10.0,102,971,0.00,2.40,0.00,0.000,3078,0.000,0.057,2557,2241,3279,3269,3290,0,0,0,0,0,0,14.80,14.73,14.83
$GC,1211,-0.58,-116.8,2557,2241,3269,3290,172.8,-11.4,127,1220,0.00,2.30,0.00,0.000,2564,0.000,0.055,2557,863,3279,3269,3290,0,0,0,0,0,0,15.28,14.77,15.28
$GC,1294,-0.58,-116.8,2557,863,3270,3291,182.2,-10.6,135,1305,0.03,2.38,0.00,0.000,3078,0.405,0.058,2557,2273,3280,3270,3290,0,0,0,0,0,0,14.57,14.90,14.58
$STATE,1472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1472,begin apogee
$GC,1481,-0.13,0.0,2557,2083,3270,3290,200.9,-10.1,153,1585,0.38,0.05,94.60,1.065,10246,0.223,0.092,2704,2144,2799,2864,2734,0,0,0,0,0,0,14.38,14.38,13.88
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1589,0.58,116.8,2704,2144,2864,2734,205.7,0.0,164,1695,0.52,2.40,97.65,1.058,10756,0.124,0.050,2945,747,2320,2401,2239,0,0,0,0,0,0,14.53,14.32,13.83
$GC,1704,0.67,267.5,2945,747,2396,2240,207.3,1.5,175,1832,0.00,2.33,121.20,1.055,11270,0.000,0.051,2945,2118,1708,1791,1626,0,0,0,0,0,0,14.76,14.65,13.89
$GC,2075,0.67,267.5,2945,2119,1789,1619,155.4,13.6,212,2081,0.00,0.00,0.00,0.000,2054,0.000,0.000,2945,2119,1704,1789,1619,0,0,0,0,0,0,15.17,15.19,15.18
$GC,2326,0.67,267.5,2945,2119,1790,1618,123.9,11.7,237,2330,0.00,2.33,0.00,0.000,2564,0.000,0.060,2956,755,1703,1789,1618,0,0,0,0,0,0,15.24,14.89,15.24
$GC,2361,0.67,267.5,2956,753,1787,1618,119.9,11.5,240,2370,0.00,2.38,0.00,0.000,3078,0.000,0.056,2956,2119,1702,1787,1617,0,0,0,0,0,0,14.82,14.74,14.85
$GC,2611,0.67,267.5,2955,2120,1787,1617,91.1,11.6,265,2616,0.00,2.38,0.00,0.000,2308,0.000,0.065,2956,3540,1701,1787,1616,0,0,0,0,0,0,15.26,14.91,15.26
$GC,2687,0.67,267.5,2956,3541,1787,1617,81.8,12.0,272,2695,0.00,2.35,0.00,0.000,1030,0.000,0.046,2967,2159,1702,1787,1617,0,0,0,0,0,0,14.89,14.83,14.92
$GC,2938,0.68,285.7,2966,2157,1787,1617,57.0,9.1,297,2958,0.00,2.47,15.12,0.900,8708,0.000,0.061,2978,714,1634,1725,1543,0,0,0,0,0,0,15.25,14.85,14.13
$GC,2994,0.68,285.7,2978,714,1721,1543,50.8,10.8,302,3002,0.00,2.45,0.00,0.000,5126,0.000,0.057,2978,2136,1632,1721,1543,0,0,0,0,0,0,14.99,14.83,15.00
$GC,3246,0.68,285.7,2977,2137,1722,1542,24.0,13.4,331,3254,0.00,2.42,0.00,0.000,4356,0.000,0.068,2978,3546,1631,1721,1541,0,0,0,0,0,0,15.23,14.82,15.23
$GC,3283,0.68,285.7,2978,3546,1721,1541,18.7,14.7,337,3291,0.08,2.40,0.00,0.000,5126,0.314,0.047,2962,2123,1631,1721,1541,0,0,0,0,0,0,14.63,14.85,14.87
$STATE,3457,end climb,SURFACE_DEPTH_REACHED
$STATE,3457,begin surface coast
$FINISH,0.3,1.023204
$STATE,3491,end surface coast,CONTROL_FINISHED_OK
$STATE,3491,begin surface
$SM_CCo,3508,39.75,0.181,0,0,1248,380.21
$SM_GC,1.15,6.43,0.25,39.75,0.052,0.076,0.181,147,2285,1248,-7.95,-0.99,380.21,0,0,0,0,0,0,14.97,14.94,14.62
$IRIDIUM_FIX,2234.68,-15802.37,091021,194041
$TT8_MAMPS,0.02247,0.341544
$HUMID,52.79
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.27,180.021
$10V_AH,12.82,0.000
$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,15.950,43.150,328.575,39.750,0.000,59.123,55.834,126.117,0.500,0.000,23.093,971.566,1337.215,397.314,1158.513,156.527,0.000,833.555,0.000,907.010,0.000,0.556,0.000
$DEVICE_MAMPS,427.635,91.800,1064.880,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,247.666,272.253,515.723,480.115,554.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,33951,375
$CAP_FILE_SIZE,60408,0
$CFSIZE,1023623168,948748288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.070,343.86,1
$GPS,091021,204616,2245.288,-15759.958,8,1.3,48,9.8,0.9,17.3,5,6.8