version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 818
start: 10 9 121 20 53 7
data:
$ID,626
$MISSION,3
$DIVE,818
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,091021,204616,2245.2883,-15759.9580,8,1.3,48,9.8,0.9,17.3,5,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.9
$GPS2,091021,205213,2245.2886,-15800.0039,7,1.4,48,9.8,0.7,84.2,5,8.2
$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,164.6,535,-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,-116.8,122,2294,1280,1194,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,16386,0.000,0.000,122,2295,3006,2980,3032,0,0,0,0,0,0,15.19,28.83,15.21
$GC,77,-0.58,-116.8,122,2295,2980,3032,3.8,-8.6,8,100,8.45,2.45,-4.40,0.000,19204,0.427,0.068,2565,859,3280,3261,3300,0,0,0,0,0,0,14.11,13.26,14.40
$GC,166,-0.58,-116.8,2564,859,3268,3295,30.0,-17.4,23,174,0.00,2.40,0.00,0.000,3078,0.000,0.053,2556,2257,3281,3269,3294,0,0,0,0,0,0,14.95,14.79,14.97
$GC,413,-0.58,-116.8,2555,2258,3270,3293,75.7,-17.1,48,422,0.00,2.38,0.00,0.000,2564,0.000,0.055,2556,847,3281,3270,3293,0,0,0,0,0,0,15.25,14.54,15.25
$GC,487,-0.58,-116.8,2556,847,3271,3293,86.9,-14.8,55,492,0.05,2.40,0.00,0.000,3078,0.390,0.059,2562,2265,3281,3270,3292,0,0,0,0,0,0,14.63,14.88,14.88
$GC,742,-0.58,-116.8,2563,2267,3271,3292,121.7,-12.8,80,752,0.00,2.33,0.00,0.000,516,0.000,0.054,2563,861,3282,3272,3292,0,0,0,0,0,0,15.26,14.69,15.27
$GC,826,-0.58,-116.8,2562,860,3272,3292,132.1,-11.1,88,836,0.00,2.38,0.00,0.000,3078,0.000,0.057,2553,2268,3281,3272,3290,0,0,0,0,0,0,14.94,14.89,14.94
$GC,1078,-0.58,-116.8,2552,2268,3272,3290,162.1,-12.1,113,1083,0.00,2.38,0.00,0.000,2564,0.000,0.055,2553,857,3281,3272,3291,0,0,0,0,0,0,15.28,14.91,15.28
$GC,1121,-0.58,-116.8,2553,856,3272,3291,167.3,-11.7,117,1127,0.05,2.38,0.00,0.000,3078,0.388,0.057,2560,2266,3281,3272,3291,0,0,0,0,0,0,14.66,14.90,14.90
$GC,1376,-0.58,-116.8,2560,2266,3272,3290,195.4,-11.3,142,1384,0.00,2.35,0.00,0.000,2564,0.000,0.054,2561,860,3281,3272,3290,0,0,0,0,0,0,15.28,14.73,15.28
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1424,-0.13,0.0,2552,2127,3272,3290,200.1,-11.2,146,1528,0.40,0.00,95.45,1.069,10246,0.225,0.000,2707,2128,2798,2864,2732,0,0,0,0,0,0,14.48,14.35,13.83
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1532,0.58,116.8,2707,2127,2865,2732,204.0,0.0,157,1638,0.50,2.40,97.43,1.060,10500,0.131,0.062,2925,3540,2322,2405,2239,0,0,0,0,0,0,14.59,14.33,13.84
$GC,1646,0.68,284.4,2925,3540,2405,2240,205.3,0.6,168,1796,0.05,2.38,134.93,1.061,11270,0.250,0.042,3026,2117,1638,1719,1558,0,0,0,0,0,0,14.55,14.64,13.88
$GC,2036,0.68,284.4,3026,2117,1720,1552,132.4,19.1,207,2045,0.12,2.40,0.00,0.000,4356,0.303,0.061,2973,3541,1635,1719,1552,0,0,0,0,0,0,14.59,14.73,14.73
$GC,2069,0.68,284.4,2973,3541,1719,1552,126.5,17.0,210,2081,0.03,2.35,0.00,0.000,5126,0.384,0.051,2974,2131,1635,1719,1552,0,0,0,0,0,0,14.57,14.87,14.59
$GC,2321,0.68,284.4,2973,2130,1719,1550,94.0,12.6,235,2329,0.00,2.38,0.00,0.000,4612,0.000,0.061,2983,719,1634,1719,1550,0,0,0,0,0,0,15.24,14.73,15.25
$GC,2386,0.68,284.4,2983,719,1719,1550,86.0,12.5,241,2396,0.03,2.38,0.00,0.000,5126,0.373,0.057,2973,2127,1633,1718,1548,0,0,0,0,0,0,14.57,14.83,14.68
$GC,2635,0.68,284.4,2972,2129,1718,1547,58.9,10.5,266,2646,0.00,2.33,0.00,0.000,4356,0.000,0.062,2973,3535,1632,1718,1547,0,0,0,0,0,0,15.26,14.59,15.26
$GC,2727,0.68,284.4,2972,3536,1718,1547,48.3,11.9,274,2735,0.00,2.40,0.00,0.000,5126,0.000,0.045,2982,2123,1632,1718,1547,0,0,0,0,0,0,14.88,14.83,15.01
$GC,2981,0.68,284.4,2982,2121,1718,1547,20.4,11.2,307,2989,0.00,2.45,0.00,0.000,4612,0.000,0.062,2993,715,1633,1718,1548,0,0,0,0,0,0,15.23,14.70,15.24
$GC,3013,0.68,284.4,2993,715,1718,1548,16.9,10.5,312,3021,0.08,2.42,0.00,0.000,5126,0.294,0.055,2964,2125,1632,1718,1546,0,0,0,0,0,0,14.65,14.84,14.90
$STATE,3136,end climb,SURFACE_DEPTH_REACHED
$STATE,3136,begin surface coast
$FINISH,0.7,1.023154
$STATE,3166,end surface coast,CONTROL_FINISHED_OK
$STATE,3167,begin surface
$SM_CCo,3184,40.20,0.182,0,0,1247,380.21
$SM_GC,1.25,6.28,0.22,40.20,0.029,0.071,0.182,175,2292,1247,-7.92,-0.85,380.21,0,0,0,0,0,0,14.94,14.98,14.60
$IRIDIUM_FIX,2237.01,-15759.32,091021,204746
$TT8_MAMPS,0.023219,0.286867
$HUMID,53.30
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,13.26,180.176
$10V_AH,12.92,0.000
$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,16.025,47.700,327.800,40.200,0.000,27.057,49.228,121.645,0.750,0.000,49.893,872.070,1123.314,407.411,1067.923,150.670,0.000,831.008,0.000,831.472,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,71.145,1068.705,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,223.069,244.748,465.998,438.461,510.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,30743,339
$CAP_FILE_SIZE,58488,0
$CFSIZE,1023623168,948699136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,286.02,1
$GPS,091021,214821,2244.916,-15759.890,48,0.9,50,9.8,0.8,87.4,10,9.6