version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 823
start: 10 10 121 2 52 7
data:
$ID,626
$MISSION,3
$DIVE,823
$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,60
$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
$GPS1,101021,024248,2245.1790,-15800.2686,7,0.9,19,9.8,0.0,70.6,8,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.5
$GPS2,101021,025118,2245.2212,-15800.3311,7,1.0,17,9.8,1.0,22.4,8,9.6
$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,97.1,699,-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,17,-0.55,-116.8,122,2305,1277,1200,0.0,0.0,0,76,0.00,0.00,-57.17,0.000,16386,0.000,0.000,123,2306,3126,3095,3158,0,0,0,0,0,0,15.17,28.83,15.17
$GC,80,-0.55,-116.8,122,2306,3095,3158,3.8,-7.3,8,102,8.48,2.25,-2.38,0.000,18692,0.428,0.065,2553,3666,3280,3255,3306,0,0,0,0,0,0,14.08,13.27,14.38
$GC,121,-0.55,-116.8,2553,3668,3258,3304,21.7,-38.2,14,129,0.05,2.40,0.00,0.000,3078,0.361,0.056,2570,2267,3281,3262,3300,0,0,0,0,0,0,14.58,14.78,14.82
$GC,375,-0.55,-116.8,2570,2262,3267,3296,69.4,-18.0,42,385,0.00,2.35,0.00,0.000,2564,0.000,0.056,2570,851,3281,3268,3295,0,0,0,0,0,0,15.23,14.54,15.23
$GC,537,-0.55,-116.8,2570,851,3269,3295,95.2,-13.6,57,545,0.00,2.30,0.00,0.000,3078,0.000,0.057,2562,2225,3282,3271,3294,0,0,0,0,0,0,14.78,14.73,14.81
$GC,785,-0.55,-116.8,2561,2226,3271,3294,127.9,-12.4,82,796,0.00,2.33,0.00,0.000,2564,0.000,0.054,2562,836,3282,3271,3294,0,0,0,0,0,0,15.26,14.82,15.26
$GC,854,-0.55,-116.8,2561,837,3271,3295,135.7,-11.2,88,864,0.08,2.47,0.00,0.000,3078,0.320,0.058,2578,2276,3282,3272,3293,0,0,0,0,0,0,14.62,14.85,14.88
$GC,1105,-0.55,-116.8,2578,2277,3272,3293,161.2,-9.8,113,1113,0.00,2.38,0.00,0.000,516,0.000,0.051,2578,850,3283,3272,3294,0,0,0,0,0,0,15.26,14.74,15.27
$GC,1178,-0.55,-116.8,2578,850,3272,3294,169.0,-9.7,120,1188,0.00,2.35,0.00,0.000,3078,0.000,0.057,2569,2260,3282,3272,3293,0,0,0,0,0,0,14.69,14.67,14.73
$GC,1431,-0.55,-116.8,2568,2260,3272,3291,195.7,-10.9,145,1440,0.00,2.38,0.00,0.000,2564,0.000,0.056,2568,847,3282,3272,3293,0,0,0,0,0,0,15.27,14.72,15.28
$STATE,1471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1471,begin apogee
$GC,1480,-0.13,0.0,2559,2137,3271,3292,200.5,-10.8,149,1584,0.38,0.00,95.12,1.077,10246,0.231,0.000,2703,2138,2798,2864,2733,0,0,0,0,0,0,14.47,14.32,13.81
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1588,0.55,116.8,2703,2138,2864,2732,205.2,0.0,160,1694,0.50,2.45,97.25,1.068,10756,0.127,0.050,2933,706,2320,2403,2238,0,0,0,0,0,0,14.59,14.32,13.82
$GC,1949,0.59,187.3,2933,706,2389,2237,189.4,6.5,195,2018,0.00,2.42,56.95,1.053,11270,0.000,0.050,2933,2136,2034,2116,1952,0,0,0,0,0,0,14.96,14.83,13.95
$GC,2258,0.59,188.3,2933,2136,2115,1948,159.6,10.1,226,2266,0.00,2.33,0.00,0.000,2308,0.000,0.066,2933,3532,2031,2115,1948,0,0,0,0,0,0,15.19,14.69,15.19
$GC,2436,0.59,188.3,2933,3532,2115,1948,139.7,10.8,243,2444,0.00,2.35,0.00,0.000,5126,0.000,0.047,2944,2113,2032,2115,1949,0,0,0,0,0,0,15.02,14.91,15.04
$GC,2688,0.61,211.2,2944,2112,2115,1948,115.4,8.9,268,2716,0.00,2.38,19.92,0.966,8708,0.000,0.057,2955,709,1937,2017,1857,0,0,0,0,0,0,15.24,14.55,14.08
$GC,2730,0.63,242.8,2955,708,2011,1857,111.6,8.5,272,2762,0.00,2.38,26.35,0.959,13318,0.000,0.055,2955,2123,1808,1889,1727,0,0,0,0,0,0,14.69,14.63,14.07
$GC,3011,0.64,262.6,2955,2123,1888,1721,84.2,9.1,300,3033,0.00,2.35,16.70,0.923,8452,0.000,0.066,2955,3539,1727,1813,1641,0,0,0,0,0,0,15.21,14.83,14.14
$GC,3044,0.65,288.1,2955,3539,1813,1641,81.5,8.8,303,3073,0.00,2.35,21.67,0.925,13318,0.000,0.044,2965,2111,1623,1713,1533,0,0,0,0,0,0,14.97,14.87,14.09
$GC,3313,0.65,288.1,2966,2110,1712,1528,55.0,12.6,330,3320,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2110,1620,1712,1528,0,0,0,0,0,0,15.20,15.21,15.20
$GC,3563,0.68,336.4,2966,2108,1712,1527,34.3,7.6,355,3612,0.00,2.40,37.92,0.886,8452,0.000,0.067,2966,3527,1426,1518,1334,0,0,0,0,0,0,15.23,14.60,14.15
$GC,3621,0.68,336.4,2966,3527,1518,1333,27.9,11.7,361,3628,0.00,2.40,0.00,0.000,5126,0.000,0.050,2976,2115,1425,1518,1333,0,0,0,0,0,0,14.92,14.79,14.93
$STATE,3818,end climb,SURFACE_DEPTH_REACHED
$STATE,3818,begin surface coast
$FINISH,0.8,1.023166
$STATE,3834,end surface coast,CONTROL_FINISHED_OK
$STATE,3836,begin surface
$SM_CCo,3854,18.05,0.187,0,0,1249,380.21
$SM_GC,0.87,6.38,0.28,18.05,0.041,0.053,0.187,139,2371,1249,-7.89,-0.68,380.21,0,0,0,0,0,0,14.97,14.97,14.62
$IRIDIUM_FIX,2234.68,-15754.11,101021,024702
$TT8_MAMPS,0.023219,0.342293
$HUMID,53.78
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,13.27,181.015
$10V_AH,12.09,0.000
$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,15.850,47.475,371.900,18.050,0.000,59.973,107.340,140.149,0.750,0.000,18.140,1026.068,1483.799,409.603,1328.633,167.110,0.000,913.998,0.000,996.381,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,66.555,1077.120,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.678,290.647,536.916,480.964,559.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339156
$DATA_FILE_SIZE,37183,400
$CAP_FILE_SIZE,62547,0
$CFSIZE,1023623168,948355072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,321.74,1
$GPS,101021,035806,2245.386,-15800.072,7,1.1,48,9.8,1.2,288.6,7,6.5