version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 825
start: 10 10 121 5 24 53
data:
$ID,626
$MISSION,3
$DIVE,825
$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,57
$R_STBD_OVSHOOT,54
$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
$GPS1,101021,051535,2245.5303,-15800.0273,12,0.8,40,9.8,0.8,94.6,10,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.9
$GPS2,101021,052402,2245.5706,-15800.0547,8,1.0,24,9.8,0.5,357.5,8,9.8
$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,167.5,1061,-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,-116.8,122,2233,1168,1060,0.0,0.0,0,82,0.00,0.00,-63.28,0.000,16386,0.000,0.000,122,2230,3186,3152,3221,0,0,0,0,0,0,15.18,28.83,15.18
$GC,86,-0.55,-116.8,122,2230,3152,3222,4.1,-8.6,9,102,8.45,2.28,-1.42,0.000,19204,0.426,0.063,2576,867,3279,3252,3307,0,0,0,0,0,0,14.11,13.31,14.40
$GC,185,-0.55,-116.8,2576,866,3268,3295,29.1,-12.3,26,192,0.00,2.40,0.00,0.000,3078,0.000,0.057,2567,2260,3281,3268,3294,0,0,0,0,0,0,14.94,14.78,14.96
$GC,431,-0.55,-116.8,2567,2264,3268,3292,77.5,-17.1,51,436,0.00,2.35,0.00,0.000,2564,0.000,0.056,2567,871,3279,3268,3291,0,0,0,0,0,0,15.24,14.88,15.24
$GC,518,-0.55,-116.8,2566,872,3269,3292,90.5,-14.0,59,525,0.05,2.35,0.00,0.000,3078,0.397,0.057,2573,2268,3279,3269,3290,0,0,0,0,0,0,14.63,14.88,14.88
$GC,767,-0.55,-116.8,2573,2272,3269,3291,129.8,-15.1,84,777,0.00,2.30,0.00,0.000,516,0.000,0.052,2573,876,3280,3270,3291,0,0,0,0,0,0,15.26,14.58,15.26
$GC,841,-0.55,-116.8,2573,876,3270,3292,139.1,-10.8,91,846,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2273,3279,3270,3289,0,0,0,0,0,0,15.04,14.90,15.05
$GC,1098,-0.55,-116.8,2564,2275,3270,3291,171.1,-10.6,116,1106,0.00,2.33,0.00,0.000,2564,0.000,0.050,2564,874,3281,3271,3291,0,0,0,0,0,0,15.27,14.76,15.28
$GC,1154,-0.55,-116.8,2564,874,3270,3291,176.9,-10.3,121,1162,0.05,2.35,0.00,0.000,3078,0.373,0.056,2572,2274,3280,3271,3290,0,0,0,0,0,0,14.67,14.90,14.90
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1399,-0.13,0.0,2572,2082,3271,3290,200.7,-8.4,145,1501,0.32,0.05,94.30,1.075,10246,0.223,0.100,2702,2139,2798,2863,2733,0,0,0,0,0,0,14.51,14.38,13.88
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1505,0.55,116.8,2702,2140,2863,2733,205.0,0.0,156,1611,0.52,2.35,97.30,1.059,10500,0.110,0.060,2935,3526,2322,2406,2239,0,0,0,0,0,0,14.45,14.34,13.83
$GC,2126,0.60,197.4,2935,3525,2405,2240,174.0,5.9,217,2198,0.00,2.17,65.22,1.042,13318,0.000,0.038,2946,2180,1993,2075,1911,0,0,0,0,0,0,15.05,14.96,14.01
$GC,2448,0.61,214.8,2945,2180,2072,1906,145.3,9.2,249,2468,0.00,2.33,14.48,0.970,8452,0.000,0.063,2945,3526,1923,2004,1843,0,0,0,0,0,0,15.19,14.83,14.11
$GC,2522,0.61,214.8,2945,3525,2003,1843,137.2,11.4,256,2531,0.00,2.20,0.00,0.000,5126,0.000,0.049,2956,2195,1923,2003,1843,0,0,0,0,0,0,14.71,14.67,14.72
$GC,2774,0.61,223.6,2955,2195,2003,1840,112.6,9.6,281,2793,0.00,2.35,8.52,0.903,12804,0.000,0.052,2967,776,1885,1965,1805,0,0,0,0,0,0,15.23,14.63,14.12
$GC,3316,0.66,306.3,2967,776,1957,1803,69.2,5.8,333,3389,0.00,2.22,65.20,0.931,9222,0.000,0.054,2967,2106,1548,1639,1457,0,0,0,0,0,0,14.71,14.63,14.09
$GC,3638,0.71,376.5,2967,2107,1638,1452,52.2,6.5,365,3698,0.00,2.33,54.58,0.935,10756,0.000,0.057,2977,778,1262,1357,1168,0,0,0,0,0,0,15.19,14.72,14.09
$GC,3768,0.74,422.2,2977,777,1351,1168,41.7,7.7,377,3811,0.00,2.28,36.10,0.874,11270,0.000,0.053,2977,2129,1075,1177,974,0,0,0,0,0,0,14.70,14.71,14.07
$GC,4065,0.77,477.8,2977,2129,1177,969,17.5,7.2,419,4096,0.00,2.33,22.88,0.259,10756,0.000,0.054,2986,782,851,969,733,0,0,0,0,0,0,15.16,14.46,14.26
$GC,4137,0.83,583.2,2987,782,962,733,13.9,4.7,430,4174,0.00,2.35,25.67,0.241,11270,0.000,0.054,2987,2127,596,708,485,0,0,0,0,0,0,14.81,14.74,14.33
$STATE,4271,end climb,SURFACE_DEPTH_REACHED
$STATE,4271,begin surface coast
$FINISH,0.3,1.013064
$STATE,4298,end surface coast,CONTROL_FINISHED_OK
$STATE,4298,begin surface
$SM_CCo,4376,0.00,0.000,0,0,592,541.61
$SM_GC,1.18,6.45,0.22,0.00,0.050,0.060,0.000,159,2344,592,-7.89,-0.65,541.61,0,0,0,0,0,0,14.92,14.98,14.98
$IRIDIUM_FIX,2237.01,-15804.53,101021,051938
$TT8_MAMPS,0.023219,0.313082
$HUMID,52.67
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,25.30
$XPDR_PINGS,4
$24V_AH,13.31,181.403
$10V_AH,12.67,0.000
$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,15.850,42.125,484.250,0.000,0.000,50.634,92.863,145.671,1.000,0.000,25.787,1168.858,1587.718,433.915,1550.538,172.379,0.000,1035.843,0.000,1222.379,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,186.660,1074.825,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,301.868,329.417,621.036,584.286,680.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339112
$DATA_FILE_SIZE,44089,458
$CAP_FILE_SIZE,69823,0
$CFSIZE,1023623168,948207616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.203,15.62,1
$GPS,101021,063852,2245.853,-15759.905,6,1.1,28,9.8,1.1,88.2,8,9.9