version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 830
start: 10 10 121 11 51 47
data:
$ID,626
$MISSION,3
$DIVE,830
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,101021,114531,2245.5139,-15759.4248,7,0.8,26,9.8,0.6,240.8,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.9
$GPS2,101021,115057,2245.4858,-15759.4814,6,0.8,15,9.8,0.7,122.3,10,9.8
$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,222.1,1262,-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,-116.8,122,2209,1077,963,0.0,0.0,0,83,0.00,0.00,-63.58,0.000,16386,0.000,0.000,122,2207,3108,3076,3140,0,0,0,0,0,0,15.18,28.83,15.19
$GC,86,-0.55,-116.8,122,2207,3077,3141,4.0,-8.6,9,109,8.50,2.25,-2.67,0.000,19204,0.432,0.060,2575,836,3280,3258,3303,0,0,0,0,0,0,14.11,13.29,14.42
$GC,182,-0.55,-116.8,2575,836,3267,3296,29.5,-14.3,25,189,0.00,2.45,0.00,0.000,3078,0.000,0.054,2565,2267,3281,3267,3295,0,0,0,0,0,0,14.95,14.81,14.97
$GC,428,-0.55,-116.8,2565,2268,3268,3294,79.6,-18.6,50,439,0.00,2.30,0.00,0.000,2308,0.000,0.058,2555,3672,3281,3267,3295,0,0,0,0,0,0,15.24,14.57,15.24
$GC,487,-0.55,-116.8,2554,3672,3267,3294,87.8,-13.2,55,494,0.05,2.33,0.00,0.000,3078,0.358,0.044,2574,2252,3281,3268,3295,0,0,0,0,0,0,14.67,14.92,14.90
$GC,736,-0.55,-116.8,2573,2249,3268,3294,120.7,-13.7,80,747,0.00,2.40,0.00,0.000,260,0.000,0.068,2565,3673,3280,3267,3294,0,0,0,0,0,0,15.26,14.54,15.26
$GC,772,-0.55,-116.8,2564,3673,3268,3295,125.2,-12.6,83,781,0.00,2.28,0.00,0.000,3078,0.000,0.041,2564,2266,3281,3268,3294,0,0,0,0,0,0,14.85,14.81,14.85
$GC,1022,-0.55,-116.8,2564,2265,3267,3294,158.6,-12.8,108,1032,0.00,2.38,0.00,0.000,2308,0.000,0.067,2554,3670,3281,3268,3294,0,0,0,0,0,0,15.27,14.55,15.27
$GC,1089,-0.55,-116.8,2554,3670,3268,3295,165.2,-8.7,114,1100,0.05,2.35,0.00,0.000,3078,0.340,0.041,2576,2263,3281,3268,3294,0,0,0,0,0,0,14.68,14.85,14.90
$GC,1340,-0.55,-116.8,2575,2263,3268,3294,187.5,-8.4,139,1349,0.00,2.28,0.00,0.000,772,0.000,0.048,2576,860,3281,3269,3293,0,0,0,0,0,0,15.27,14.77,15.28
$GC,1354,-0.55,-116.8,2576,860,3269,3293,188.3,-8.0,140,1363,0.00,2.35,0.00,0.000,3078,0.000,0.054,2567,2267,3280,3270,3291,0,0,0,0,0,0,15.04,14.90,15.06
$STATE,1480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1480,begin apogee
$GC,1487,-0.13,0.0,2567,2065,3270,3291,200.6,-9.6,153,1586,0.35,0.12,94.93,1.069,10246,0.216,0.106,2704,2166,2798,2864,2733,0,0,0,0,0,0,14.36,14.61,13.91
$STATE,1587,end apogee,CONTROL_FINISHED_OK
$STATE,1587,begin climb
$GC,1590,0.55,116.8,2704,2166,2865,2733,204.5,0.0,163,1695,0.50,2.28,97.50,1.062,10500,0.123,0.063,2922,3516,2322,2407,2237,0,0,0,0,0,0,14.59,14.56,13.86
$GC,1773,0.58,170.9,2922,3516,2407,2238,202.9,7.3,181,1824,0.00,2.30,44.80,1.050,9222,0.000,0.041,2933,2118,2102,2189,2016,0,0,0,0,0,0,14.86,14.77,13.95
$GC,2073,0.59,183.9,2933,2118,2187,2009,172.7,9.4,211,2092,0.00,2.33,11.40,0.972,10500,0.000,0.059,2933,3506,2049,2138,1960,0,0,0,0,0,0,15.19,14.56,14.03
$GC,2601,0.60,196.4,2933,3506,2137,1960,119.7,9.5,263,2620,0.00,2.22,11.52,0.940,9222,0.000,0.044,2944,2134,1997,2084,1911,0,0,0,0,0,0,14.85,14.81,14.12
$GC,2861,0.61,214.9,2944,2134,2083,1908,97.0,9.1,289,2883,0.00,2.35,15.82,0.949,8452,0.000,0.067,2944,3505,1921,2006,1836,0,0,0,0,0,0,15.24,14.84,14.15
$GC,2931,0.61,214.9,2944,3505,2005,1836,89.4,11.2,296,2936,0.00,2.28,0.00,0.000,5126,0.000,0.046,2955,2126,1920,2005,1836,0,0,0,0,0,0,15.00,14.89,15.02
$GC,3187,0.63,243.8,2954,2126,2006,1834,65.3,8.6,321,3219,0.00,2.38,23.65,0.924,12804,0.000,0.060,2966,723,1802,1888,1717,0,0,0,0,0,0,15.23,14.84,14.16
$GC,3741,0.71,380.8,2966,722,1878,1715,39.5,3.0,374,3858,0.00,2.35,104.53,0.896,11270,0.000,0.049,2966,2095,1245,1339,1151,0,0,0,0,0,0,14.99,14.80,14.04
$GC,4111,0.74,422.5,2965,2095,1339,1144,20.5,7.9,423,4135,0.00,2.40,18.05,0.805,10756,0.000,0.057,2976,714,1074,1170,979,0,0,0,0,0,0,15.14,14.81,14.19
$GC,4155,0.76,463.0,2975,713,1166,979,17.0,8.0,429,4177,0.00,2.42,17.15,0.258,11270,0.000,0.054,2976,2129,908,1012,805,0,0,0,0,0,0,14.92,14.79,14.53
$STATE,4304,end climb,SURFACE_DEPTH_REACHED
$STATE,4304,begin surface coast
$FINISH,0.2,1.023034
$STATE,4327,end surface coast,CONTROL_FINISHED_OK
$STATE,4329,begin surface
$SM_CCo,4406,0.00,0.000,0,0,905,464.84
$SM_GC,1.09,6.50,0.20,0.00,0.056,0.069,0.000,150,2301,905,-7.94,-1.05,464.84,0,0,0,0,0,0,14.94,14.96,14.98
$IRIDIUM_FIX,2234.68,-15759.32,101021,114707
$TT8_MAMPS,0.023219,0.341544
$HUMID,52.63
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,13.29,182.345
$10V_AH,12.49,0.000
$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,15.950,47.300,439.350,0.000,0.000,28.847,42.551,128.235,0.500,0.000,16.156,1184.621,1546.826,422.988,1433.240,174.732,0.000,1016.834,0.000,1233.451,0.000,0.556,0.000
$DEVICE_MAMPS,432.225,106.335,1068.705,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.007,335.175,626.381,602.799,709.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,44068,459
$CAP_FILE_SIZE,70674,0
$CFSIZE,1023623168,947879936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155,219.86,1
$GPS,101021,130631,2245.224,-15759.558,7,1.0,42,9.8,0.9,231.4,8,6.0