version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 836
start: 10 10 121 19 24 35
data:
$ID,626
$MISSION,3
$DIVE,836
$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,74
$R_STBD_OVSHOOT,58
$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
$GPS1,101021,191813,2245.3755,-15759.7910,6,0.9,21,9.8,1.3,68.7,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,101021,192342,2245.4348,-15759.7930,8,0.9,22,9.8,0.9,64.8,9,9.1
$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,181.1,879,-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,-116.8,122,2211,1284,1195,0.0,0.0,0,82,0.00,0.00,-63.12,0.000,16390,0.000,0.000,122,2212,3278,3245,3312,0,0,0,0,0,0,15.19,13.05,15.14
$GC,85,-0.55,-116.8,122,2212,3246,3313,4.1,-8.5,9,100,8.52,2.15,0.00,0.000,2564,0.436,0.031,2571,864,3279,3250,3309,0,0,0,0,0,0,14.12,14.59,14.41
$GC,199,-0.55,-116.8,2570,864,3266,3296,34.8,-15.0,26,208,0.00,2.30,0.00,0.000,3078,0.000,0.060,2562,2228,3280,3267,3294,0,0,0,0,0,0,14.62,14.56,14.64
$GC,451,-0.55,-116.8,2562,2229,3267,3294,87.6,-20.9,51,455,0.00,2.25,0.00,0.000,2564,0.000,0.054,2562,891,3280,3267,3293,0,0,0,0,0,0,15.24,14.90,15.24
$GC,495,-0.55,-116.8,2562,889,3267,3294,95.2,-16.8,55,500,0.05,2.35,0.00,0.000,3078,0.389,0.058,2569,2284,3280,3267,3293,0,0,0,0,0,0,14.64,14.88,14.89
$GC,750,-0.55,-116.8,2568,2286,3267,3293,129.4,-11.9,80,760,0.00,2.30,0.00,0.000,2564,0.000,0.052,2569,902,3280,3268,3293,0,0,0,0,0,0,15.27,14.62,15.28
$GC,827,-0.55,-116.8,2569,901,3268,3292,137.4,-9.9,87,834,0.00,2.30,0.00,0.000,3078,0.000,0.057,2560,2261,3279,3268,3291,0,0,0,0,0,0,15.04,14.88,15.05
$GC,1076,-0.55,-116.8,2560,2261,3268,3291,170.0,-13.8,112,1085,0.00,2.30,0.00,0.000,2564,0.000,0.055,2560,895,3280,3268,3292,0,0,0,0,0,0,15.28,14.92,15.28
$GC,1129,-0.55,-116.8,2560,895,3268,3292,176.7,-12.2,117,1134,0.08,2.30,0.00,0.000,3078,0.332,0.057,2577,2267,3279,3268,3291,0,0,0,0,0,0,14.65,14.90,14.90
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1388,-0.13,0.0,2577,2107,3268,3290,200.8,-10.4,142,1491,0.32,0.00,94.82,1.064,10246,0.216,0.000,2707,2104,2799,2865,2733,0,0,0,0,0,0,14.54,14.62,13.91
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1495,0.55,116.8,2707,2104,2865,2732,205.7,0.0,153,1603,0.47,2.45,97.28,1.058,10500,0.121,0.064,2920,3540,2322,2407,2238,0,0,0,0,0,0,14.61,14.57,13.88
$GC,1854,0.57,157.5,2920,3540,2406,2238,185.3,8.0,188,1894,0.00,2.25,34.17,1.036,9222,0.000,0.045,2930,2171,2156,2245,2068,0,0,0,0,0,0,14.97,14.88,14.06
$GC,2134,0.58,170.0,2930,2171,2243,2062,160.4,9.5,216,2153,0.00,2.30,10.80,0.960,10500,0.000,0.064,2930,3536,2105,2195,2016,0,0,0,0,0,0,15.21,14.85,14.09
$GC,2187,0.58,170.0,2931,3536,2195,2015,155.1,10.3,221,2196,0.00,2.33,0.00,0.000,5126,0.000,0.047,2942,2125,2106,2195,2017,0,0,0,0,0,0,14.81,14.77,14.83
$GC,2439,0.59,187.3,2941,2125,2195,2013,130.6,9.2,246,2461,0.00,2.45,14.98,0.972,8452,0.000,0.065,2942,3539,2036,2124,1948,0,0,0,0,0,0,15.23,14.85,14.14
$GC,2479,0.60,208.8,2941,3538,2123,1948,126.8,9.0,250,2510,0.00,2.33,18.40,0.969,13318,0.000,0.050,2952,2127,1946,2030,1863,0,0,0,0,0,0,14.73,14.68,14.10
$GC,2751,0.63,244.9,2952,2127,2029,1859,100.3,8.2,277,2790,0.00,2.45,29.02,0.965,8708,0.000,0.063,2964,710,1800,1883,1717,0,0,0,0,0,0,15.22,14.70,14.12
$GC,2838,0.63,244.9,2963,710,1876,1716,91.9,10.9,285,2845,0.00,2.42,0.00,0.000,5126,0.000,0.063,2964,2127,1796,1876,1716,0,0,0,0,0,0,14.95,14.81,14.97
$GC,3090,0.63,251.8,2963,2128,1876,1713,69.8,9.7,310,3101,0.00,2.40,6.28,0.831,12548,0.000,0.064,2964,3542,1772,1856,1688,0,0,0,0,0,0,15.21,14.85,14.12
$GC,3168,0.63,251.8,2963,3542,1856,1687,60.2,12.4,317,3178,0.05,2.35,0.00,0.000,5126,0.308,0.047,2955,2115,1772,1856,1688,0,0,0,0,0,0,14.41,14.71,14.57
$GC,3419,0.64,273.0,2955,2112,1856,1687,35.8,9.0,342,3448,0.00,2.33,17.92,0.881,8708,0.000,0.061,2965,723,1686,1775,1597,0,0,0,0,0,0,15.24,14.65,14.17
$GC,3484,0.64,273.0,2965,723,1771,1597,28.6,11.2,349,3492,0.00,2.45,0.00,0.000,5126,0.000,0.057,2965,2127,1683,1771,1596,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3754,0.64,273.0,2965,2128,1770,1593,3.2,10.4,398,3762,0.00,2.42,0.00,0.000,4356,0.000,0.066,2965,3543,1682,1771,1593,0,0,0,0,0,0,15.20,14.81,15.20
$STATE,3768,end climb,SURFACE_DEPTH_REACHED
$STATE,3768,begin surface coast
$FINISH,0.3,1.023166
$STATE,3774,end surface coast,CONTROL_FINISHED_OK
$STATE,3774,begin surface
$SM_CCo,3794,45.25,0.183,0,0,1246,380.21
$SM_GC,1.24,6.43,2.15,45.25,0.051,0.046,0.183,164,2254,1246,-7.91,0.96,380.21,0,0,0,0,0,0,14.98,14.90,14.63
$IRIDIUM_FIX,2237.01,-15801.49,101021,191944
$TT8_MAMPS,0.02247,0.286118
$HUMID,52.52
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.05,183.368
$10V_AH,12.56,0.000
$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,15.925,51.575,323.675,45.250,0.000,27.065,45.328,120.336,0.500,0.000,23.116,1042.521,1395.947,401.345,1197.771,168.322,0.000,887.955,0.000,989.552,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,133.110,1064.115,182.835,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.129,289.449,553.153,497.515,581.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,37333,401
$CAP_FILE_SIZE,66554,0
$CFSIZE,1023623168,947486720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.140,18.16,1
$GPS,101021,202955,2245.333,-15759.675,8,0.9,41,9.8,0.4,261.3,9,6.2