version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 846
start: 10 11 121 7 58 8
data:
$ID,626
$MISSION,3
$DIVE,846
$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,37
$R_STBD_OVSHOOT,48
$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
$GPS1,111021,075115,2245.1658,-15801.5771,8,1.3,48,9.8,0.0,322.3,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.5
$GPS2,111021,075719,2245.1973,-15801.5918,8,1.4,48,9.8,0.6,26.1,7,6.9
$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,132.9,2744,-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,-116.8,124,2301,1042,911,0.0,0.0,0,83,0.00,0.00,-64.30,0.000,16386,0.000,0.000,124,2302,3074,3040,3108,0,0,0,0,0,0,15.19,28.83,15.20
$GC,87,-0.55,-116.8,123,2302,3045,3104,3.6,-7.6,9,110,8.48,2.47,-3.35,0.000,18948,0.428,0.071,2573,852,3281,3261,3301,0,0,0,0,0,0,14.09,13.28,14.40
$GC,134,-0.55,-116.8,2575,852,3267,3297,20.9,-31.0,16,142,0.00,2.42,0.00,0.000,3078,0.000,0.060,2566,2249,3281,3268,3295,0,0,0,0,0,0,14.95,14.79,14.96
$GC,387,-0.55,-116.8,2565,2252,3268,3294,76.1,-20.3,44,396,0.00,2.38,0.00,0.000,2308,0.000,0.066,2555,3671,3281,3268,3295,0,0,0,0,0,0,15.24,14.53,15.24
$GC,443,-0.55,-116.8,2555,3671,3268,3295,85.8,-16.8,49,452,0.05,2.30,0.00,0.000,3078,0.356,0.044,2574,2263,3281,3268,3294,0,0,0,0,0,0,14.66,14.91,14.89
$GC,694,-0.55,-116.8,2573,2262,3268,3294,121.1,-12.6,74,703,0.00,2.40,0.00,0.000,260,0.000,0.067,2565,3675,3281,3268,3295,0,0,0,0,0,0,15.26,14.53,15.26
$GC,780,-0.55,-116.8,2565,3675,3268,3295,128.8,-8.1,82,788,0.00,2.35,0.00,0.000,3078,0.000,0.039,2565,2269,3281,3269,3294,0,0,0,0,0,0,15.01,14.84,15.03
$GC,1029,-0.55,-116.8,2565,2267,3270,3294,155.2,-10.4,107,1039,0.00,2.38,0.00,0.000,2308,0.000,0.068,2554,3668,3282,3270,3294,0,0,0,0,0,0,15.27,14.69,15.27
$GC,1115,-0.55,-116.8,2553,3669,3269,3294,162.7,-8.5,115,1125,0.05,2.25,0.00,0.000,3078,0.240,0.037,2578,2252,3282,3271,3294,0,0,0,0,0,0,14.54,14.81,14.66
$GC,1367,-0.55,-116.8,2578,2252,3271,3293,183.8,-8.5,140,1375,0.00,2.30,0.00,0.000,4612,0.000,0.056,2578,870,3281,3271,3292,0,0,0,0,0,0,15.28,14.75,15.28
$GC,1433,-0.55,-116.8,2578,870,3271,3292,189.7,-9.0,146,1440,0.00,2.38,0.00,0.000,3078,0.000,0.058,2569,2271,3281,3272,3290,0,0,0,0,0,0,15.03,14.89,15.06
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1555,-0.13,0.0,2569,2095,3272,3290,200.4,-9.0,158,1654,0.32,0.00,95.38,1.071,10246,0.213,0.000,2700,2091,2798,2864,2733,0,0,0,0,0,0,14.49,14.61,13.90
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1658,0.55,116.8,2700,2091,2864,2733,205.1,0.0,168,1763,0.50,2.53,97.50,1.059,10500,0.069,0.063,2961,3541,2322,2407,2237,0,0,0,0,0,0,14.51,14.56,13.85
$GC,2235,0.62,231.0,2960,3542,2407,2238,176.3,4.2,225,2334,0.03,2.33,91.20,1.047,13318,0.269,0.039,2949,2152,1856,1937,1776,0,0,0,0,0,0,14.52,14.83,13.96
$GC,2573,0.63,253.0,2949,2152,1937,1769,144.3,9.0,259,2602,0.00,2.40,18.65,0.985,8708,0.000,0.058,2959,724,1765,1848,1683,0,0,0,0,0,0,15.18,14.59,14.09
$GC,3118,0.66,298.9,2958,724,1838,1680,90.3,7.7,312,3166,0.00,2.35,36.45,0.955,9222,0.000,0.059,2959,2116,1579,1670,1488,0,0,0,0,0,0,14.63,14.57,14.14
$GC,3407,0.70,363.1,2959,2116,1670,1483,63.6,6.8,341,3466,0.00,2.45,50.28,0.921,10500,0.000,0.067,2959,3538,1319,1415,1223,0,0,0,0,0,0,15.21,14.47,14.04
$GC,3607,0.70,363.1,2959,3537,1415,1224,43.3,12.4,360,3616,0.00,2.33,0.00,0.000,3078,0.000,0.054,2970,2143,1319,1415,1224,0,0,0,0,0,0,14.59,14.55,14.63
$GC,3862,0.73,410.1,2970,2141,1415,1221,23.3,7.7,394,3891,0.00,2.45,20.90,0.830,10756,0.000,0.063,2981,710,1125,1222,1029,0,0,0,0,0,0,15.19,14.69,14.19
$GC,4042,0.73,410.1,2981,709,1215,1027,7.4,10.9,425,4050,0.00,2.45,0.00,0.000,1030,0.000,0.057,2981,2127,1120,1215,1026,0,0,0,0,0,0,14.92,14.80,14.95
$STATE,4071,end climb,SURFACE_DEPTH_REACHED
$STATE,4071,begin surface coast
$FINISH,0.3,1.010639
$STATE,4094,end surface coast,CONTROL_FINISHED_OK
$STATE,4095,begin surface
$SM_CCo,4173,0.00,0.000,0,0,1119,412.34
$SM_GC,1.24,6.45,0.22,0.00,0.046,0.078,0.000,138,2287,1119,-7.96,-0.79,412.34,0,0,0,0,0,0,14.97,14.92,15.01
$IRIDIUM_FIX,2237.01,-15802.37,111021,075251
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.54
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.28,185.106
$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,15.875,43.350,410.350,0.000,0.000,27.020,47.692,125.129,0.000,0.000,49.617,1124.589,1467.200,409.824,1390.830,172.560,0.000,976.210,0.000,1149.493,0.000,0.553,0.000
$DEVICE_MAMPS,428.400,78.030,1071.000,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.421,315.934,588.167,523.499,603.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,40706,434
$CAP_FILE_SIZE,66470,0
$CFSIZE,1023623168,946831360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.098,324.88,1
$GPS,111021,090855,2245.293,-15801.640,12,0.8,39,9.8,0.5,29.9,10,7.3