version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 848
start: 10 11 121 10 37 9
data:
$ID,626
$MISSION,3
$DIVE,848
$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,79
$R_STBD_OVSHOOT,75
$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
$GPS1,111021,103000,2245.4146,-15801.6406,8,0.9,23,9.8,0.0,250.6,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,111021,103619,2245.4258,-15801.6689,8,0.9,37,9.8,0.6,272.3,8,6.4
$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,97.2,2958,-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,14,begin dive
$GC,17,-0.55,-116.8,123,2209,1129,1013,0.0,0.0,0,83,0.00,0.00,-63.47,0.000,16386,0.000,0.000,123,2209,3151,3110,3192,0,0,0,0,0,0,15.18,28.83,15.19
$GC,86,-0.55,-116.8,123,2209,3115,3188,3.9,-7.7,9,104,8.48,2.20,-1.98,0.000,18948,0.427,0.062,2572,880,3279,3254,3304,0,0,0,0,0,0,14.09,13.30,14.40
$GC,112,-0.55,-116.8,2573,881,3261,3299,16.6,-35.8,12,120,0.00,2.33,0.00,0.000,3078,0.000,0.050,2565,2224,3279,3262,3297,0,0,0,0,0,0,14.81,14.73,14.85
$GC,371,-0.55,-116.8,2564,2225,3265,3295,69.4,-16.1,42,376,0.00,2.42,0.00,0.000,2308,0.000,0.063,2553,3678,3280,3265,3296,0,0,0,0,0,0,15.23,14.86,15.24
$GC,407,-0.55,-116.8,2553,3678,3265,3296,74.6,-15.6,45,416,0.05,2.30,0.00,0.000,3078,0.278,0.045,2574,2307,3280,3266,3295,0,0,0,0,0,0,14.54,14.78,14.69
$GC,657,-0.55,-116.8,2574,2304,3267,3294,108.4,-12.3,70,662,0.00,2.33,0.00,0.000,260,0.000,0.070,2566,3674,3281,3268,3294,0,0,0,0,0,0,15.25,14.85,15.26
$GC,752,-0.55,-116.8,2565,3675,3267,3294,118.0,-9.5,79,760,0.00,2.28,0.00,0.000,3078,0.000,0.040,2566,2266,3280,3267,3294,0,0,0,0,0,0,14.83,14.79,14.83
$GC,1003,-0.55,-116.8,2565,2263,3267,3293,145.5,-11.0,104,1008,0.00,2.42,0.00,0.000,2308,0.000,0.068,2555,3682,3280,3268,3293,0,0,0,0,0,0,15.26,14.88,15.27
$GC,1130,-0.55,-116.8,2555,3682,3267,3294,157.0,-7.8,116,1135,0.05,2.30,0.00,0.000,3078,0.328,0.038,2578,2251,3281,3268,3294,0,0,0,0,0,0,14.72,14.96,14.93
$GC,1383,-0.55,-116.8,2578,2245,3268,3292,177.5,-7.7,141,1393,0.00,2.40,0.00,0.000,260,0.000,0.063,2569,3676,3280,3268,3292,0,0,0,0,0,0,15.28,14.54,15.29
$GC,1681,-0.55,-116.8,2569,3676,3268,3292,197.7,-7.0,170,1689,0.00,2.28,0.00,0.000,3078,0.000,0.032,2569,2246,3279,3268,3290,0,0,0,0,0,0,15.07,14.97,15.07
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1723,-0.13,0.0,2569,2092,3268,3290,200.5,-6.9,174,1821,0.35,0.00,94.62,1.075,10246,0.215,0.000,2705,2089,2798,2864,2732,0,0,0,0,0,0,14.33,14.60,13.90
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1825,0.55,116.8,2705,2089,2864,2732,205.3,0.0,184,1931,0.52,2.53,97.68,1.069,10500,0.120,0.062,2936,3543,2322,2407,2237,0,0,0,0,0,0,14.59,14.56,13.84
$GC,2445,0.61,223.5,2936,3543,2407,2239,178.4,4.6,245,2542,0.00,2.25,85.60,1.059,9222,0.000,0.039,2947,2158,1887,1967,1808,0,0,0,0,0,0,15.02,14.92,13.96
$GC,2784,0.61,223.5,2947,2157,1966,1801,145.6,10.6,279,2793,0.00,2.30,0.00,0.000,260,0.000,0.063,2946,3533,1883,1966,1801,0,0,0,0,0,0,15.18,14.70,15.19
$GC,3168,0.61,223.5,2946,3533,1966,1801,101.9,10.5,316,3176,0.00,2.38,0.00,0.000,5126,0.000,0.050,2957,2128,1883,1966,1801,0,0,0,0,0,0,15.00,14.85,15.02
$GC,3417,0.65,287.7,2957,2128,1966,1798,82.9,6.8,341,3475,0.00,2.42,50.55,0.957,8452,0.000,0.063,2957,3543,1626,1716,1536,0,0,0,0,0,0,15.25,14.54,14.07
$GC,3640,0.66,304.3,2957,3543,1717,1536,63.4,9.2,362,3662,0.00,2.42,14.62,0.893,13318,0.000,0.052,2968,2120,1557,1648,1466,0,0,0,0,0,0,14.95,14.81,14.11
$GC,3911,0.70,360.1,2968,2119,1648,1460,43.8,7.2,389,3961,0.00,2.45,43.50,0.895,10756,0.000,0.064,2979,713,1329,1425,1233,0,0,0,0,0,0,15.21,14.76,14.13
$GC,4016,0.72,396.9,2979,711,1419,1233,35.5,8.2,399,4055,0.00,2.40,28.67,0.870,9222,0.000,0.058,2978,2124,1180,1279,1081,0,0,0,0,0,0,14.58,14.52,14.02
$GC,4310,0.73,418.8,2979,2125,1279,1077,7.6,9.0,448,4327,0.00,2.40,9.10,0.220,10500,0.000,0.061,2979,3543,1089,1189,990,0,0,0,0,0,0,15.16,14.52,14.38
$STATE,4343,end climb,SURFACE_DEPTH_REACHED
$STATE,4343,begin surface coast
$FINISH,0.2,1.023221
$STATE,4367,end surface coast,CONTROL_FINISHED_OK
$STATE,4367,begin surface
$SM_CCo,4447,0.00,0.000,0,0,1089,419.70
$SM_GC,1.21,6.45,2.15,0.00,0.044,0.041,0.000,143,2253,1089,-7.96,0.90,419.70,0,0,0,0,0,0,14.95,14.89,14.99
$IRIDIUM_FIX,2237.01,-15744.57,111021,103150
$TT8_MAMPS,0.021721,0.343791
$HUMID,53.74
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.30,185.483
$10V_AH,11.47,0.000
$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,15.900,47.175,424.350,0.000,0.000,32.891,63.913,130.537,0.000,0.000,38.924,1195.704,1588.064,404.032,1488.466,178.423,0.000,1004.367,0.000,1233.224,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,130.815,1074.825,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.261,332.769,622.843,548.051,627.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,43949,457
$CAP_FILE_SIZE,69656,0
$CFSIZE,1023623168,946700288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.087,283.01,1
$GPS,111021,115231,2245.422,-15801.555,10,0.8,40,9.8,0.7,126.9,10,8.0