version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 849
start: 10 11 121 11 59 8
data:
$ID,626
$MISSION,3
$DIVE,849
$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,40
$R_STBD_OVSHOOT,24
$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
$GPS1,111021,115231,2245.4219,-15801.5547,10,0.8,40,9.8,0.7,126.9,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.1
$GPS2,111021,115818,2245.4021,-15801.5801,7,0.8,18,9.8,0.0,297.4,10,9.7
$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,94.7,2800,-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,-116.8,122,2243,1143,1022,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,123,2243,3117,3085,3150,0,0,0,0,0,0,15.17,28.83,15.19
$GC,84,-0.55,-116.8,123,2244,3084,3150,4.0,-8.9,9,107,8.48,2.33,-2.55,0.000,18948,0.427,0.068,2574,859,3280,3257,3304,0,0,0,0,0,0,14.07,13.28,14.38
$GC,126,-0.55,-116.8,2574,859,3265,3297,20.7,-34.8,15,134,0.00,2.45,0.00,0.000,3078,0.000,0.061,2565,2267,3281,3267,3296,0,0,0,0,0,0,14.93,14.78,14.95
$GC,386,-0.55,-116.8,2564,2270,3267,3295,72.3,-17.8,44,396,0.00,2.35,0.00,0.000,2308,0.000,0.064,2554,3677,3281,3268,3295,0,0,0,0,0,0,15.23,14.54,15.23
$GC,485,-0.55,-116.8,2554,3678,3268,3295,83.7,-10.1,53,494,0.05,2.30,0.00,0.000,3078,0.369,0.040,2573,2261,3281,3268,3295,0,0,0,0,0,0,14.65,14.92,14.88
$GC,735,-0.55,-116.8,2573,2260,3268,3295,110.6,-10.4,78,745,0.00,2.40,0.00,0.000,260,0.000,0.068,2564,3678,3281,3268,3295,0,0,0,0,0,0,15.25,14.51,15.26
$GC,832,-0.55,-116.8,2563,3678,3268,3295,120.7,-10.6,87,840,0.00,2.30,0.00,0.000,3078,0.000,0.040,2564,2263,3281,3268,3295,0,0,0,0,0,0,15.04,14.94,15.06
$GC,1083,-0.55,-116.8,2563,2263,3269,3295,153.2,-12.8,112,1092,0.00,2.40,0.00,0.000,2308,0.000,0.067,2553,3679,3281,3268,3295,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1178,-0.55,-116.8,2553,3679,3269,3295,163.8,-9.8,121,1188,0.05,2.28,0.00,0.000,3078,0.256,0.038,2577,2258,3281,3269,3293,0,0,0,0,0,0,14.52,14.81,14.64
$GC,1428,-0.55,-116.8,2576,2257,3270,3294,185.5,-7.7,146,1436,0.00,2.28,0.00,0.000,516,0.000,0.054,2576,871,3282,3271,3294,0,0,0,0,0,0,15.28,14.75,15.28
$GC,1501,-0.55,-116.8,2576,870,3271,3294,191.0,-7.4,153,1511,0.00,2.33,0.00,0.000,3078,0.000,0.057,2568,2262,3281,3272,3291,0,0,0,0,0,0,14.72,14.73,14.73
$STATE,1618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1618,begin apogee
$GC,1625,-0.13,0.0,2568,2095,3272,3291,200.5,-8.3,165,1724,0.35,0.00,95.20,1.070,10246,0.216,0.000,2704,2092,2799,2865,2733,0,0,0,0,0,0,14.33,14.60,13.88
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1727,0.55,116.8,2704,2092,2865,2732,206.0,0.0,175,1833,0.52,2.30,97.22,1.066,10756,0.113,0.051,2951,756,2322,2406,2238,0,0,0,0,0,0,14.60,14.56,13.84
$GC,2089,0.55,126.2,2950,755,2391,2238,192.8,9.6,211,2108,0.05,2.30,8.30,0.941,13318,0.346,0.050,2934,2138,2283,2365,2202,0,0,0,0,0,0,14.42,14.73,13.97
$GC,2348,0.62,233.6,2933,2138,2366,2200,175.5,4.6,237,2448,0.00,2.38,87.00,1.053,10500,0.000,0.062,2934,3530,1845,1927,1763,0,0,0,0,0,0,15.23,14.45,13.95
$GC,2973,0.62,233.6,2934,3530,1925,1762,111.4,10.4,297,2982,0.00,2.25,0.00,0.000,3078,0.000,0.047,2943,2162,1844,1927,1761,0,0,0,0,0,0,14.82,14.77,14.84
$GC,3224,0.65,287.9,2943,2160,1927,1758,89.5,7.3,322,3274,0.00,2.50,43.45,0.957,10756,0.000,0.063,2954,719,1624,1715,1533,0,0,0,0,0,0,15.25,14.79,14.12
$GC,3426,0.69,346.2,2953,719,1706,1531,74.4,7.1,341,3478,0.00,2.38,45.90,0.934,11270,0.000,0.057,2954,2113,1387,1484,1290,0,0,0,0,0,0,14.65,14.59,14.07
$GC,3720,0.76,460.4,2954,2113,1483,1285,56.7,4.2,370,3821,0.05,2.42,87.53,0.908,10500,0.256,0.070,3073,3539,920,1026,814,0,0,0,0,0,0,14.85,14.50,14.03
$GC,3869,0.76,460.4,3073,3542,1024,814,38.7,14.9,384,3880,0.25,2.38,0.00,0.000,5126,0.223,0.053,2994,2126,920,1026,814,0,0,0,0,0,0,14.33,14.54,14.45
$GC,4131,0.76,460.4,2993,2124,1026,811,13.2,10.5,426,4139,0.00,2.45,0.00,0.000,516,0.000,0.063,3002,719,917,1024,810,0,0,0,0,0,0,15.16,14.67,15.16
$STATE,4238,end climb,SURFACE_DEPTH_REACHED
$STATE,4238,begin surface coast
$FINISH,0.7,1.023198
$STATE,4254,end surface coast,CONTROL_FINISHED_OK
$STATE,4254,begin surface
$SM_CCo,4335,0.00,0.000,0,0,912,463.12
$SM_GC,1.05,6.38,2.67,0.00,0.033,0.052,0.000,160,2274,912,-7.89,-0.59,463.12,0,0,0,0,0,0,14.98,14.84,15.02
$IRIDIUM_FIX,2234.68,-15802.37,111021,115406
$TT8_MAMPS,0.02247,0.31458
$HUMID,53.42
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.28,185.682
$10V_AH,12.08,0.000
$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,16.175,47.625,464.600,0.000,0.000,26.227,41.914,139.609,0.500,0.000,19.356,1139.377,1528.110,448.375,1419.252,176.493,0.000,1048.370,0.000,1189.814,0.000,0.556,0.000
$DEVICE_MAMPS,426.870,69.615,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.109,323.674,609.958,544.190,637.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,40574,448
$CAP_FILE_SIZE,68889,0
$CFSIZE,1023623168,946634752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,179.62,1
$GPS,111021,131231,2245.203,-15801.472,9,1.0,32,9.8,0.0,185.9,8,7.0