version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 855
start: 10 11 121 19 33 0
data:
$ID,626
$MISSION,3
$DIVE,855
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,111021,192634,2245.5369,-15800.6367,8,0.8,20,9.8,0.8,341.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.6
$GPS2,111021,193210,2245.5840,-15800.6387,6,0.8,20,9.8,1.0,67.3,10,10.0
$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,165.9,1537,-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,-116.8,124,2288,1283,1192,0.0,0.0,0,73,0.00,0.00,-54.75,0.000,16386,0.000,0.000,124,2289,2964,2941,2987,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,124,2288,2943,2986,3.2,-6.6,8,100,8.52,2.42,-5.45,0.000,18948,0.431,0.068,2571,844,3279,3262,3297,0,0,0,0,0,0,14.11,13.86,14.40
$GC,224,-0.55,-116.8,2571,844,3268,3293,34.1,-14.3,32,229,0.00,2.40,0.00,0.000,3078,0.000,0.057,2563,2259,3279,3268,3291,0,0,0,0,0,0,14.98,14.84,15.00
$GC,480,-0.55,-116.8,2562,2260,3268,3290,81.9,-19.4,57,488,0.00,2.38,0.00,0.000,2564,0.000,0.060,2563,854,3279,3269,3290,0,0,0,0,0,0,15.23,14.70,15.23
$GC,594,-0.55,-116.8,2562,852,3270,3290,101.6,-14.2,68,599,0.05,2.38,0.00,0.000,3078,0.391,0.057,2568,2265,3280,3270,3290,0,0,0,0,0,0,14.64,14.88,14.88
$GC,850,-0.55,-116.8,2569,2266,3271,3289,133.6,-10.7,93,859,0.00,2.35,0.00,0.000,2564,0.000,0.054,2570,854,3280,3271,3290,0,0,0,0,0,0,15.26,14.73,15.26
$GC,915,-0.55,-116.8,2569,854,3272,3290,140.4,-9.9,99,923,0.00,2.35,0.00,0.000,3078,0.000,0.055,2560,2261,3280,3272,3289,0,0,0,0,0,0,14.78,14.73,14.84
$GC,1166,-0.55,-116.8,2560,2261,3271,3290,168.9,-12.4,124,1171,0.00,2.38,0.00,0.000,2564,0.000,0.057,2560,852,3280,3271,3290,0,0,0,0,0,0,15.27,14.90,15.27
$GC,1234,-0.55,-116.8,2560,852,3271,3290,176.2,-10.5,130,1241,0.08,2.40,0.00,0.000,3078,0.337,0.058,2576,2272,3280,3272,3289,0,0,0,0,0,0,14.63,14.89,14.88
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1486,-0.13,0.0,2576,2083,3271,3289,200.7,-9.2,155,1591,0.32,0.10,94.65,1.066,10246,0.214,0.118,2707,2173,2799,2868,2731,0,0,0,0,0,0,14.52,14.57,13.89
$STATE,1592,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1595,0.55,116.8,2707,2173,2867,2730,203.0,0.0,166,1700,0.47,2.33,97.70,1.052,10500,0.129,0.063,2917,3512,2322,2409,2235,0,0,0,0,0,0,14.52,14.57,13.88
$GC,1738,0.58,175.5,2917,3511,2409,2237,199.7,7.1,180,1793,0.00,2.22,48.38,1.035,11270,0.000,0.041,2927,2153,2082,2170,1995,0,0,0,0,0,0,14.57,14.54,13.93
$GC,2036,0.60,200.1,2927,2154,2168,1991,170.4,8.8,210,2063,0.00,2.30,20.35,1.002,10500,0.000,0.062,2928,3506,1982,2066,1899,0,0,0,0,0,0,15.19,14.54,14.04
$GC,2171,0.60,204.2,2927,3506,2066,1899,157.6,9.9,223,2181,0.00,2.30,4.85,0.816,11270,0.000,0.048,2938,2129,1966,2048,1884,0,0,0,0,0,0,14.98,14.86,13.99
$GC,2430,0.60,204.2,2938,2129,2047,1881,129.5,11.4,249,2435,0.00,2.38,0.00,0.000,2564,0.000,0.061,2949,712,1964,2048,1881,0,0,0,0,0,0,15.24,14.88,15.24
$GC,2515,0.61,212.7,2949,712,2039,1881,120.7,9.7,257,2528,0.00,2.33,7.80,0.897,13318,0.000,0.055,2950,2093,1931,2012,1850,0,0,0,0,0,0,15.03,14.90,14.09
$GC,2777,0.61,212.7,2949,2093,2011,1849,96.8,10.4,283,2778,0.00,0.00,0.00,0.000,4102,0.000,0.000,2950,2093,1930,2011,1849,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3018,0.64,274.0,2949,2093,2012,1848,75.7,6.9,307,3077,0.00,2.47,49.12,0.949,10500,0.000,0.066,2950,3532,1681,1770,1592,0,0,0,0,0,0,15.26,14.66,14.09
$GC,3155,0.66,298.5,2949,3532,1769,1591,65.1,8.8,320,3184,0.00,2.33,20.45,0.900,9222,0.000,0.047,2960,2124,1579,1669,1490,0,0,0,0,0,0,14.60,14.57,14.02
$GC,3426,0.67,313.1,2960,2124,1669,1486,39.5,9.3,347,3446,0.00,2.40,12.25,0.855,10756,0.000,0.059,2971,709,1521,1613,1430,0,0,0,0,0,0,15.21,14.53,14.07
$GC,3491,0.67,313.1,2971,709,1608,1430,32.8,10.9,353,3495,0.00,2.42,0.00,0.000,5126,0.000,0.055,2971,2126,1519,1609,1430,0,0,0,0,0,0,14.98,14.85,15.00
$GC,3754,0.67,313.4,2971,2127,1609,1428,3.5,10.1,399,3761,0.00,2.42,0.00,0.000,4356,0.000,0.066,2971,3536,1518,1609,1428,0,0,0,0,0,0,15.20,14.80,15.21
$STATE,3769,end climb,SURFACE_DEPTH_REACHED
$STATE,3769,begin surface coast
$FINISH,0.3,1.023158
$STATE,3780,end surface coast,CONTROL_FINISHED_OK
$STATE,3780,begin surface
$SM_CCo,3800,28.25,0.191,0,0,1247,380.21
$SM_GC,1.61,6.38,2.12,28.25,0.042,0.042,0.191,144,2267,1247,-7.92,1.02,380.21,0,0,0,0,0,0,14.96,14.90,14.62
$IRIDIUM_FIX,2234.68,-15802.37,111021,192808
$TT8_MAMPS,0.02247,0.289863
$HUMID,52.87
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,6
$24V_AH,13.86,186.715
$10V_AH,12.30,0.000
$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,15.825,47.425,355.550,28.250,0.000,26.281,44.699,130.824,1.500,0.000,23.309,1047.924,1396.613,396.027,1185.433,172.406,0.000,865.227,0.000,969.623,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,117.810,1066.410,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.437,297.501,548.737,504.424,579.836,0.000,0.000,0.000,0.000,0.000
$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,37276,403
$CAP_FILE_SIZE,63773,0
$CFSIZE,1023623168,946257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$CURRENT,0.154,18.43,1
$GPS,111021,203801,2245.512,-15800.366,7,0.8,34,9.8,1.1,67.6,10,6.7