version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 862
start: 10 12 121 4 2 45
data:
$ID,626
$MISSION,3
$DIVE,862
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,121021,035559,2244.7498,-15800.5830,8,0.9,23,9.8,0.0,85.4,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.9
$GPS2,121021,040155,2244.7551,-15800.6270,7,0.8,42,9.8,0.2,15.1,10,4.9
$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,45.5,1163,-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,-116.8,122,2291,1284,1193,0.0,0.0,0,76,0.00,0.00,-57.47,0.000,16386,0.000,0.000,122,2291,3058,3030,3087,0,0,0,0,0,0,15.19,28.83,15.19
$GC,80,-0.55,-116.8,122,2291,3030,3087,3.4,-5.7,8,95,8.57,0.00,-3.65,0.000,19206,0.435,0.000,2563,2290,3278,3252,3305,0,0,0,0,0,0,14.09,13.32,14.42
$GC,348,-0.55,-116.8,2563,2289,3265,3295,64.1,-18.1,41,358,0.00,2.42,0.00,0.000,2564,0.000,0.059,2563,848,3280,3266,3294,0,0,0,0,0,0,15.23,14.49,15.23
$GC,448,-0.55,-116.8,2563,848,3267,3294,80.6,-16.0,50,456,0.05,2.40,0.00,0.000,3078,0.393,0.059,2571,2247,3279,3268,3291,0,0,0,0,0,0,14.58,14.81,14.83
$GC,700,-0.55,-116.8,2570,2250,3267,3291,111.8,-12.4,75,709,0.00,2.35,0.00,0.000,2564,0.000,0.057,2571,854,3279,3267,3292,0,0,0,0,0,0,15.26,14.71,15.26
$GC,794,-0.55,-116.8,2571,854,3268,3292,123.0,-10.7,84,804,0.00,2.38,0.00,0.000,3078,0.000,0.060,2562,2259,3279,3268,3291,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1047,-0.55,-116.8,2562,2260,3269,3290,152.7,-11.8,109,1053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2260,3280,3269,3291,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1294,-0.55,-116.8,2562,2260,3269,3291,183.2,-13.8,134,1299,0.00,2.38,0.00,0.000,2564,0.000,0.053,2562,846,3279,3268,3290,0,0,0,0,0,0,15.28,14.90,15.29
$GC,1320,-0.55,-116.8,2562,846,3269,3291,186.0,-12.5,136,1328,0.05,2.40,0.00,0.000,3078,0.385,0.054,2569,2271,3279,3269,3290,0,0,0,0,0,0,14.64,14.89,14.88
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1451,-0.13,0.0,2570,2068,3269,3290,200.4,-11.6,149,1551,0.35,0.12,95.30,1.073,10246,0.251,0.096,2702,2189,2799,2867,2732,0,0,0,0,0,0,14.40,14.59,13.88
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1552,begin climb
$GC,1555,0.55,116.8,2702,2189,2867,2731,206.5,0.0,159,1660,0.50,2.30,97.68,1.065,11012,0.066,0.067,2977,3534,2322,2399,2245,0,0,0,0,0,0,14.67,14.56,13.85
$GC,1672,0.70,365.0,2977,3535,2399,2246,213.0,-2.7,171,1881,0.00,2.38,200.07,1.069,13318,0.000,0.038,2987,2107,1310,1397,1223,0,0,0,0,0,0,14.74,14.65,13.86
$GC,2123,0.70,365.0,2987,2107,1397,1218,156.1,12.8,216,2128,0.00,2.42,0.00,0.000,4356,0.000,0.066,2988,3533,1307,1397,1218,0,0,0,0,0,0,15.16,14.83,15.16
$GC,2273,0.70,365.0,2987,3534,1397,1218,134.9,13.4,230,2282,0.05,2.38,0.00,0.000,5126,0.333,0.050,2981,2136,1307,1397,1218,0,0,0,0,0,0,14.47,14.75,14.65
$GC,2521,0.70,365.0,2981,2133,1397,1218,108.2,10.5,255,2530,0.00,2.38,0.00,0.000,4612,0.000,0.061,2990,719,1307,1397,1218,0,0,0,0,0,0,15.25,14.73,15.25
$GC,2667,0.70,365.0,2990,719,1396,1218,92.4,10.4,269,2676,0.03,2.33,0.00,0.000,5126,0.366,0.050,2979,2126,1306,1396,1217,0,0,0,0,0,0,14.54,14.76,14.65
$GC,2915,0.70,365.0,2978,2127,1396,1216,70.3,10.3,294,2920,0.00,2.42,0.00,0.000,4612,0.000,0.066,2988,717,1305,1395,1216,0,0,0,0,0,0,15.26,14.87,15.26
$GC,2982,0.70,365.0,2987,717,1396,1217,62.9,12.0,300,2989,0.00,2.40,0.00,0.000,5126,0.000,0.058,2987,2120,1306,1396,1216,0,0,0,0,0,0,15.00,14.85,15.02
$GC,3232,0.70,365.0,2987,2120,1396,1216,38.8,11.9,325,3239,0.00,0.00,0.00,0.000,4102,0.000,0.000,2988,2120,1306,1396,1216,0,0,0,0,0,0,15.25,15.25,15.25
$GC,3491,0.74,432.5,2987,2121,1396,1216,14.2,6.6,367,3532,0.00,2.47,29.27,0.239,8708,0.000,0.068,2998,725,1033,1134,932,0,0,0,0,0,0,15.22,14.63,14.49
$STATE,3581,end climb,SURFACE_DEPTH_REACHED
$STATE,3581,begin surface coast
$FINISH,0.5,1.023190
$STATE,3598,end surface coast,CONTROL_FINISHED_OK
$STATE,3598,begin surface
$SM_CCo,3679,0.00,0.000,0,0,1024,435.65
$SM_GC,1.16,6.43,2.65,0.00,0.036,0.052,0.000,150,2278,1024,-7.96,-0.76,435.65,0,0,0,0,0,0,14.92,14.89,14.97
$IRIDIUM_FIX,2234.68,-15802.37,121021,035734
$TT8_MAMPS,0.023219,0.341544
$HUMID,53.46
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,13.32,187.880
$10V_AH,12.87,0.000
$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,16.025,38.825,422.325,0.000,0.000,26.234,44.517,126.572,0.250,0.000,44.044,968.910,1342.500,413.987,1174.638,164.786,0.000,888.169,0.000,947.594,0.000,0.555,0.000
$DEVICE_MAMPS,435.285,96.390,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,252.656,276.977,521.853,482.838,567.082,0.000,0.000,0.000,0.000,0.000
$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,37310,384
$CAP_FILE_SIZE,57887,0
$CFSIZE,1023623168,945799168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.119,250.03,1
$GPS,121021,050456,2244.925,-15800.612,8,0.9,17,9.8,0.7,301.2,9,9.9