version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 867
start: 10 12 121 10 39 10
data:
$ID,626
$MISSION,3
$DIVE,867
$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,60
$R_STBD_OVSHOOT,26
$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
$GPS1,121021,103208,2245.1750,-15800.9336,8,1.1,24,9.8,0.0,317.2,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.0
$GPS2,121021,103820,2245.1897,-15800.9766,7,1.1,25,9.8,0.5,99.7,8,9.5
$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,95.1,1705,-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,-116.8,122,2240,845,705,0.0,0.0,0,89,0.00,0.00,-69.88,0.000,16386,0.000,0.000,122,2235,3074,3044,3105,0,0,0,0,0,0,15.17,28.83,15.18
$GC,93,-0.55,-116.8,122,2235,3044,3106,3.9,-7.8,10,108,8.65,0.00,-3.22,0.000,18950,0.441,0.000,2568,2232,3280,3252,3309,0,0,0,0,0,0,14.09,13.31,14.42
$GC,359,-0.55,-116.8,2567,2232,3267,3296,61.4,-17.5,43,369,0.00,2.45,0.00,0.000,2308,0.000,0.069,2558,3671,3281,3267,3296,0,0,0,0,0,0,15.21,14.50,15.21
$GC,427,-0.55,-116.8,2557,3671,3267,3296,72.6,-15.6,49,438,0.00,2.25,0.00,0.000,3078,0.000,0.042,2558,2291,3281,3267,3296,0,0,0,0,0,0,14.64,14.62,14.66
$GC,678,-0.55,-116.8,2557,2290,3267,3296,112.8,-14.9,74,688,0.00,2.35,0.00,0.000,2308,0.000,0.069,2548,3671,3281,3268,3295,0,0,0,0,0,0,15.25,14.53,15.26
$GC,783,-0.55,-116.8,2548,3672,3268,3294,125.8,-11.0,84,794,0.05,2.30,0.00,0.000,3078,0.275,0.043,2569,2245,3281,3268,3295,0,0,0,0,0,0,14.33,14.59,14.47
$GC,1038,-0.55,-116.8,2568,2244,3268,3295,149.8,-9.7,109,1047,0.00,2.42,0.00,0.000,2308,0.000,0.066,2560,3675,3281,3269,3294,0,0,0,0,0,0,15.27,14.69,15.27
$GC,1122,-0.55,-116.8,2559,3675,3268,3294,157.9,-8.5,117,1132,0.00,2.28,0.00,0.000,3078,0.000,0.039,2560,2270,3281,3269,3294,0,0,0,0,0,0,14.98,14.95,14.98
$GC,1375,-0.55,-116.8,2559,2270,3269,3294,182.4,-8.8,142,1382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2560,2270,3282,3269,3295,0,0,0,0,0,0,15.27,15.27,15.27
$STATE,1599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1599,begin apogee
$GC,1606,-0.13,0.0,2560,2086,3269,3293,200.8,-7.8,165,1711,0.38,0.10,95.47,1.072,10246,0.213,0.132,2706,2157,2799,2864,2734,0,0,0,0,0,0,14.34,14.60,13.88
$STATE,1712,end apogee,CONTROL_FINISHED_OK
$STATE,1712,begin climb
$GC,1715,0.55,116.8,2706,2158,2864,2733,205.8,0.0,176,1823,0.50,2.35,98.38,1.069,10500,0.104,0.065,2933,3522,2321,2403,2239,0,0,0,0,0,0,14.61,14.27,13.79
$GC,2339,0.62,227.4,2932,3522,2402,2238,180.0,4.4,237,2439,0.00,2.20,88.47,1.069,11270,0.000,0.043,2943,2168,1869,1951,1788,0,0,0,0,0,0,14.73,14.69,13.95
$GC,2680,0.62,227.4,2943,2168,1950,1780,147.2,10.3,271,2689,0.00,2.28,0.00,0.000,2308,0.000,0.063,2943,3515,1865,1950,1780,0,0,0,0,0,0,15.19,14.71,15.19
$GC,3202,0.62,227.4,2943,3516,1950,1780,91.5,10.6,322,3211,0.00,2.30,0.00,0.000,5126,0.000,0.054,2954,2134,1864,1950,1779,0,0,0,0,0,0,14.73,14.73,14.74
$GC,3454,0.64,259.0,2954,2132,1950,1777,70.7,8.5,347,3484,0.00,2.40,24.90,0.947,8452,0.000,0.066,2954,3517,1742,1830,1654,0,0,0,0,0,0,15.24,14.85,14.14
$GC,4024,0.65,282.8,2953,3517,1830,1653,24.4,8.9,406,4045,0.00,2.38,10.60,0.819,13318,0.000,0.048,2965,2129,1643,1736,1551,0,0,0,0,0,0,14.97,14.78,14.07
$STATE,4294,end climb,SURFACE_DEPTH_REACHED
$STATE,4294,begin surface coast
$FINISH,0.4,1.023282
$STATE,4324,end surface coast,CONTROL_FINISHED_OK
$STATE,4324,begin surface
$SM_CCo,4342,40.53,0.187,0,0,1247,380.21
$SM_GC,1.01,6.45,0.20,40.53,0.054,0.083,0.187,157,2267,1247,-7.95,-1.55,380.21,0,0,0,0,0,0,14.90,14.92,14.60
$IRIDIUM_FIX,2234.68,-15800.20,121021,091053
$TT8_MAMPS,0.02247,0.345289
$HUMID,53.89
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.31,188.839
$10V_AH,12.03,0.000
$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,16.025,28.550,317.825,40.525,0.000,32.895,59.680,138.711,0.500,0.000,26.694,1206.802,1518.625,386.146,1501.506,173.465,0.000,948.813,0.000,1252.724,0.000,0.554,0.000
$DEVICE_MAMPS,440.640,131.580,1071.765,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.719,331.556,628.562,566.611,668.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,43943,460
$CAP_FILE_SIZE,66920,0
$CFSIZE,1023623168,945455104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,241.62,1
$GPS,121021,115332,2245.298,-15801.194,9,0.8,40,9.8,0.2,14.2,10,9.8