version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 894
start: 10 13 121 21 43 30
data:
$ID,626
$MISSION,3
$DIVE,894
$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,69
$R_STBD_OVSHOOT,63
$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
$GPS1,131021,213701,2245.0608,-15801.3984,9,0.9,46,9.8,0.0,215.1,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.3
$GPS2,131021,214240,2245.0874,-15801.4297,8,0.9,21,9.8,1.0,291.9,10,10.0
$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,129.0,2448,-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,17,-0.55,-116.8,116,2215,1290,1193,0.0,0.0,0,74,0.00,0.00,-55.45,0.000,16386,0.000,0.000,116,2215,3005,2981,3029,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,115,2214,2980,3029,3.4,-6.0,8,101,8.50,2.28,-4.55,0.000,18948,0.426,0.067,2569,858,3279,3261,3298,0,0,0,0,0,0,14.06,13.31,14.38
$GC,132,-0.55,-116.8,2569,858,3267,3295,20.9,-24.6,16,140,0.00,2.40,0.00,0.000,3078,0.000,0.057,2561,2244,3280,3268,3293,0,0,0,0,0,0,14.93,14.76,14.95
$GC,390,-0.55,-116.8,2561,2245,3268,3291,67.7,-18.7,46,394,0.00,2.30,0.00,0.000,2564,0.000,0.057,2561,889,3279,3267,3291,0,0,0,0,0,0,15.23,14.87,15.23
$GC,437,-0.55,-116.8,2561,888,3269,3291,76.0,-18.6,50,445,0.08,2.38,0.00,0.000,3078,0.339,0.061,2577,2274,3279,3269,3290,0,0,0,0,0,0,14.55,14.78,14.82
$GC,687,-0.55,-116.8,2577,2275,3269,3290,108.7,-12.0,75,695,0.00,2.28,0.00,0.000,516,0.000,0.053,2577,894,3280,3270,3290,0,0,0,0,0,0,15.24,14.72,15.25
$GC,763,-0.55,-116.8,2577,894,3270,3290,116.8,-10.3,82,770,0.00,2.40,0.00,0.000,3078,0.000,0.060,2568,2266,3280,3271,3289,0,0,0,0,0,0,14.83,14.75,14.87
$GC,1012,-0.55,-116.8,2568,2266,3271,3290,145.0,-10.5,107,1020,0.00,2.28,0.00,0.000,2564,0.000,0.055,2568,896,3280,3271,3290,0,0,0,0,0,0,15.26,14.72,15.26
$GC,1105,-0.55,-116.8,2568,896,3271,3290,154.1,-9.0,116,1110,0.05,2.33,0.00,0.000,3078,0.372,0.060,2576,2276,3280,3271,3290,0,0,0,0,0,0,14.65,14.88,14.89
$GC,1359,-0.55,-116.8,2576,2276,3272,3290,175.4,-8.7,141,1368,0.00,2.28,0.00,0.000,516,0.000,0.053,2575,895,3281,3272,3290,0,0,0,0,0,0,15.28,14.54,15.28
$GC,1422,-0.55,-116.8,2576,894,3272,3290,180.9,-8.6,147,1432,0.00,2.30,0.00,0.000,3078,0.000,0.060,2567,2262,3280,3272,3289,0,0,0,0,0,0,14.59,14.54,14.62
$STATE,1610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1610,begin apogee
$GC,1617,-0.13,0.0,2567,2105,3272,3289,200.0,-10.2,166,1720,0.35,0.00,94.65,1.079,10246,0.219,0.000,2704,2102,2799,2866,2732,0,0,0,0,0,0,14.47,14.59,13.86
$STATE,1721,end apogee,CONTROL_FINISHED_OK
$STATE,1721,begin climb
$GC,1724,0.55,116.8,2704,2101,2866,2731,205.8,0.0,177,1832,0.50,2.47,97.07,1.069,10500,0.127,0.063,2922,3552,2323,2408,2239,0,0,0,0,0,0,14.41,14.56,13.85
$GC,2246,0.56,139.9,2923,3552,2407,2239,172.1,8.9,228,2274,0.00,2.33,20.38,1.021,13318,0.000,0.043,2934,2165,2227,2316,2139,0,0,0,0,0,0,14.87,14.81,14.07
$GC,2515,0.58,164.7,2933,2165,2316,2133,147.5,8.8,255,2542,0.00,0.00,21.08,1.005,8710,0.000,0.000,2934,2165,2125,2216,2035,0,0,0,0,0,0,15.23,14.55,14.05
$GC,2788,0.60,207.1,2934,2164,2215,2032,125.6,7.9,282,2824,0.00,0.00,34.30,0.995,10246,0.000,0.000,2934,2165,1953,2037,1870,0,0,0,0,0,0,15.22,14.75,14.09
$GC,3064,0.63,247.8,2934,2165,2034,1866,100.3,8.0,310,3104,0.00,2.42,32.75,0.965,10756,0.000,0.057,2946,723,1787,1871,1703,0,0,0,0,0,0,15.21,14.57,14.07
$GC,3152,0.65,278.9,2945,723,1864,1704,93.4,8.5,318,3188,0.00,2.42,25.80,0.946,11270,0.000,0.057,2945,2131,1659,1749,1570,0,0,0,0,0,0,14.92,14.78,14.04
$GC,3430,0.68,326.7,2945,2132,1749,1566,71.0,7.6,346,3480,0.00,2.38,37.62,0.937,10500,0.000,0.062,2946,3538,1466,1559,1374,0,0,0,0,0,0,15.20,14.55,14.07
$GC,3527,0.68,339.2,2945,3538,1559,1375,62.6,9.5,355,3547,0.00,2.33,11.52,0.866,11270,0.000,0.047,2956,2129,1415,1509,1322,0,0,0,0,0,0,14.65,14.62,14.07
$GC,3787,0.70,364.0,2955,2129,1509,1318,38.8,8.8,381,3817,0.00,2.42,19.85,0.877,10756,0.000,0.063,2967,717,1314,1409,1219,0,0,0,0,0,0,15.21,14.75,14.15
$GC,3876,0.71,379.8,2967,717,1405,1219,30.7,9.3,389,3899,0.00,2.42,13.45,0.850,11270,0.000,0.054,2967,2135,1249,1345,1153,0,0,0,0,0,0,14.95,14.81,14.13
$STATE,4146,end climb,SURFACE_DEPTH_REACHED
$STATE,4146,begin surface coast
$FINISH,0.2,1.012848
$STATE,4178,end surface coast,CONTROL_FINISHED_OK
$STATE,4178,begin surface
$SM_CCo,4257,0.00,0.000,0,0,1245,381.44
$SM_GC,1.29,6.40,0.20,0.00,0.050,0.067,0.000,172,2310,1245,-7.89,-0.88,381.44,0,0,0,0,0,0,14.95,14.97,15.00
$IRIDIUM_FIX,2234.68,-15802.37,131021,213837
$TT8_MAMPS,0.02247,0.342293
$HUMID,53.62
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.31,193.677
$10V_AH,12.62,0.000
$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,15.875,42.850,408.475,0.000,0.000,25.617,42.982,134.917,0.500,0.000,22.249,1129.542,1602.929,416.801,1296.039,180.463,0.000,947.172,0.000,1088.010,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,134.640,1079.415,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.081,321.880,606.864,542.358,625.194,0.000,0.000,0.000,0.000,0.000
$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,40650,444
$CAP_FILE_SIZE,68407,0
$CFSIZE,1023623168,943685632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161,353.59,1
$GPS,131021,225523,2245.198,-15801.146,8,1.1,21,9.8,0.8,280.9,8,9.3