version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 898
start: 10 14 121 2 49 55
data:
$ID,626
$MISSION,3
$DIVE,898
$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,71
$R_STBD_OVSHOOT,61
$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
$GPS1,141021,024049,2245.1106,-15800.4531,11,1.6,51,9.8,0.5,29.5,5,15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.9
$GPS2,141021,024901,2245.0945,-15800.5127,13,0.8,30,9.8,1.0,106.0,10,9.4
$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,82.4,893,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,122,2216,1284,1193,0.0,0.0,0,75,0.00,0.00,-55.67,0.000,16386,0.000,0.000,123,2216,3053,3025,3081,0,0,0,0,0,0,15.16,28.83,15.17
$GC,79,-0.58,-116.8,121,2216,3025,3082,3.8,-8.1,8,94,8.50,0.00,-3.65,0.000,18950,0.430,0.000,2551,2216,3278,3253,3304,0,0,0,0,0,0,14.06,13.28,14.35
$GC,341,-0.58,-116.8,2550,2216,3266,3294,65.4,-20.1,41,351,0.00,2.20,0.00,0.000,2564,0.000,0.057,2552,899,3280,3266,3294,0,0,0,0,0,0,15.23,14.56,15.23
$GC,429,-0.58,-116.8,2551,898,3267,3293,82.2,-18.7,49,439,0.05,2.22,0.00,0.000,3078,0.330,0.059,2560,2228,3279,3268,3290,0,0,0,0,0,0,14.38,14.70,14.54
$GC,680,-0.58,-116.8,2560,2228,3267,3291,116.4,-12.7,74,690,0.00,2.22,0.00,0.000,2564,0.000,0.054,2561,892,3279,3268,3291,0,0,0,0,0,0,15.26,14.58,15.26
$GC,704,-0.58,-116.8,2560,893,3268,3291,119.5,-12.4,76,714,0.00,2.30,0.00,0.000,3078,0.000,0.059,2552,2256,3279,3268,3290,0,0,0,0,0,0,14.59,14.54,14.61
$GC,956,-0.58,-116.8,2551,2256,3268,3290,150.1,-12.9,101,966,0.00,2.30,0.00,0.000,2564,0.000,0.057,2552,877,3279,3268,3290,0,0,0,0,0,0,15.26,14.81,15.26
$GC,1033,-0.58,-116.8,2552,876,3268,3290,159.6,-11.9,108,1041,0.05,2.40,0.00,0.000,3078,0.396,0.059,2559,2272,3279,3269,3290,0,0,0,0,0,0,14.59,14.81,14.84
$GC,1281,-0.58,-116.8,2558,2273,3269,3290,189.8,-11.9,133,1291,0.00,2.30,0.00,0.000,2564,0.000,0.053,2559,895,3279,3269,3290,0,0,0,0,0,0,15.28,14.73,15.28
$GC,1346,-0.58,-116.8,2559,894,3269,3290,197.4,-11.7,139,1355,0.00,2.30,0.00,0.000,3078,0.000,0.060,2550,2260,3279,3269,3290,0,0,0,0,0,0,14.76,14.70,14.78
$STATE,1373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1373,begin apogee
$GC,1380,-0.13,0.0,2550,2112,3269,3289,200.8,-11.5,142,1478,0.40,0.00,94.30,1.071,10246,0.236,0.000,2702,2108,2798,2867,2729,0,0,0,0,0,0,14.41,14.59,13.86
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1479,begin climb
$GC,1482,0.58,116.8,2702,2108,2867,2731,206.7,0.0,152,1588,0.52,2.35,97.25,1.063,10756,0.123,0.053,2942,749,2321,2404,2238,0,0,0,0,0,0,14.59,14.55,13.83
$GC,1785,0.59,128.8,2942,748,2393,2236,195.0,9.4,182,1804,0.00,2.30,10.52,0.968,13318,0.000,0.054,2942,2124,2273,2356,2190,0,0,0,0,0,0,14.73,14.68,13.99
$GC,2044,0.60,155.6,2942,2124,2356,2187,171.5,8.6,208,2074,0.00,2.42,23.27,1.021,8452,0.000,0.064,2942,3545,2163,2253,2074,0,0,0,0,0,0,15.21,14.81,14.07
$GC,2221,0.60,155.6,2942,3546,2253,2073,152.7,11.0,225,2229,0.00,2.33,0.00,0.000,5126,0.000,0.041,2953,2165,2164,2253,2075,0,0,0,0,0,0,14.85,14.80,14.95
$GC,2471,0.63,195.3,2952,2165,2253,2073,131.3,7.8,250,2511,0.00,2.47,32.60,1.009,8708,0.000,0.059,2964,715,2001,2087,1915,0,0,0,0,0,0,15.23,14.79,14.06
$GC,2553,0.64,224.4,2964,715,2078,1915,124.5,8.4,258,2583,0.00,2.42,23.75,0.979,13318,0.000,0.057,2965,2127,1883,1964,1803,0,0,0,0,0,0,14.92,14.79,14.04
$GC,2823,0.65,231.3,2964,2127,1964,1797,97.7,9.7,285,2835,0.00,2.38,6.60,0.851,12548,0.000,0.065,2964,3532,1855,1937,1773,0,0,0,0,0,0,15.21,14.82,14.04
$GC,2969,0.67,265.7,2964,3532,1937,1773,83.7,8.1,299,3009,0.00,2.30,28.67,0.942,13318,0.000,0.048,2975,2130,1713,1800,1627,0,0,0,0,0,0,14.80,14.77,14.04
$GC,3249,0.69,298.3,2975,2130,1800,1624,60.6,8.3,327,3281,0.00,2.38,26.20,0.914,12804,0.000,0.062,2986,713,1581,1670,1492,0,0,0,0,0,0,15.21,14.80,14.12
$GC,3316,0.70,321.8,2985,713,1668,1492,54.8,8.8,333,3345,0.00,2.38,19.40,0.891,13318,0.000,0.057,2986,2118,1486,1576,1397,0,0,0,0,0,0,14.60,14.54,14.02
$GC,3591,0.70,321.8,2985,2118,1577,1392,23.3,12.6,365,3598,0.00,2.45,0.00,0.000,4356,0.000,0.066,2986,3545,1485,1577,1393,0,0,0,0,0,0,15.18,14.80,15.18
$GC,3645,0.70,321.8,2986,3545,1577,1393,16.2,12.2,374,3653,0.08,2.40,0.00,0.000,5126,0.325,0.047,2971,2124,1484,1576,1393,0,0,0,0,0,0,14.57,14.81,14.83
$STATE,3760,end climb,SURFACE_DEPTH_REACHED
$STATE,3760,begin surface coast
$FINISH,0.4,1.023185
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3803,24.33,0.188,0,0,1247,380.21
$SM_GC,1.49,6.47,0.25,24.33,0.059,0.069,0.188,166,2297,1247,-7.91,-0.85,380.21,0,0,0,0,0,0,14.95,14.94,14.59
$IRIDIUM_FIX,2237.01,-15759.32,141021,024227
$TT8_MAMPS,0.023219,0.340795
$HUMID,53.50
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.28,194.381
$10V_AH,12.68,0.000
$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,16.075,47.325,362.575,24.325,0.000,27.182,48.142,271.024,0.500,0.000,31.190,1032.845,1383.181,398.054,1300.478,240.937,0.000,899.340,0.000,994.589,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,132.345,1071.000,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.270,314.556,545.145,487.499,559.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339188
$DATA_FILE_SIZE,37330,399
$CAP_FILE_SIZE,66914,0
$CFSIZE,1023623168,943423488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,229.84,1
$GPS,141021,035440,2245.022,-15800.215,8,0.8,18,9.8,0.8,239.2,10,10.0