version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 900
start: 10 14 121 5 18 46
data:
$ID,626
$MISSION,3
$DIVE,900
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,141021,051204,2244.7092,-15800.3535,8,1.0,26,9.8,0.6,309.7,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.4
$GPS2,141021,051757,2244.7058,-15800.3896,7,1.0,26,9.8,0.5,98.7,8,9.4
$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,28.3,861,-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,-116.8,123,2285,1284,1195,0.0,0.0,0,73,0.00,0.00,-54.15,0.000,16386,0.000,0.000,123,2286,2940,2923,2958,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,123,2286,2924,2958,3.0,-5.5,8,100,8.52,2.35,-5.90,0.000,19204,0.428,0.080,2555,3673,3278,3261,3296,0,0,0,0,0,0,14.06,13.86,14.38
$GC,125,-0.55,-116.8,2555,3673,3262,3296,16.5,-22.5,15,133,0.05,2.40,0.00,0.000,3078,0.349,0.047,2575,2252,3280,3266,3294,0,0,0,0,0,0,14.59,14.80,14.82
$GC,387,-0.55,-116.8,2574,2250,3267,3291,60.9,-20.7,49,398,0.00,2.40,0.00,0.000,260,0.000,0.063,2565,3671,3278,3267,3290,0,0,0,0,0,0,15.23,14.49,15.23
$GC,465,-0.55,-116.8,2565,3671,3267,3291,71.8,-12.6,56,474,0.00,2.30,0.00,0.000,3078,0.000,0.041,2565,2256,3278,3267,3290,0,0,0,0,0,0,14.84,14.85,14.84
$GC,714,-0.55,-116.8,2565,2253,3267,3290,104.1,-11.9,81,724,0.00,2.40,0.00,0.000,2308,0.000,0.067,2555,3669,3278,3268,3289,0,0,0,0,0,0,15.26,14.66,15.27
$GC,780,-0.55,-116.8,2554,3669,3268,3290,111.6,-11.1,87,790,0.05,2.25,0.00,0.000,3078,0.280,0.037,2576,2259,3278,3268,3289,0,0,0,0,0,0,14.48,14.78,14.61
$GC,1029,-0.55,-116.8,2576,2257,3268,3290,141.4,-10.6,112,1039,0.00,2.40,0.00,0.000,260,0.000,0.069,2566,3673,3279,3268,3290,0,0,0,0,0,0,15.26,14.48,15.28
$GC,1053,-0.55,-116.8,2566,3673,3268,3290,143.8,-10.3,114,1062,0.00,2.25,0.00,0.000,3078,0.000,0.037,2566,2266,3279,3269,3290,0,0,0,0,0,0,14.66,14.62,14.67
$GC,1306,-0.55,-116.8,2566,2265,3268,3290,168.8,-10.6,139,1315,0.00,2.38,0.00,0.000,2308,0.000,0.074,2555,3660,3279,3269,3289,0,0,0,0,0,0,15.26,14.64,15.26
$GC,1384,-0.55,-116.8,2555,3660,3268,3290,176.7,-9.7,146,1391,0.05,2.25,0.00,0.000,3078,0.321,0.035,2579,2254,3279,3269,3290,0,0,0,0,0,0,14.71,14.95,14.91
$STATE,1628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1628,begin apogee
$GC,1635,-0.13,0.0,2580,2070,3269,3289,200.8,-9.8,171,1734,0.30,0.10,94.65,1.069,10246,0.210,0.122,2702,2161,2798,2865,2732,0,0,0,0,0,0,14.34,14.59,13.85
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1738,0.55,116.8,2702,2161,2865,2732,208.0,0.0,181,1843,0.50,2.45,97.03,1.073,10756,0.117,0.048,2934,734,2321,2404,2239,0,0,0,0,0,0,14.59,14.56,13.84
$GC,1979,0.59,185.1,2934,733,2390,2238,207.4,6.6,205,2040,0.00,2.28,55.67,1.057,11270,0.000,0.049,2934,2099,2044,2128,1960,0,0,0,0,0,0,14.92,14.81,13.95
$GC,2289,0.60,206.2,2934,2099,2126,1956,178.5,9.0,236,2312,0.00,2.30,17.95,1.004,10756,0.000,0.056,2945,733,1957,2034,1880,0,0,0,0,0,0,15.19,14.81,14.06
$GC,2824,0.63,245.6,2945,733,2021,1877,126.4,8.1,288,2862,0.00,2.35,31.92,0.990,11270,0.000,0.059,2946,2122,1797,1878,1716,0,0,0,0,0,0,15.02,14.88,14.10
$GC,3102,0.66,302.0,2945,2122,1878,1711,103.2,7.2,316,3155,0.00,2.40,45.67,0.968,10756,0.000,0.060,2956,740,1566,1655,1477,0,0,0,0,0,0,15.22,14.72,14.07
$GC,3407,0.71,377.0,2956,740,1649,1476,79.5,6.2,346,3476,0.00,2.35,58.33,0.940,11270,0.000,0.057,2956,2132,1262,1354,1170,0,0,0,0,0,0,14.98,14.85,13.99
$GC,3717,0.73,408.6,2956,2132,1354,1165,55.6,8.5,377,3750,0.00,2.40,25.58,0.896,10500,0.000,0.069,2956,3536,1132,1232,1032,0,0,0,0,0,0,15.19,14.77,14.12
$GC,3779,0.74,429.2,2956,3536,1232,1032,50.0,9.0,383,3802,0.00,2.30,17.38,0.865,11270,0.000,0.048,2965,2145,1047,1151,944,0,0,0,0,0,0,14.62,14.59,14.07
$GC,4047,0.74,429.2,2965,2144,1151,940,26.9,10.7,412,4056,0.00,2.53,0.00,0.000,2564,0.000,0.070,2976,718,1045,1151,939,0,0,0,0,0,0,15.19,14.66,15.19
$GC,4139,0.74,429.2,2976,718,1147,939,16.6,10.9,428,4147,0.00,2.45,0.00,0.000,3078,0.000,0.054,2976,2124,1043,1147,939,0,0,0,0,0,0,14.76,14.69,14.79
$STATE,4282,end climb,SURFACE_DEPTH_REACHED
$STATE,4282,begin surface coast
$FINISH,0.3,1.010870
$STATE,4326,end surface coast,CONTROL_FINISHED_OK
$STATE,4326,begin surface
$SM_CCo,4405,0.00,0.000,0,0,1042,431.23
$SM_GC,1.14,6.43,0.22,0.00,0.050,0.090,0.000,164,2276,1042,-7.90,-0.96,431.23,0,0,0,0,0,0,14.94,14.90,15.00
$IRIDIUM_FIX,2234.68,-15802.37,141021,051342
$TT8_MAMPS,0.023219,0.28462
$HUMID,53.34
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.84,194.750
$10V_AH,12.48,0.000
$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,15.900,47.675,444.175,0.000,0.000,26.588,43.817,135.065,0.250,0.000,27.818,1186.259,1571.045,417.807,1427.371,183.355,0.000,1007.471,0.000,1202.534,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,122.400,1073.295,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.172,344.054,628.707,577.269,669.987,0.000,0.000,0.000,0.000,0.000
$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,43937,462
$CAP_FILE_SIZE,70215,0
$CFSIZE,1023623168,943292416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.092,189.97,1
$GPS,141021,063338,2244.328,-15800.449,11,1.8,52,9.8,0.0,53.6,4,10.8