version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 901
start: 10 14 121 6 40 50
data:
$ID,626
$MISSION,3
$DIVE,901
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,141021,063338,2244.3281,-15800.4492,11,1.8,52,9.8,0.0,53.6,4,10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.9
$GPS2,141021,064001,2244.3142,-15800.4746,12,0.7,48,9.8,0.7,259.7,9,7.5
$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,13.8,1506,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,123,2288,1102,974,0.0,0.0,0,82,0.00,0.00,-62.88,0.000,16386,0.000,0.000,123,2287,3062,3030,3095,0,0,0,0,0,0,15.19,28.83,15.20
$GC,86,-0.55,-116.8,123,2287,3032,3094,3.2,-5.4,9,109,8.57,2.33,-3.58,0.000,18692,0.435,0.070,2553,3666,3279,3255,3303,0,0,0,0,0,0,14.07,13.24,14.38
$GC,145,-0.55,-116.8,2552,3666,3261,3299,21.9,-19.3,18,154,0.05,2.40,0.00,0.000,3078,0.293,0.044,2572,2255,3279,3263,3296,0,0,0,0,0,0,14.43,14.69,14.58
$GC,399,-0.55,-116.8,2571,2251,3266,3295,68.2,-16.0,46,409,0.00,2.40,0.00,0.000,260,0.000,0.070,2563,3660,3280,3266,3295,0,0,0,0,0,0,15.23,14.49,15.24
$GC,457,-0.55,-116.8,2563,3661,3266,3295,75.5,-12.8,51,464,0.00,2.35,0.00,0.000,3078,0.000,0.043,2563,2265,3280,3266,3294,0,0,0,0,0,0,14.98,14.80,15.00
$GC,704,-0.55,-116.8,2563,2261,3266,3294,110.6,-13.6,76,715,0.00,2.38,0.00,0.000,2308,0.000,0.073,2553,3655,3280,3266,3294,0,0,0,0,0,0,15.27,14.52,15.28
$GC,751,-0.55,-116.8,2553,3655,3266,3294,116.3,-12.8,80,762,0.05,2.33,0.00,0.000,3078,0.274,0.042,2573,2260,3280,3266,3295,0,0,0,0,0,0,14.48,14.72,14.63
$GC,1004,-0.55,-116.8,2573,2260,3267,3294,143.8,-9.7,105,1012,0.00,2.40,0.00,0.000,260,0.000,0.074,2565,3665,3280,3267,3293,0,0,0,0,0,0,15.26,14.65,15.26
$GC,1019,-0.55,-116.8,2564,3665,3267,3294,145.0,-9.5,106,1028,0.00,2.33,0.00,0.000,3078,0.000,0.041,2564,2282,3280,3267,3293,0,0,0,0,0,0,14.86,14.81,14.98
$GC,1271,-0.55,-116.8,2564,2282,3267,3292,169.6,-8.9,131,1280,0.00,2.35,0.00,0.000,2308,0.000,0.071,2554,3662,3279,3267,3292,0,0,0,0,0,0,15.26,14.66,15.27
$GC,1328,-0.55,-116.8,2554,3662,3268,3293,174.9,-9.0,136,1337,0.05,2.25,0.00,0.000,3078,0.190,0.036,2583,2243,3279,3267,3291,0,0,0,0,0,0,14.58,14.80,14.68
$GC,1577,-0.55,-116.8,2583,2242,3268,3290,194.1,-7.9,161,1585,0.00,2.42,0.00,0.000,4356,0.000,0.074,2574,3657,3279,3268,3290,0,0,0,0,0,0,15.28,14.64,15.28
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1656,-0.13,0.0,2574,2136,3268,3290,200.5,-8.8,168,1759,0.30,0.00,94.60,1.070,10246,0.151,0.000,2704,2135,2798,2865,2732,0,0,0,0,0,0,14.46,14.34,13.83
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1762,0.55,116.8,2705,2135,2865,2732,207.9,0.0,179,1870,0.47,0.00,97.40,1.069,10758,0.092,0.000,2930,2135,2322,2407,2237,0,0,0,0,0,0,14.63,14.52,13.84
$GC,2111,0.58,175.2,2930,2135,2404,2232,199.0,7.1,214,2170,0.00,2.42,47.92,1.062,10756,0.000,0.056,2941,723,2082,2167,1997,0,0,0,0,0,0,15.18,14.57,13.99
$GC,2687,0.63,248.6,2941,723,2156,1993,149.0,6.3,270,2755,0.00,2.33,57.75,1.034,11270,0.000,0.053,2941,2117,1784,1866,1702,0,0,0,0,0,0,14.63,14.57,13.96
$GC,2996,0.63,248.6,2941,2117,1866,1696,120.6,10.7,301,3001,0.00,2.38,0.00,0.000,2564,0.000,0.058,2952,726,1781,1866,1696,0,0,0,0,0,0,15.19,14.83,15.20
$GC,3522,0.66,299.3,2952,724,1857,1696,74.2,7.5,351,3569,0.00,2.42,39.88,0.951,11270,0.000,0.059,2952,2129,1578,1668,1488,0,0,0,0,0,0,14.98,14.82,14.12
$GC,3810,0.68,329.6,2951,2129,1668,1483,52.4,8.5,380,3839,0.00,2.42,24.50,0.910,10500,0.000,0.067,2953,3539,1454,1548,1361,0,0,0,0,0,0,15.20,14.81,14.13
$GC,3868,0.68,333.9,2952,3539,1548,1361,47.2,9.9,385,3882,0.00,2.38,5.15,0.771,11270,0.000,0.049,2962,2133,1437,1532,1343,0,0,0,0,0,0,14.92,14.79,14.02
$GC,4133,0.68,333.9,2962,2132,1532,1339,21.4,11.8,418,4142,0.00,2.50,0.00,0.000,2564,0.000,0.067,2973,717,1435,1531,1339,0,0,0,0,0,0,15.19,14.74,15.19
$GC,4199,0.68,333.9,2973,716,1528,1339,14.1,10.5,429,4207,0.00,2.45,0.00,0.000,5126,0.000,0.059,2973,2129,1433,1528,1339,0,0,0,0,0,0,14.95,14.80,14.97
$STATE,4336,end climb,SURFACE_DEPTH_REACHED
$STATE,4336,begin surface coast
$FINISH,0.5,1.023278
$STATE,4363,end surface coast,CONTROL_FINISHED_OK
$STATE,4363,begin surface
$SM_CCo,4381,19.15,0.191,0,0,1247,380.21
$SM_GC,1.36,6.47,0.22,19.15,0.053,0.070,0.191,156,2293,1247,-7.95,-0.71,380.21,0,0,0,0,0,0,14.91,14.95,14.59
$IRIDIUM_FIX,2234.68,-15759.32,141021,063517
$TT8_MAMPS,0.023219,0.341544
$HUMID,53.58
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,13.24,194.928
$10V_AH,12.47,0.000
$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,15.975,47.950,367.200,19.150,0.000,31.405,45.332,138.917,0.750,0.000,49.450,1187.999,1519.017,409.230,1509.164,189.031,0.000,985.768,0.000,1186.416,0.000,0.556,0.000
$DEVICE_MAMPS,434.520,74.205,1070.235,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.442,493.811,625.236,559.008,652.879,0.000,0.000,0.000,0.000,0.000
$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,43957,459
$CAP_FILE_SIZE,70047,0
$CFSIZE,1023623168,943226880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,26
$INTR,0,3874.61,0x23609a,1,24
$CURRENT,0.145,227.97,1
$GPS,141021,075531,2244.094,-15800.544,8,0.8,41,9.8,0.9,214.3,10,4.8