version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 905
start: 10 14 121 12 14 40
data:
$ID,626
$MISSION,3
$DIVE,905
$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,30
$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
$GPS1,141021,120755,2244.0967,-15800.7676,8,0.7,44,9.8,0.0,113.9,11,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.7
$GPS2,141021,121351,2244.0964,-15800.7920,11,0.7,23,9.8,0.5,53.4,11,9.5
$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,48.1,2152,-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,-116.8,123,2281,1209,1088,0.0,0.0,0,82,0.00,0.00,-62.38,0.000,16386,0.000,0.000,124,2281,3141,3104,3179,0,0,0,0,0,0,15.17,28.83,15.19
$GC,86,-0.55,-116.8,123,2281,3107,3175,3.1,-4.5,9,107,8.57,2.35,-2.22,0.000,18692,0.433,0.069,2557,3688,3279,3253,3306,0,0,0,0,0,0,14.07,13.27,14.40
$GC,121,-0.55,-116.8,2557,3688,3256,3304,18.4,-39.2,14,130,0.03,2.47,0.00,0.000,3078,0.368,0.056,2568,2268,3280,3261,3299,0,0,0,0,0,0,14.47,14.66,14.57
$GC,380,-0.55,-116.8,2567,2264,3266,3295,61.8,-17.7,45,391,0.00,2.40,0.00,0.000,2308,0.000,0.068,2558,3669,3280,3266,3295,0,0,0,0,0,0,15.23,14.54,15.23
$GC,417,-0.55,-116.8,2560,3669,3266,3295,67.2,-14.6,48,428,0.00,2.30,0.00,0.000,3078,0.000,0.044,2559,2263,3280,3266,3295,0,0,0,0,0,0,14.59,14.54,14.62
$GC,668,-0.55,-116.8,2559,2262,3267,3295,102.0,-11.1,73,677,0.00,2.40,0.00,0.000,2308,0.000,0.072,2549,3671,3280,3267,3294,0,0,0,0,0,0,15.26,14.65,15.26
$GC,765,-0.55,-116.8,2549,3671,3267,3295,112.6,-11.1,82,777,0.05,2.30,0.00,0.000,3078,0.280,0.041,2569,2244,3280,3267,3294,0,0,0,0,0,0,14.39,14.87,14.50
$GC,1017,-0.55,-116.8,2569,2244,3267,3294,139.9,-9.8,107,1026,0.00,2.45,0.00,0.000,2308,0.000,0.073,2560,3672,3281,3268,3295,0,0,0,0,0,0,15.26,14.64,15.27
$GC,1094,-0.55,-116.8,2560,3672,3267,3295,146.5,-8.3,114,1103,0.00,2.35,0.00,0.000,3078,0.000,0.035,2560,2258,3281,3268,3294,0,0,0,0,0,0,14.79,14.74,14.81
$GC,1345,-0.55,-116.8,2560,2258,3268,3294,168.6,-10.4,139,1354,0.00,2.33,0.00,0.000,2564,0.000,0.056,2560,862,3281,3268,3294,0,0,0,0,0,0,15.26,14.72,15.26
$GC,1429,-0.55,-116.8,2559,862,3269,3293,176.8,-8.8,147,1441,0.05,2.35,0.00,0.000,3078,0.276,0.054,2570,2272,3280,3271,3290,0,0,0,0,0,0,14.26,14.52,14.40
$GC,1682,-0.55,-116.8,2570,2272,3270,3290,196.9,-7.0,172,1692,0.00,2.35,0.00,0.000,2564,0.000,0.053,2570,865,3280,3270,3290,0,0,0,0,0,0,15.27,14.69,15.28
$STATE,1734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1734,begin apogee
$GC,1743,-0.13,0.0,2566,2130,3271,3290,200.6,-6.3,177,1846,0.32,0.00,95.05,1.081,10246,0.145,0.000,2710,2131,2799,2864,2734,0,0,0,0,0,0,14.46,14.33,13.82
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,0.55,116.8,2710,2131,2864,2733,205.8,0.0,188,1958,0.50,2.42,97.47,1.077,10500,0.110,0.066,2936,3530,2321,2403,2240,0,0,0,0,0,0,14.58,14.28,13.76
$GC,2494,0.60,200.3,2936,3530,2402,2240,183.4,5.8,249,2571,0.00,2.28,67.15,1.075,13318,0.000,0.041,2947,2134,1981,2061,1902,0,0,0,0,0,0,14.66,14.62,13.92
$GC,2812,0.62,230.6,2947,2134,2060,1895,156.0,8.5,281,2843,0.00,2.45,24.73,1.031,8452,0.000,0.069,2947,3532,1857,1937,1778,0,0,0,0,0,0,15.18,14.78,14.05
$GC,3367,0.62,239.4,2946,3532,1937,1779,96.5,9.6,334,3386,0.00,2.35,8.57,0.900,13318,0.000,0.056,2958,2137,1821,1902,1740,0,0,0,0,0,0,14.59,14.53,14.04
$GC,3626,0.67,310.3,2957,2137,1902,1737,75.4,6.4,360,3684,0.00,0.00,56.20,0.956,10246,0.000,0.000,2958,2137,1533,1623,1443,0,0,0,0,0,0,15.24,14.69,14.06
$GC,3928,0.68,336.8,2957,2137,1622,1437,52.6,8.7,390,3958,0.00,2.47,21.27,0.904,10756,0.000,0.063,2969,706,1425,1518,1332,0,0,0,0,0,0,15.18,14.50,14.04
$GC,4015,0.71,375.6,2969,705,1514,1333,45.4,8.1,398,4054,0.00,2.40,31.10,0.889,11270,0.000,0.060,2969,2109,1265,1362,1169,0,0,0,0,0,0,14.58,14.52,14.09
$GC,4299,0.75,445.9,2969,2111,1362,1165,26.5,6.5,431,4340,0.00,2.45,31.05,0.855,10500,0.000,0.067,2969,3541,979,1083,876,0,0,0,0,0,0,15.16,14.52,14.08
$GC,4349,0.77,484.3,2969,3542,1083,876,22.3,8.1,437,4372,0.00,2.42,16.60,0.809,11270,0.000,0.052,2978,2122,823,935,711,0,0,0,0,0,0,14.90,14.77,14.09
$STATE,4546,end climb,SURFACE_DEPTH_REACHED
$STATE,4546,begin surface coast
$FINISH,0.3,1.023226
$STATE,4572,end surface coast,CONTROL_FINISHED_OK
$STATE,4573,begin surface
$SM_CCo,4651,0.00,0.000,0,0,819,485.93
$SM_GC,1.20,6.47,0.28,0.00,0.051,0.080,0.000,162,2283,819,-7.93,-0.71,485.93,0,0,0,0,0,0,14.88,14.85,14.94
$IRIDIUM_FIX,2234.68,-15802.37,141021,120933
$TT8_MAMPS,0.02247,0.31458
$HUMID,53.42
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.27,195.698
$10V_AH,12.67,0.000
$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,16.000,47.725,449.200,0.000,0.000,26.945,48.931,137.853,0.250,0.000,25.052,1219.313,1646.115,436.423,1544.686,187.134,0.000,1058.692,0.000,1251.955,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,79.560,1080.945,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.450,468.664,646.391,585.104,687.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,43954,477
$CAP_FILE_SIZE,69315,0
$CFSIZE,1023623168,942964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,27
$CURRENT,0.113,211.51,1
$GPS,141021,133304,2243.979,-15800.965,8,1.0,18,9.8,0.0,253.5,8,9.3