version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 911
start: 10 14 121 20 12 51
data:
$ID,626
$MISSION,3
$DIVE,911
$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,31
$R_STBD_OVSHOOT,65
$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
$GPS1,141021,200536,2243.6562,-15802.3223,9,1.4,49,9.8,0.4,255.3,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.8
$GPS2,141021,201201,2243.6382,-15802.3750,11,0.9,42,9.8,0.4,275.6,9,7.8
$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,93.3,4776,-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,16,-0.55,-116.8,123,2212,1290,1190,0.0,0.0,0,73,0.00,0.00,-54.38,0.000,16386,0.000,0.000,123,2209,2960,2938,2983,0,0,0,0,0,0,15.19,28.83,15.19
$GC,77,-0.55,-116.8,123,2209,2938,2983,3.2,-6.3,8,99,8.55,0.00,-5.43,0.000,18950,0.429,0.000,2567,2206,3279,3261,3297,0,0,0,0,0,0,14.07,13.90,14.37
$GC,348,-0.55,-116.8,2567,2206,3266,3294,59.9,-18.9,44,358,0.00,2.28,0.00,0.000,2564,0.000,0.057,2567,852,3280,3267,3293,0,0,0,0,0,0,15.23,14.54,15.23
$GC,415,-0.55,-116.8,2567,852,3267,3293,71.9,-17.2,50,424,0.00,2.30,0.00,0.000,3078,0.000,0.055,2559,2225,3279,3268,3291,0,0,0,0,0,0,14.59,14.54,14.61
$GC,667,-0.55,-116.8,2558,2225,3267,3291,113.9,-15.0,75,671,0.00,2.33,0.00,0.000,2564,0.000,0.055,2558,848,3279,3268,3291,0,0,0,0,0,0,15.25,14.88,15.25
$GC,743,-0.55,-116.8,2557,847,3268,3291,124.7,-13.0,82,752,0.05,2.47,0.00,0.000,3078,0.306,0.057,2567,2265,3279,3268,3290,0,0,0,0,0,0,14.41,14.70,14.59
$GC,993,-0.55,-116.8,2567,2265,3269,3291,153.7,-10.5,107,997,0.00,2.38,0.00,0.000,2564,0.000,0.054,2567,854,3279,3269,3290,0,0,0,0,0,0,15.26,14.88,15.26
$GC,1069,-0.55,-116.8,2567,854,3269,3291,160.8,-8.9,114,1076,0.00,2.42,0.00,0.000,3078,0.000,0.057,2558,2267,3279,3269,3290,0,0,0,0,0,0,14.99,14.83,15.01
$GC,1319,-0.55,-116.8,2557,2267,3269,3290,186.4,-11.2,139,1323,0.00,2.40,0.00,0.000,2564,0.000,0.055,2558,845,3279,3269,3290,0,0,0,0,0,0,15.26,14.88,15.27
$GC,1374,-0.55,-116.8,2557,845,3269,3291,192.3,-10.4,144,1382,0.08,2.45,0.00,0.000,3078,0.324,0.057,2574,2274,3280,3270,3290,0,0,0,0,0,0,14.59,14.83,14.85
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1466,-0.13,0.0,2574,2073,3270,3290,200.6,-9.2,153,1565,0.32,0.10,94.60,1.078,10246,0.216,0.125,2703,2150,2798,2863,2734,0,0,0,0,0,0,14.33,14.59,13.86
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1569,0.55,116.8,2703,2150,2863,2734,205.5,0.0,163,1676,0.50,2.35,97.20,1.075,11012,0.130,0.063,2921,3514,2323,2405,2241,0,0,0,0,0,0,14.57,14.55,13.84
$GC,2060,0.58,161.4,2921,3515,2405,2241,172.7,7.8,212,2108,0.00,2.30,37.05,1.031,9222,0.000,0.043,2932,2112,2139,2226,2052,0,0,0,0,0,0,15.00,14.90,13.98
$GC,2348,0.60,204.9,2931,2112,2226,2047,148.8,7.9,241,2390,0.00,2.42,34.88,1.017,10500,0.000,0.065,2932,3513,1962,2043,1881,0,0,0,0,0,0,15.21,14.76,14.05
$GC,2411,0.62,236.8,2931,3513,2043,1880,143.7,8.5,247,2449,0.00,2.30,26.92,0.994,11270,0.000,0.045,2943,2122,1831,1912,1751,0,0,0,0,0,0,14.92,14.81,13.93
$GC,2691,0.64,270.4,2942,2122,1912,1745,118.8,8.4,275,2729,0.00,2.40,27.20,0.981,10756,0.000,0.063,2954,724,1695,1781,1609,0,0,0,0,0,0,15.19,14.64,14.07
$GC,2763,0.66,302.9,2954,723,1777,1609,112.7,8.4,282,2795,0.00,2.35,26.70,0.966,11270,0.000,0.055,2954,2105,1563,1652,1475,0,0,0,0,0,0,14.92,14.80,14.02
$GC,3044,0.69,347.1,2954,2104,1652,1469,88.2,7.8,310,3087,0.00,2.42,35.33,0.951,10756,0.000,0.063,2964,722,1382,1475,1290,0,0,0,0,0,0,15.21,14.74,14.07
$GC,3130,0.72,397.6,2964,721,1472,1290,82.1,7.5,318,3176,0.00,2.42,39.97,0.936,11270,0.000,0.055,2965,2133,1178,1276,1080,0,0,0,0,0,0,14.90,14.77,14.02
$GC,3416,0.72,397.6,2964,2133,1275,1076,54.2,10.6,347,3426,0.00,2.35,0.00,0.000,2308,0.000,0.067,2964,3527,1176,1276,1076,0,0,0,0,0,0,15.19,14.54,15.19
$GC,3432,0.72,397.6,2964,3527,1276,1076,53.2,10.5,348,3440,0.00,2.38,0.00,0.000,3078,0.000,0.047,2973,2135,1175,1275,1076,0,0,0,0,0,0,14.82,14.77,14.86
$GC,3685,0.74,426.9,2973,2135,1275,1076,25.0,8.6,378,3709,0.00,2.45,12.95,0.818,10756,0.000,0.067,2984,719,1055,1154,956,0,0,0,0,0,0,15.21,14.85,14.16
$GC,3794,0.74,426.9,2984,718,1149,956,12.8,11.0,396,3801,0.00,2.42,0.00,0.000,1030,0.000,0.054,2984,2132,1052,1150,955,0,0,0,0,0,0,14.95,14.82,14.97
$STATE,3865,end climb,SURFACE_DEPTH_REACHED
$STATE,3865,begin surface coast
$FINISH,0.5,1.023204
$STATE,3889,end surface coast,CONTROL_FINISHED_OK
$STATE,3889,begin surface
$SM_CCo,3968,0.00,0.000,0,0,1051,429.02
$SM_GC,1.16,6.32,0.20,0.00,0.031,0.073,0.000,175,2288,1051,-7.89,-1.02,429.02,0,0,0,0,0,0,14.95,14.97,15.00
$IRIDIUM_FIX,2234.68,-15802.37,141021,200716
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.38
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.84,196.789
$10V_AH,12.52,0.000
$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,15.825,48.225,432.800,0.000,0.000,27.025,43.817,147.987,0.250,0.000,43.669,1049.072,1443.304,424.814,1277.733,187.447,0.000,948.966,0.000,1031.653,0.000,0.556,0.000
$DEVICE_MAMPS,429.165,130.050,1077.885,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.765,298.542,564.731,502.864,584.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,37224,413
$CAP_FILE_SIZE,67097,0
$CFSIZE,1023623168,942571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174,303.23,1
$GPS,141021,212001,2243.822,-15802.318,9,1.0,27,9.8,0.0,268.1,9,7.6