version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 912
start: 10 14 121 21 26 36
data:
$ID,626
$MISSION,3
$DIVE,912
$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,53
$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
$GPS1,141021,212001,2243.8220,-15802.3184,9,1.0,27,9.8,0.0,268.1,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.8
$GPS2,141021,212546,2243.8230,-15802.3711,8,0.9,18,9.8,0.8,102.2,10,9.3
$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,94.5,4599,-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,-116.8,123,2298,1111,985,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,16386,0.000,0.000,123,2299,2864,2855,2874,0,0,0,0,0,0,15.19,28.83,15.19
$GC,79,-0.55,-116.8,123,2298,2855,2875,3.3,-6.8,8,101,8.50,0.00,-7.20,0.000,18950,0.426,0.000,2563,2299,3279,3263,3296,0,0,0,0,0,0,14.08,13.28,14.37
$GC,350,-0.55,-116.8,2563,2299,3267,3294,56.5,-17.0,44,360,0.00,2.42,0.00,0.000,2564,0.000,0.057,2564,857,3280,3267,3294,0,0,0,0,0,0,15.23,14.50,15.23
$GC,428,-0.55,-116.8,2563,857,3268,3293,68.8,-15.4,51,433,0.05,2.35,0.00,0.000,3078,0.391,0.057,2572,2245,3280,3269,3292,0,0,0,0,0,0,14.61,14.87,14.85
$GC,684,-0.55,-116.8,2571,2248,3269,3291,101.3,-11.1,76,693,0.00,2.30,0.00,0.000,516,0.000,0.053,2572,856,3280,3270,3291,0,0,0,0,0,0,15.25,14.65,15.26
$GC,720,-0.55,-116.8,2571,855,3269,3291,105.2,-11.2,79,727,0.00,2.38,0.00,0.000,3078,0.000,0.057,2563,2269,3280,3270,3291,0,0,0,0,0,0,15.02,14.88,15.04
$GC,967,-0.55,-116.8,2562,2269,3270,3291,136.9,-12.4,104,977,0.00,2.38,0.00,0.000,2564,0.000,0.054,2563,848,3280,3270,3290,0,0,0,0,0,0,15.28,14.62,15.27
$GC,1053,-0.55,-116.8,2562,849,3271,3291,146.7,-11.3,112,1062,0.05,2.42,0.00,0.000,3078,0.379,0.057,2571,2263,3281,3271,3291,0,0,0,0,0,0,14.61,14.83,14.85
$GC,1301,-0.55,-116.8,2570,2264,3271,3291,174.5,-10.9,137,1305,0.00,2.38,0.00,0.000,2564,0.000,0.053,2570,851,3280,3271,3290,0,0,0,0,0,0,15.28,14.89,15.28
$GC,1375,-0.55,-116.8,2570,851,3271,3290,182.2,-10.1,144,1385,0.00,2.38,0.00,0.000,3078,0.000,0.058,2561,2265,3281,3272,3290,0,0,0,0,0,0,14.66,14.59,14.69
$STATE,1552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1552,begin apogee
$GC,1560,-0.13,0.0,2561,2064,3271,3290,200.5,-10.2,162,1659,0.38,0.12,94.55,1.068,10246,0.224,0.110,2705,2155,2798,2865,2732,0,0,0,0,0,0,14.29,14.59,13.86
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1663,0.55,116.8,2705,2155,2864,2732,204.9,0.0,172,1768,0.50,2.47,97.25,1.057,10756,0.125,0.054,2934,704,2321,2406,2237,0,0,0,0,0,0,14.58,14.56,13.84
$GC,1989,0.57,160.6,2934,704,2390,2236,190.5,7.8,204,2036,0.00,2.40,36.15,1.035,9222,0.000,0.053,2935,2106,2143,2232,2054,0,0,0,0,0,0,14.92,14.80,13.97
$GC,2277,0.58,176.9,2934,2106,2232,2049,164.8,9.3,233,2297,0.00,2.47,14.23,0.988,8452,0.000,0.070,2934,3546,2076,2166,1986,0,0,0,0,0,0,15.21,14.83,14.07
$GC,2361,0.58,176.9,2934,3546,2167,1986,155.8,11.2,241,2366,0.00,2.38,0.00,0.000,5126,0.000,0.047,2946,2114,2076,2167,1985,0,0,0,0,0,0,14.99,14.87,15.00
$GC,2617,0.60,206.4,2945,2112,2167,1985,131.0,8.6,266,2648,0.00,2.38,24.38,0.991,8708,0.000,0.060,2957,717,1956,2041,1872,0,0,0,0,0,0,15.23,14.82,14.09
$GC,2677,0.61,223.7,2956,717,2032,1872,125.3,9.2,272,2696,0.00,2.38,14.75,0.949,13318,0.000,0.056,2957,2124,1888,1970,1806,0,0,0,0,0,0,14.68,14.61,14.05
$GC,2937,0.63,253.8,2957,2124,1968,1800,101.5,8.5,298,2968,0.00,0.00,25.15,0.962,12294,0.000,0.000,2956,2123,1763,1848,1678,0,0,0,0,0,0,15.22,14.83,14.08
$GC,3212,0.66,303.0,2956,2124,1848,1673,79.4,7.6,325,3257,0.00,2.42,39.55,0.940,10500,0.000,0.065,2957,3536,1562,1654,1471,0,0,0,0,0,0,15.22,14.78,14.09
$GC,3273,0.68,327.4,2957,3536,1653,1471,73.8,8.8,331,3301,0.00,2.35,20.40,0.903,9222,0.000,0.048,2967,2116,1463,1555,1372,0,0,0,0,0,0,14.62,14.57,14.05
$GC,3542,0.69,341.2,2967,2116,1556,1367,47.9,9.4,358,3562,0.00,2.40,11.60,0.862,8708,0.000,0.061,2978,718,1408,1505,1312,0,0,0,0,0,0,15.19,14.51,14.04
$GC,3609,0.69,341.2,2978,718,1500,1313,41.2,10.3,364,3618,0.00,2.42,0.00,0.000,5126,0.000,0.055,2978,2132,1406,1500,1312,0,0,0,0,0,0,14.96,14.82,14.97
$GC,3868,0.69,341.2,2977,2132,1500,1311,12.1,11.6,404,3876,0.00,2.42,0.00,0.000,4356,0.000,0.065,2978,3546,1405,1500,1311,0,0,0,0,0,0,15.20,14.80,15.20
$GC,3886,0.69,341.2,2977,3546,1500,1311,10.0,11.9,406,3894,0.05,2.40,0.00,0.000,5126,0.353,0.047,2970,2127,1405,1500,1311,0,0,0,0,0,0,14.62,14.82,14.85
$STATE,3949,end climb,SURFACE_DEPTH_REACHED
$STATE,3949,begin surface coast
$FINISH,0.3,1.023299
$STATE,3980,end surface coast,CONTROL_FINISHED_OK
$STATE,3980,begin surface
$SM_CCo,3999,16.45,0.194,0,0,1249,380.21
$SM_GC,1.00,6.40,0.25,16.45,0.050,0.069,0.194,147,2285,1249,-7.89,-0.88,380.21,0,0,0,0,0,0,14.97,14.94,14.60
$IRIDIUM_FIX,2232.34,-15802.37,141021,212137
$TT8_MAMPS,0.02247,0.34454
$HUMID,52.83
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,13.28,196.961
$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,15.925,48.525,378.000,16.450,0.000,25.252,52.385,129.758,0.250,0.000,19.345,1083.171,1482.685,402.227,1238.296,187.046,0.000,911.640,0.000,1027.772,0.000,0.556,0.000
$DEVICE_MAMPS,426.105,110.160,1067.940,193.545,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.563,302.666,582.100,523.707,607.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,40634,422
$CAP_FILE_SIZE,67890,0
$CFSIZE,1023623168,942505984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.149,331.03,1
$GPS,141021,223429,2244.069,-15802.141,8,1.0,19,9.8,0.6,169.5,9,9.3