version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 916
start: 10 15 121 2 27 15
data:
$ID,626
$MISSION,3
$DIVE,916
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,151021,022025,2244.4812,-15801.5518,8,0.9,40,9.8,0.5,269.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.3
$GPS2,151021,022625,2244.4736,-15801.6260,8,0.9,17,9.8,0.0,217.2,9,9.2
$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,62.6,2943,-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,-116.8,123,2294,1302,1188,0.0,0.0,0,73,0.00,0.00,-53.38,0.000,16386,0.000,0.000,123,2295,2921,2915,2928,0,0,0,0,0,0,15.17,28.83,15.18
$GC,77,-0.55,-116.8,123,2295,2915,2929,3.1,-6.2,8,100,8.55,2.30,-6.25,0.000,18692,0.431,0.077,2551,3662,3279,3261,3297,0,0,0,0,0,0,14.05,13.84,14.35
$GC,136,-0.55,-116.8,2551,3662,3261,3297,17.9,-15.6,17,144,0.08,2.40,0.00,0.000,3078,0.296,0.050,2580,2253,3280,3265,3295,0,0,0,0,0,0,14.57,14.78,14.81
$GC,396,-0.55,-116.8,2579,2250,3267,3292,61.0,-16.6,49,408,0.00,2.33,0.00,0.000,4868,0.000,0.056,2580,854,3279,3268,3291,0,0,0,0,0,0,15.23,14.52,15.23
$GC,517,-0.55,-116.8,2579,854,3268,3291,78.9,-14.1,60,526,0.00,2.33,0.00,0.000,1030,0.000,0.055,2571,2241,3280,3270,3290,0,0,0,0,0,0,14.57,14.52,14.59
$GC,768,-0.55,-116.8,2570,2241,3270,3290,110.3,-11.8,85,778,0.00,2.33,0.00,0.000,2564,0.000,0.054,2571,852,3280,3270,3291,0,0,0,0,0,0,15.25,14.75,15.25
$GC,813,-0.55,-116.8,2570,852,3271,3291,115.4,-11.1,89,822,0.00,2.38,0.00,0.000,3078,0.000,0.056,2560,2267,3280,3271,3290,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1064,-0.55,-116.8,2560,2267,3271,3290,144.8,-11.8,114,1074,0.00,2.38,0.00,0.000,2564,0.000,0.054,2560,851,3280,3271,3290,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1128,-0.55,-116.8,2560,851,3272,3291,152.3,-10.9,120,1139,0.08,2.38,0.00,0.000,3078,0.269,0.057,2577,2266,3280,3271,3290,0,0,0,0,0,0,14.24,14.50,14.42
$GC,1379,-0.55,-116.8,2577,2265,3271,3290,177.5,-9.4,145,1389,0.00,2.35,0.00,0.000,516,0.000,0.052,2577,850,3281,3272,3290,0,0,0,0,0,0,15.27,14.69,15.28
$GC,1488,-0.55,-116.8,2577,850,3272,3290,186.5,-7.8,155,1496,0.00,2.40,0.00,0.000,3078,0.000,0.057,2567,2266,3280,3271,3290,0,0,0,0,0,0,15.02,14.88,15.04
$STATE,1684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1684,begin apogee
$GC,1691,-0.13,0.0,2567,2063,3272,3289,200.4,-6.3,175,1794,0.35,0.10,94.88,1.083,10246,0.226,0.068,2703,2157,2799,2866,2732,0,0,0,0,0,0,14.43,14.33,13.81
$STATE,1795,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1799,0.55,116.8,2703,2157,2866,2731,203.0,0.0,186,1905,0.52,2.47,97.50,1.071,10756,0.116,0.051,2946,715,2321,2406,2237,0,0,0,0,0,0,14.59,14.33,13.81
$GC,2422,0.58,176.6,2945,714,2390,2233,172.7,7.0,247,2481,0.00,2.30,48.17,1.050,13318,0.000,0.052,2945,2093,2079,2167,1991,0,0,0,0,0,0,14.81,14.80,13.93
$GC,2723,0.59,193.3,2945,2093,2167,1986,144.0,9.2,277,2743,0.00,2.35,14.70,0.995,12804,0.000,0.056,2956,707,2010,2096,1924,0,0,0,0,0,0,15.20,14.82,14.07
$GC,2768,0.61,216.1,2957,706,2090,1924,139.9,8.9,281,2797,0.00,2.38,19.12,0.990,13318,0.000,0.054,2956,2118,1917,1999,1836,0,0,0,0,0,0,14.76,14.71,14.00
$GC,3038,0.62,228.8,2956,2117,1999,1832,114.3,9.4,308,3057,0.00,2.40,11.30,0.945,12548,0.000,0.067,2956,3541,1865,1948,1783,0,0,0,0,0,0,15.21,14.57,14.04
$GC,3124,0.62,228.8,2956,3541,1948,1783,105.7,10.6,316,3132,0.05,2.40,0.00,0.000,5126,0.369,0.049,2949,2122,1865,1948,1783,0,0,0,0,0,0,14.61,14.83,14.84
$GC,3377,0.62,239.3,2949,2120,1948,1782,81.4,9.6,341,3395,0.00,2.47,9.93,0.903,8452,0.000,0.071,2949,3536,1822,1906,1739,0,0,0,0,0,0,15.23,14.83,14.09
$GC,3412,0.64,262.9,2948,3536,1906,1739,78.2,8.9,344,3440,0.00,2.38,20.15,0.946,13318,0.000,0.050,2958,2124,1726,1815,1637,0,0,0,0,0,0,14.99,14.85,14.10
$GC,3680,0.66,306.4,2958,2124,1815,1634,56.0,7.9,371,3719,0.00,0.00,34.92,0.926,10246,0.000,0.000,2959,2124,1548,1639,1457,0,0,0,0,0,0,15.21,14.74,14.10
$GC,3962,0.66,306.4,2958,2124,1639,1453,30.4,10.2,399,3974,0.00,2.42,0.00,0.000,2308,0.000,0.070,2959,3533,1545,1639,1451,0,0,0,0,0,0,15.19,14.47,15.19
$GC,3982,0.66,306.4,2958,3533,1639,1453,28.1,10.5,401,3990,0.00,2.42,0.00,0.000,5126,0.000,0.053,2969,2119,1546,1639,1453,0,0,0,0,0,0,14.95,14.81,14.97
$STATE,4213,end climb,SURFACE_DEPTH_REACHED
$STATE,4213,begin surface coast
$FINISH,0.3,1.023171
$STATE,4248,end surface coast,CONTROL_FINISHED_OK
$STATE,4248,begin surface
$SM_CCo,4266,30.83,0.200,0,0,1249,380.21
$SM_GC,1.29,6.32,0.28,30.83,0.035,0.060,0.200,150,2322,1249,-7.89,-0.62,380.21,0,0,0,0,0,0,14.98,14.95,14.56
$IRIDIUM_FIX,2234.68,-15814.95,151021,022215
$TT8_MAMPS,0.02247,0.290612
$HUMID,53.66
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,13.81,197.659
$10V_AH,12.59,0.000
$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,15.950,48.175,350.675,30.825,0.000,32.898,53.572,139.216,0.750,0.000,18.406,1157.466,1571.749,412.648,1355.473,192.764,0.000,953.155,0.000,1132.416,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,77.265,1083.240,199.665,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,297.781,323.176,620.932,556.373,648.866,0.000,0.000,0.000,0.000,0.000
$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,40730,450
$CAP_FILE_SIZE,70924,0
$CFSIZE,1023623168,942243840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083,223.93,1
$GPS,151021,033953,2244.460,-15801.443,8,0.9,21,9.8,2.1,268.4,9,9.8