version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 924
start: 10 15 121 13 20 34
data:
$ID,626
$MISSION,3
$DIVE,924
$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,32
$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
$GPS1,151021,131402,2244.1772,-15803.1221,7,0.9,30,9.8,0.4,199.1,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.3
$GPS2,151021,131943,2244.1826,-15803.1562,8,0.9,16,9.8,0.0,0.4,9,9.6
$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,88.0,5598,-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,-116.8,123,2281,1064,942,0.0,0.0,0,87,0.00,0.00,-68.38,0.000,16386,0.000,0.000,123,2281,3227,3188,3267,0,0,0,0,0,0,15.17,28.83,15.18
$GC,91,-0.55,-116.8,123,2281,3189,3267,4.3,-8.5,10,107,8.55,2.42,-0.75,0.000,18948,0.430,0.062,2574,833,3281,3250,3312,0,0,0,0,0,0,14.06,13.26,14.39
$GC,116,-0.55,-116.8,2573,833,3258,3303,16.8,-39.2,13,124,0.00,2.47,0.00,0.000,3078,0.000,0.054,2565,2272,3280,3261,3300,0,0,0,0,0,0,14.93,14.78,14.95
$GC,378,-0.55,-116.8,2564,2273,3266,3296,64.8,-16.0,44,382,0.00,2.42,0.00,0.000,2564,0.000,0.060,2565,854,3281,3267,3296,0,0,0,0,0,0,15.23,14.83,15.23
$GC,434,-0.55,-116.8,2564,854,3267,3296,73.1,-14.3,49,442,0.05,2.45,0.00,0.000,3078,0.387,0.059,2572,2269,3281,3267,3295,0,0,0,0,0,0,14.57,14.80,14.82
$GC,684,-0.55,-116.8,2571,2271,3268,3294,107.4,-12.2,74,688,0.00,2.40,0.00,0.000,260,0.000,0.073,2562,3682,3281,3268,3295,0,0,0,0,0,0,15.24,14.84,15.25
$GC,771,-0.55,-116.8,2562,3682,3267,3295,116.4,-9.6,82,779,0.00,2.40,0.00,0.000,3078,0.000,0.043,2562,2263,3280,3267,3294,0,0,0,0,0,0,14.86,14.80,14.89
$GC,1021,-0.55,-116.8,2562,2263,3268,3295,141.7,-10.0,107,1029,0.00,2.42,0.00,0.000,2308,0.000,0.072,2552,3676,3281,3268,3294,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1106,-0.55,-116.8,2552,3676,3268,3295,150.2,-10.1,115,1114,0.05,2.30,0.00,0.000,3078,0.334,0.037,2573,2246,3281,3268,3294,0,0,0,0,0,0,14.69,14.94,14.90
$GC,1354,-0.55,-116.8,2573,2245,3268,3294,172.2,-7.9,140,1359,0.00,2.45,0.00,0.000,260,0.000,0.074,2564,3673,3281,3268,3294,0,0,0,0,0,0,15.27,14.85,15.28
$GC,1474,-0.55,-116.8,2563,3674,3268,3294,180.7,-6.3,151,1481,0.00,2.28,0.00,0.000,3078,0.000,0.037,2563,2266,3281,3268,3294,0,0,0,0,0,0,15.04,14.94,15.06
$GC,1723,-0.55,-116.8,2563,2263,3268,3292,198.1,-7.1,176,1728,0.00,2.35,0.00,0.000,2564,0.000,0.057,2563,860,3280,3268,3292,0,0,0,0,0,0,15.27,14.90,15.27
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1745,begin apogee
$GC,1754,-0.13,0.0,2555,2135,3270,3290,200.1,-7.1,178,1855,0.38,0.00,95.00,1.074,10246,0.190,0.000,2705,2137,2798,2864,2732,0,0,0,0,0,0,14.50,14.59,13.85
$STATE,1856,end apogee,CONTROL_FINISHED_OK
$STATE,1856,begin climb
$GC,1859,0.55,116.8,2707,2137,2864,2732,205.5,0.0,189,1966,0.47,2.40,97.65,1.066,10500,0.097,0.066,2930,3537,2320,2401,2240,0,0,0,0,0,0,14.62,14.31,13.79
$GC,2013,0.63,257.7,2930,3537,2401,2241,209.2,2.8,204,2133,0.00,2.33,112.82,1.068,11270,0.000,0.043,2941,2130,1747,1828,1667,0,0,0,0,0,0,14.54,14.50,13.85
$GC,2375,0.63,257.7,2941,2130,1827,1659,170.9,12.3,240,2385,0.00,2.38,0.00,0.000,2564,0.000,0.062,2952,726,1742,1826,1658,0,0,0,0,0,0,15.18,14.52,15.18
$GC,2543,0.65,282.1,2952,726,1822,1659,153.5,8.8,256,2572,0.00,2.35,20.55,1.004,11270,0.000,0.060,2952,2117,1647,1738,1557,0,0,0,0,0,0,14.76,14.69,14.08
$GC,2812,0.65,284.0,2952,2117,1738,1553,128.1,10.0,283,2821,0.00,2.40,0.00,0.000,2308,0.000,0.074,2953,3534,1645,1737,1553,0,0,0,0,0,0,15.23,14.69,15.23
$GC,2996,0.65,284.0,2952,3534,1737,1553,107.3,11.8,300,3005,0.00,2.40,0.00,0.000,5126,0.000,0.051,2963,2135,1645,1738,1553,0,0,0,0,0,0,14.85,14.79,14.89
$GC,3249,0.69,355.9,2963,2135,1737,1553,85.2,6.4,325,3314,0.00,2.50,58.62,0.959,10756,0.000,0.068,2974,714,1347,1441,1253,0,0,0,0,0,0,15.24,14.73,14.04
$GC,3435,0.72,404.0,2974,713,1433,1253,71.6,7.6,343,3483,0.00,2.42,38.35,0.929,11270,0.000,0.061,2974,2128,1149,1247,1052,0,0,0,0,0,0,14.56,14.48,13.97
$GC,3724,0.75,441.3,2974,2128,1246,1049,50.9,8.2,372,3764,0.00,2.42,29.27,0.901,10756,0.000,0.065,2985,720,998,1097,899,0,0,0,0,0,0,15.19,14.56,14.09
$GC,3821,0.77,478.7,2985,720,1093,899,42.1,8.2,381,3861,0.00,2.38,29.45,0.884,11270,0.000,0.059,2985,2118,845,957,734,0,0,0,0,0,0,14.58,14.51,14.01
$GC,4111,0.77,478.7,2985,2118,957,731,9.1,11.1,425,4118,0.00,2.47,0.00,0.000,2564,0.000,0.064,2996,718,844,957,732,0,0,0,0,0,0,15.17,14.76,15.17
$GC,4155,0.77,478.7,2996,717,954,731,4.0,12.2,432,4164,0.00,2.42,0.00,0.000,1030,0.000,0.052,2996,2128,842,954,731,0,0,0,0,0,0,14.92,14.78,14.95
$STATE,4169,end climb,SURFACE_DEPTH_REACHED
$STATE,4169,begin surface coast
$FINISH,0.3,0.998103
$STATE,4199,end surface coast,CONTROL_FINISHED_OK
$STATE,4199,begin surface
$SM_CCo,4278,0.00,0.000,0,0,841,480.53
$SM_GC,1.21,6.53,0.22,0.00,0.059,0.083,0.000,163,2282,841,-7.90,-0.79,480.53,0,0,0,0,0,0,14.97,14.90,15.00
$IRIDIUM_FIX,2232.34,-15804.53,151021,131543
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.18
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.26,199.237
$10V_AH,12.08,0.000
$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,16.025,57.650,481.725,0.000,0.000,29.148,44.432,132.114,0.000,0.000,17.771,1113.257,1546.597,464.371,1328.851,194.243,0.000,1040.433,0.000,1111.176,0.000,0.554,0.000
$DEVICE_MAMPS,429.930,82.620,1074.060,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.713,313.862,591.708,532.846,620.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,40605,439
$CAP_FILE_SIZE,68589,0
$CFSIZE,1023623168,941719552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.066,220.96,1
$GPS,151021,143301,2244.063,-15803.048,7,0.9,33,9.8,0.9,208.9,9,5.7