version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 928
start: 10 15 121 18 36 24
data:
$ID,626
$MISSION,3
$DIVE,928
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,151021,182931,2243.2517,-15803.4141,7,0.9,42,9.8,0.8,81.7,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.6
$GPS2,151021,183533,2243.1909,-15803.4453,8,0.8,17,9.8,0.6,246.5,10,9.8
$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,32.1,6771,-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,-116.8,123,2297,1288,1194,0.0,0.0,0,73,0.00,0.00,-54.58,0.000,16386,0.000,0.000,123,2297,2953,2934,2972,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,123,2297,2937,2971,3.1,-5.3,8,100,8.55,2.33,-5.70,0.000,18692,0.429,0.077,2553,3668,3278,3259,3298,0,0,0,0,0,0,14.09,13.83,14.39
$GC,147,-0.55,-116.8,2553,3669,3259,3298,19.7,-13.6,19,155,0.05,2.40,0.00,0.000,3078,0.346,0.051,2572,2265,3278,3262,3295,0,0,0,0,0,0,14.58,14.77,14.81
$GC,405,-0.55,-116.8,2572,2260,3266,3292,55.7,-13.8,50,410,0.00,2.40,0.00,0.000,260,0.000,0.070,2564,3658,3279,3266,3292,0,0,0,0,0,0,15.22,14.81,15.23
$GC,510,-0.55,-116.8,2563,3659,3266,3293,67.2,-9.0,60,515,0.00,2.30,0.00,0.000,3078,0.000,0.046,2563,2260,3279,3266,3292,0,0,0,0,0,0,15.01,14.89,15.02
$GC,767,-0.55,-116.8,2563,2260,3267,3292,94.4,-11.0,85,775,0.00,2.35,0.00,0.000,2564,0.000,0.058,2563,854,3278,3267,3290,0,0,0,0,0,0,15.24,14.68,15.25
$GC,863,-0.55,-116.8,2563,854,3268,3290,104.6,-9.9,94,872,0.05,2.40,0.00,0.000,3078,0.377,0.059,2571,2250,3279,3268,3290,0,0,0,0,0,0,14.59,14.81,14.83
$GC,1113,-0.55,-116.8,2571,2250,3268,3290,133.4,-11.3,119,1121,0.00,2.33,0.00,0.000,2564,0.000,0.053,2571,864,3279,3269,3290,0,0,0,0,0,0,15.26,14.70,15.26
$GC,1148,-0.55,-116.8,2570,863,3269,3290,137.1,-10.7,122,1156,0.00,2.42,0.00,0.000,3078,0.000,0.058,2562,2270,3279,3269,3289,0,0,0,0,0,0,14.97,14.81,15.00
$GC,1397,-0.55,-116.8,2561,2271,3269,3289,165.6,-12.6,147,1407,0.00,2.38,0.00,0.000,2564,0.000,0.055,2562,861,3279,3268,3290,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1481,-0.55,-116.8,2561,861,3269,3290,176.4,-12.2,155,1490,0.05,2.38,0.00,0.000,3078,0.300,0.059,2571,2273,3279,3269,3289,0,0,0,0,0,0,14.42,14.68,14.58
$STATE,1711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1711,begin apogee
$GC,1719,-0.13,0.0,2570,2080,3268,3288,200.2,-8.9,178,1821,0.32,0.05,94.57,1.077,10246,0.219,0.096,2700,2138,2799,2863,2735,0,0,0,0,0,0,14.44,14.37,13.83
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1825,0.55,116.8,2700,2137,2864,2734,203.4,0.0,189,1931,0.50,2.42,97.70,1.067,10500,0.117,0.065,2923,3529,2321,2403,2239,0,0,0,0,0,0,14.59,14.56,13.84
$GC,2448,0.59,193.8,2923,3528,2402,2242,163.5,6.1,250,2518,0.00,2.25,62.50,1.045,11270,0.000,0.044,2933,2159,2007,2092,1923,0,0,0,0,0,0,14.96,14.90,13.97
$GC,2759,0.62,240.9,2933,2159,2090,1917,138.6,7.7,281,2806,0.00,2.33,37.75,1.012,10500,0.000,0.065,2933,3520,1816,1897,1735,0,0,0,0,0,0,15.19,14.53,14.03
$GC,2875,0.64,259.3,2933,3520,1897,1734,128.5,9.2,292,2896,0.00,2.30,16.25,0.959,11270,0.000,0.050,2944,2140,1741,1826,1657,0,0,0,0,0,0,14.59,14.54,14.02
$GC,3146,0.64,264.1,2944,2140,1825,1652,102.4,9.9,319,3156,0.00,2.47,4.93,0.806,10756,0.000,0.064,2955,710,1721,1809,1633,0,0,0,0,0,0,15.21,14.81,14.00
$GC,3180,0.64,264.1,2956,709,1806,1634,98.7,10.2,322,3191,0.00,2.35,0.00,0.000,1030,0.000,0.057,2955,2100,1719,1805,1634,0,0,0,0,0,0,14.67,14.60,14.71
$GC,3435,0.65,275.6,2955,2100,1806,1633,72.4,9.5,347,3454,0.00,2.42,10.43,0.893,8708,0.000,0.062,2966,704,1674,1764,1585,0,0,0,0,0,0,15.22,14.53,14.04
$GC,3501,0.65,290.1,2966,704,1761,1586,66.1,9.4,353,3521,0.00,2.40,12.77,0.889,13318,0.000,0.057,2966,2125,1615,1706,1525,0,0,0,0,0,0,14.67,14.61,14.12
$GC,3761,0.68,329.6,2966,2125,1705,1522,45.5,8.1,379,3801,0.00,2.42,31.45,0.904,8452,0.000,0.068,2966,3547,1455,1547,1363,0,0,0,0,0,0,15.22,14.50,14.07
$GC,3847,0.68,329.6,2966,3547,1546,1363,36.8,11.4,387,3857,0.00,2.38,0.00,0.000,5126,0.000,0.049,2976,2123,1455,1547,1363,0,0,0,0,0,0,14.67,14.59,14.66
$GC,4114,0.68,329.6,2976,2122,1547,1362,4.6,12.3,431,4121,0.00,2.45,0.00,0.000,4612,0.000,0.066,2987,714,1454,1547,1361,0,0,0,0,0,0,15.19,14.77,15.19
$STATE,4127,end climb,SURFACE_DEPTH_REACHED
$STATE,4127,begin surface coast
$FINISH,0.3,1.010417
$STATE,4151,end surface coast,CONTROL_FINISHED_OK
$STATE,4152,begin surface
$SM_CCo,4172,21.30,0.198,0,0,1247,380.21
$SM_GC,1.18,6.38,2.67,21.30,0.036,0.054,0.198,148,2270,1247,-7.94,-0.85,380.21,0,0,0,0,0,0,14.97,14.83,14.57
$IRIDIUM_FIX,2232.34,-15802.37,151021,183109
$TT8_MAMPS,0.02247,0.31458
$HUMID,53.54
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.83,199.934
$10V_AH,12.53,0.000
$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,15.900,52.850,368.350,21.300,0.000,25.945,45.338,146.603,0.250,0.000,18.436,1135.836,1507.664,400.318,1350.432,194.653,0.000,941.384,0.000,1117.170,0.000,0.554,0.000
$DEVICE_MAMPS,429.165,96.390,1077.120,198.135,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.949,314.279,596.239,544.354,634.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339112
$DATA_FILE_SIZE,40720,437
$CAP_FILE_SIZE,68907,0
$CFSIZE,1023623168,941457408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.182,246.43,1
$GPS,151021,194713,2243.229,-15803.799,8,1.0,17,9.8,0.0,177.0,8,9.2