version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 932
start: 10 15 121 23 51 50
data:
$ID,626
$MISSION,3
$DIVE,932
$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,70
$R_STBD_OVSHOOT,54
$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
$GPS1,151021,234514,2243.9622,-15804.0430,8,0.8,26,9.8,0.4,299.6,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.7
$GPS2,151021,235100,2243.9583,-15804.1006,8,0.8,25,9.8,1.4,208.6,10,9.9
$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,89.9,7264,-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,-116.8,123,2219,1246,1122,0.0,0.0,0,80,0.00,0.00,-60.92,0.000,16386,0.000,0.000,123,2216,3154,3121,3187,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2216,3121,3188,3.8,-7.7,9,100,8.52,2.42,-1.95,0.000,19204,0.426,0.064,2553,3666,3280,3252,3309,0,0,0,0,0,0,14.05,13.26,14.36
$GC,135,-0.55,-116.8,2553,3666,3260,3303,21.9,-18.1,17,143,0.03,2.35,0.00,0.000,3078,0.191,0.049,2580,2297,3281,3264,3299,0,0,0,0,0,0,14.54,14.74,14.79
$GC,396,-0.55,-116.8,2580,2294,3267,3296,60.9,-15.6,47,401,0.00,2.33,0.00,0.000,4356,0.000,0.069,2573,3649,3281,3267,3296,0,0,0,0,0,0,15.23,14.82,15.23
$GC,512,-0.55,-116.8,2572,3649,3266,3296,75.4,-11.5,58,521,0.00,2.28,0.00,0.000,1030,0.000,0.045,2572,2262,3281,3267,3296,0,0,0,0,0,0,14.59,14.56,14.62
$GC,765,-0.55,-116.8,2572,2261,3268,3295,107.3,-12.0,83,770,0.00,2.33,0.00,0.000,516,0.000,0.056,2571,854,3281,3268,3295,0,0,0,0,0,0,15.24,14.88,15.24
$GC,879,-0.55,-116.8,2572,853,3269,3295,119.7,-10.1,94,890,0.00,2.35,0.00,0.000,3078,0.000,0.058,2562,2245,3282,3272,3293,0,0,0,0,0,0,14.62,14.56,14.65
$GC,1132,-0.55,-116.8,2562,2246,3272,3293,148.0,-10.9,119,1139,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2245,3282,3272,3293,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1380,-0.55,-116.8,2562,2246,3271,3294,175.3,-11.1,144,1389,0.00,2.35,0.00,0.000,2564,0.000,0.057,2562,857,3282,3271,3293,0,0,0,0,0,0,15.28,14.52,15.28
$GC,1474,-0.55,-116.8,2562,857,3272,3294,185.1,-9.5,153,1486,0.05,2.38,0.00,0.000,3078,0.296,0.058,2570,2269,3282,3272,3292,0,0,0,0,0,0,14.23,14.49,14.39
$STATE,1662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1662,begin apogee
$GC,1672,-0.13,0.0,2570,2076,3272,3292,200.2,-8.3,172,1774,0.32,0.08,94.78,1.076,10246,0.212,0.070,2701,2173,2798,2864,2732,0,0,0,0,0,0,14.45,14.36,13.85
$STATE,1775,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1779,0.55,116.8,2701,2173,2864,2731,204.1,0.0,183,1884,0.50,2.42,97.38,1.059,10756,0.133,0.050,2927,750,2320,2403,2238,0,0,0,0,0,0,14.38,14.34,13.82
$GC,2391,0.58,172.4,2928,747,2388,2236,178.0,7.2,243,2443,0.00,2.25,45.22,1.047,11270,0.000,0.051,2928,2102,2095,2182,2008,0,0,0,0,0,0,14.63,14.58,14.00
$GC,2692,0.60,203.5,2928,2103,2181,2002,152.7,8.5,273,2723,0.00,2.42,25.75,1.016,10500,0.000,0.069,2928,3543,1968,2053,1884,0,0,0,0,0,0,15.21,14.78,14.06
$GC,2756,0.60,203.5,2928,3543,2053,1884,146.5,10.7,279,2763,0.00,2.30,0.00,0.000,3078,0.000,0.048,2939,2159,1968,2053,1884,0,0,0,0,0,0,14.94,14.83,14.95
$GC,3006,0.62,235.3,2939,2158,2053,1881,123.8,8.5,304,3035,0.00,0.00,26.60,0.994,10246,0.000,0.000,2939,2158,1838,1922,1755,0,0,0,0,0,0,15.21,14.76,14.08
$GC,3277,0.64,259.5,2938,2158,1921,1751,99.9,8.9,331,3303,0.00,2.47,20.00,0.954,10756,0.000,0.062,2950,722,1740,1827,1654,0,0,0,0,0,0,15.21,14.82,14.09
$GC,3338,0.65,277.6,2950,721,1822,1654,94.0,9.2,337,3360,0.00,2.38,16.00,0.933,11270,0.000,0.057,2950,2121,1665,1755,1575,0,0,0,0,0,0,14.73,14.67,14.04
$GC,3609,0.67,323.3,2950,2121,1755,1571,70.7,7.7,364,3652,0.00,2.40,36.50,0.936,10500,0.000,0.070,2950,3542,1478,1570,1387,0,0,0,0,0,0,15.21,14.77,14.08
$GC,3672,0.69,348.0,2950,3542,1570,1387,65.3,8.8,370,3702,0.00,2.38,20.42,0.903,11270,0.000,0.049,2960,2125,1380,1472,1288,0,0,0,0,0,0,14.91,14.78,13.97
$GC,3942,0.70,358.9,2960,2125,1472,1282,38.7,9.5,397,3962,0.00,2.38,9.62,0.840,10756,0.000,0.064,2972,720,1334,1430,1239,0,0,0,0,0,0,15.19,14.57,14.09
$GC,4016,0.70,358.9,2971,720,1425,1240,31.4,10.5,404,4021,0.00,2.40,0.00,0.000,1030,0.000,0.058,2971,2128,1331,1424,1239,0,0,0,0,0,0,14.95,14.83,14.97
$GC,4281,0.70,358.9,2971,2128,1425,1238,4.2,12.2,452,4289,0.00,2.45,0.00,0.000,260,0.000,0.069,2971,3546,1331,1425,1237,0,0,0,0,0,0,15.19,14.78,15.19
$STATE,4296,end climb,SURFACE_DEPTH_REACHED
$STATE,4297,begin surface coast
$FINISH,0.2,1.006080
$STATE,4315,end surface coast,CONTROL_FINISHED_OK
$STATE,4315,begin surface
$SM_CCo,4335,8.73,0.201,0,0,1246,380.21
$SM_GC,1.74,6.45,2.15,8.73,0.052,0.046,0.201,159,2261,1246,-7.91,1.02,380.21,0,0,0,0,0,0,14.97,14.89,14.57
$IRIDIUM_FIX,2234.68,-15804.53,151021,234653
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.38
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.26,200.646
$10V_AH,12.57,0.000
$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,15.875,47.575,392.275,8.725,0.000,26.870,43.277,128.936,0.250,0.000,26.186,1179.583,1596.923,392.337,1363.996,189.467,0.000,949.181,0.000,1147.931,0.000,0.553,0.000
$DEVICE_MAMPS,426.105,132.345,1075.590,201.195,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.626,328.803,623.602,556.224,648.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,43893,457
$CAP_FILE_SIZE,70041,0
$CFSIZE,1023623168,941195264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.090,294.35,1
$GPS,161021,010532,2244.074,-15803.988,7,0.7,39,9.8,0.9,265.9,11,8.3