version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 935
start: 10 16 121 3 48 17
data:
$ID,626
$MISSION,3
$DIVE,935
$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,92
$R_STBD_OVSHOOT,64
$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
$GPS1,161021,034123,2244.2263,-15803.5977,6,1.1,22,9.8,0.0,222.5,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.8
$GPS2,161021,034727,2244.1978,-15803.6436,6,1.0,22,9.8,0.0,101.3,8,9.8
$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,63.4,6398,-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,-116.8,123,2308,1200,1077,0.0,0.0,0,80,0.00,0.00,-61.67,0.000,16386,0.000,0.000,123,2309,3149,3115,3184,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2309,3115,3185,4.0,-8.7,9,100,8.50,2.28,-2.03,0.000,18692,0.425,0.070,2551,3658,3281,3253,3309,0,0,0,0,0,0,14.04,13.24,14.35
$GC,136,-0.55,-116.8,2551,3659,3261,3303,22.8,-21.1,17,144,0.05,2.30,0.00,0.000,3078,0.286,0.050,2571,2323,3281,3263,3300,0,0,0,0,0,0,14.48,14.71,14.83
$GC,390,-0.55,-116.8,2571,2319,3266,3297,61.1,-14.8,46,400,0.00,2.22,0.00,0.000,2308,0.000,0.068,2563,3630,3282,3267,3297,0,0,0,0,0,0,15.23,14.47,15.23
$GC,502,-0.55,-116.8,2563,3630,3266,3297,75.4,-12.3,56,512,0.00,2.12,0.00,0.000,3078,0.000,0.041,2563,2322,3281,3267,3296,0,0,0,0,0,0,14.66,14.62,14.69
$GC,753,-0.55,-116.8,2563,2321,3267,3296,110.8,-12.3,81,761,0.00,2.25,0.00,0.000,2308,0.000,0.067,2553,3642,3281,3267,3296,0,0,0,0,0,0,15.26,14.86,15.26
$GC,863,-0.55,-116.8,2553,3643,3267,3296,121.3,-9.0,91,870,0.05,2.15,0.00,0.000,3078,0.347,0.041,2573,2318,3281,3267,3296,0,0,0,0,0,0,14.66,14.92,14.88
$GC,1112,-0.55,-116.8,2573,2314,3268,3295,144.3,-9.0,116,1123,0.00,2.25,0.00,0.000,260,0.000,0.069,2565,3637,3282,3268,3296,0,0,0,0,0,0,15.26,14.53,15.26
$GC,1242,-0.55,-116.8,2564,3638,3268,3296,155.8,-8.7,128,1251,0.00,2.10,0.00,0.000,3078,0.000,0.032,2564,2305,3282,3270,3295,0,0,0,0,0,0,14.85,14.79,14.85
$GC,1493,-0.55,-116.8,2564,2304,3270,3294,181.9,-10.7,153,1503,0.00,2.28,0.00,0.000,2308,0.000,0.071,2554,3635,3282,3270,3295,0,0,0,0,0,0,15.27,14.50,15.27
$GC,1662,-0.55,-116.8,2554,3635,3270,3295,194.8,-6.6,169,1669,0.00,2.20,0.00,0.000,3078,0.000,0.032,2554,2250,3282,3270,3294,0,0,0,0,0,0,15.04,14.96,15.07
$STATE,1756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1756,begin apogee
$GC,1763,-0.13,0.0,2554,2074,3270,3294,200.3,-5.8,179,1862,0.38,0.00,95.15,1.073,10246,0.185,0.000,2707,2071,2798,2865,2732,0,0,0,0,0,0,14.49,14.58,13.84
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1866,0.55,116.8,2707,2071,2865,2732,206.2,0.0,189,1971,0.50,2.22,97.55,1.066,11012,0.100,0.052,2945,776,2322,2406,2238,0,0,0,0,0,0,14.60,14.55,13.83
$GC,1985,0.75,446.3,2945,771,2390,2245,214.8,-6.9,201,2256,0.08,2.25,261.77,1.069,11270,0.116,0.039,3047,2094,979,1075,884,0,0,0,0,0,0,14.59,14.59,13.85
$GC,2497,0.75,446.3,3047,2094,1074,880,134.3,15.4,252,2502,0.12,2.20,0.00,0.000,4612,0.279,0.049,3002,787,977,1074,880,0,0,0,0,0,0,14.61,14.83,14.75
$GC,2654,0.75,446.3,3002,785,1071,880,113.7,13.4,267,2662,0.00,2.22,0.00,0.000,5126,0.000,0.052,3002,2114,975,1071,879,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2904,0.75,446.3,3002,2114,1071,878,81.3,12.0,292,2909,0.00,2.28,0.00,0.000,4612,0.000,0.062,3012,789,974,1071,878,0,0,0,0,0,0,15.23,14.87,15.23
$GC,2931,0.75,446.3,3012,790,1071,879,78.2,12.1,294,2939,0.03,2.33,0.00,0.000,5126,0.174,0.054,2984,2127,974,1071,878,0,0,0,0,0,0,14.64,14.79,14.88
$GC,3181,0.75,446.3,2983,2129,1070,878,51.4,11.2,319,3191,0.00,2.30,0.00,0.000,2564,0.000,0.064,2992,789,974,1071,878,0,0,0,0,0,0,15.24,14.55,15.24
$GC,3256,0.75,446.3,2991,789,1070,877,42.4,12.2,326,3261,0.00,2.28,0.00,0.000,1030,0.000,0.055,2992,2132,974,1070,878,0,0,0,0,0,0,15.00,14.88,15.02
$GC,3513,0.75,446.3,2992,2133,1070,878,14.7,11.6,363,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2133,973,1070,877,0,0,0,0,0,0,15.21,15.22,15.22
$STATE,3619,end climb,SURFACE_DEPTH_REACHED
$STATE,3619,begin surface coast
$FINISH,0.3,1.023202
$STATE,3649,end surface coast,CONTROL_FINISHED_OK
$STATE,3649,begin surface
$SM_CCo,3728,0.00,0.000,0,0,973,448.16
$SM_GC,1.16,6.45,0.22,0.00,0.047,0.076,0.000,165,2291,973,-7.90,-0.65,448.16,0,0,0,0,0,0,14.95,14.95,15.00
$IRIDIUM_FIX,2234.68,-15633.35,161021,034316
$TT8_MAMPS,0.02247,0.316827
$HUMID,54.25
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,13.24,201.201
$10V_AH,12.83,0.000
$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,16.150,40.600,454.475,0.000,0.000,32.940,52.027,139.505,0.750,0.000,23.264,976.602,1307.995,431.689,1223.384,180.456,0.000,942.440,0.000,996.474,0.000,0.555,0.000
$DEVICE_MAMPS,425.340,80.325,1073.295,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.437,278.509,528.608,487.565,570.452,0.000,0.000,0.000,0.000,0.000
$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,37301,387
$CAP_FILE_SIZE,60938,0
$CFSIZE,1023623168,941015040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.097,229.54,1
$GPS,161021,045134,2244.103,-15803.677,9,0.8,33,9.8,0.2,68.5,10,9.4