version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 936
start: 10 16 121 4 58 3
data:
$ID,626
$MISSION,3
$DIVE,936
$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,106
$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
$GPS1,161021,045134,2244.1025,-15803.6768,9,0.8,33,9.8,0.2,68.5,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.2
$GPS2,161021,045713,2244.0884,-15803.7256,5,0.9,16,9.8,7.5,296.3,9,9.9
$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,54.7,6583,-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,-116.8,123,2301,1039,906,0.0,0.0,0,87,0.00,0.00,-68.28,0.000,16386,0.000,0.000,123,2301,3169,3132,3207,0,0,0,0,0,0,15.18,28.83,15.19
$GC,91,-0.55,-116.8,122,2301,3132,3207,3.8,-7.2,10,107,8.55,2.33,-1.75,0.000,18948,0.427,0.063,2572,917,3279,3251,3308,0,0,0,0,0,0,14.01,13.18,14.31
$GC,121,-0.55,-116.8,2571,916,3262,3298,16.6,-37.1,14,130,0.00,2.38,0.00,0.000,3078,0.000,0.064,2564,2249,3281,3266,3296,0,0,0,0,0,0,14.69,14.62,14.73
$GC,385,-0.55,-116.8,2563,2249,3266,3295,59.7,-15.9,46,394,0.00,2.42,0.00,0.000,2308,0.000,0.073,2553,3668,3280,3266,3295,0,0,0,0,0,0,15.23,14.44,15.23
$GC,401,-0.55,-116.8,2552,3668,3266,3295,61.3,-15.6,47,409,0.05,2.28,0.00,0.000,3078,0.285,0.044,2573,2325,3280,3266,3295,0,0,0,0,0,0,14.49,14.72,14.64
$GC,650,-0.55,-116.8,2572,2321,3267,3295,93.6,-12.5,72,659,0.00,2.30,0.00,0.000,260,0.000,0.070,2564,3670,3281,3267,3295,0,0,0,0,0,0,15.23,14.50,15.24
$GC,666,-0.55,-116.8,2564,3670,3267,3295,95.0,-12.4,73,673,0.00,2.17,0.00,0.000,3078,0.000,0.039,2564,2332,3280,3267,3294,0,0,0,0,0,0,15.02,14.92,15.04
$GC,913,-0.55,-116.8,2564,2331,3268,3295,127.5,-13.3,98,922,0.00,2.28,0.00,0.000,2308,0.000,0.067,2554,3672,3281,3267,3295,0,0,0,0,0,0,15.27,14.51,15.27
$GC,949,-0.55,-116.8,2554,3672,3267,3295,131.7,-12.9,101,957,0.05,2.17,0.00,0.000,3078,0.351,0.037,2574,2319,3281,3268,3295,0,0,0,0,0,0,14.66,14.93,14.88
$GC,1198,-0.55,-116.8,2574,2315,3267,3295,161.2,-10.8,126,1208,0.00,2.33,0.00,0.000,260,0.000,0.074,2565,3672,3280,3267,3294,0,0,0,0,0,0,15.26,14.47,15.26
$GC,1214,-0.55,-116.8,2565,3672,3267,3295,162.4,-10.8,127,1221,0.00,2.17,0.00,0.000,3078,0.000,0.037,2565,2325,3280,3267,3294,0,0,0,0,0,0,15.04,14.93,15.05
$GC,1464,-0.55,-116.8,2565,2321,3267,3295,186.0,-8.8,152,1469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2321,3281,3268,3294,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,1638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1638,begin apogee
$GC,1646,-0.13,0.0,2564,2146,3268,3294,200.3,-7.9,170,1750,0.35,0.00,95.40,1.079,10246,0.199,0.000,2705,2143,2799,2866,2732,0,0,0,0,0,0,14.48,14.58,13.83
$STATE,1751,end apogee,CONTROL_FINISHED_OK
$STATE,1751,begin climb
$GC,1754,0.55,116.8,2705,2143,2865,2732,207.1,0.0,181,1861,0.47,2.40,98.00,1.071,10500,0.054,0.057,3020,3545,2321,2400,2242,0,0,0,0,0,0,14.71,14.30,13.79
$GC,1919,0.61,213.9,3020,3545,2400,2243,211.5,5.1,197,2009,0.25,2.25,78.32,1.074,13318,0.312,0.037,2950,2167,1925,2003,1848,0,0,0,0,0,0,14.27,14.66,13.82
$GC,2248,0.61,213.9,2950,2167,2003,1842,178.3,10.8,230,2257,0.00,2.42,0.00,0.000,4612,0.000,0.060,2960,730,1920,2000,1841,0,0,0,0,0,0,15.18,14.67,15.18
$GC,2782,0.65,285.3,2960,730,1991,1841,125.6,6.4,281,2849,0.00,2.35,56.92,1.008,9222,0.000,0.055,2960,2126,1635,1726,1545,0,0,0,0,0,0,14.76,14.71,14.02
$GC,3091,0.67,315.9,2960,2126,1726,1540,99.6,8.5,312,3122,0.00,2.45,25.30,0.965,10756,0.000,0.060,2971,726,1510,1602,1419,0,0,0,0,0,0,15.20,14.79,14.09
$GC,3315,0.71,378.3,2971,726,1595,1418,83.3,6.9,333,3374,0.00,2.35,49.42,0.952,11270,0.000,0.056,2971,2118,1256,1350,1163,0,0,0,0,0,0,14.73,14.66,14.00
$GC,3614,0.71,378.3,2969,2118,1351,1157,55.4,10.1,363,3624,0.00,2.40,0.00,0.000,2564,0.000,0.063,2981,728,1253,1349,1157,0,0,0,0,0,0,15.19,14.50,15.19
$GC,3671,0.71,378.3,2981,728,1346,1157,49.7,10.5,368,3680,0.00,2.45,0.00,0.000,5126,0.000,0.057,2981,2138,1251,1345,1157,0,0,0,0,0,0,14.95,14.80,14.97
$GC,3922,0.71,382.5,2981,2138,1346,1157,26.6,9.9,396,3931,0.00,2.40,1.52,0.395,12548,0.000,0.065,2981,3544,1238,1336,1140,0,0,0,0,0,0,15.22,14.39,14.16
$GC,3968,0.71,382.5,2981,3545,1337,1140,21.8,10.8,403,3976,0.05,2.40,0.00,0.000,5126,0.346,0.047,2973,2131,1238,1337,1140,0,0,0,0,0,0,14.62,14.81,14.85
$STATE,4146,end climb,SURFACE_DEPTH_REACHED
$STATE,4146,begin surface coast
$FINISH,0.2,1.012405
$STATE,4177,end surface coast,CONTROL_FINISHED_OK
$STATE,4177,begin surface
$SM_CCo,4255,0.00,0.000,0,0,1237,383.40
$SM_GC,1.31,6.43,0.25,0.00,0.050,0.066,0.000,161,2297,1237,-7.91,-0.76,383.40,0,0,0,0,0,0,14.94,14.95,15.00
$IRIDIUM_FIX,2234.68,-15804.53,161021,045311
$TT8_MAMPS,0.023219,0.318325
$HUMID,53.89
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.18,201.386
$10V_AH,12.65,0.000
$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,16.200,47.125,404.900,0.000,0.000,25.231,43.187,138.703,0.250,0.000,17.162,1120.198,1577.277,423.669,1314.074,188.977,0.000,969.117,0.000,1106.880,0.000,0.554,0.000
$DEVICE_MAMPS,426.870,74.205,1079.415,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.020,317.253,601.354,545.214,631.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,40858,441
$CAP_FILE_SIZE,67381,0
$CFSIZE,1023623168,940933120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.133,193.21,1
$GPS,161021,060949,2243.642,-15803.732,5,0.9,15,9.8,0.0,164.8,9,9.9