version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 942
start: 10 16 121 12 54 22
data:
$ID,626
$MISSION,3
$DIVE,942
$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,28
$R_STBD_OVSHOOT,43
$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
$GPS1,161021,124749,2242.7205,-15805.4912,6,1.0,39,9.8,1.0,270.3,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.1
$GPS2,161021,125331,2242.7075,-15805.5371,6,1.0,16,9.8,0.8,99.7,8,10.0
$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,64.3,10366,-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,-116.8,123,2286,808,670,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,16386,0.000,0.000,123,2287,2997,2966,3029,0,0,0,0,0,0,15.17,28.83,15.19
$GC,93,-0.55,-116.8,123,2286,2971,3026,3.2,-5.7,10,116,8.57,2.33,-4.70,0.000,18692,0.433,0.067,2553,3671,3276,3253,3300,0,0,0,0,0,0,14.09,13.85,14.37
$GC,140,-0.55,-116.8,2553,3670,3257,3297,18.0,-25.2,17,148,0.05,2.40,0.00,0.000,3078,0.353,0.044,2573,2243,3277,3261,3294,0,0,0,0,0,0,14.58,14.81,14.81
$GC,396,-0.55,-116.8,2572,2240,3262,3291,57.1,-14.9,48,400,0.00,2.40,0.00,0.000,260,0.000,0.065,2564,3660,3276,3262,3290,0,0,0,0,0,0,15.23,14.84,15.23
$GC,422,-0.55,-116.8,2563,3661,3262,3291,60.6,-15.2,50,430,0.00,2.38,0.00,0.000,3078,0.000,0.045,2563,2262,3275,3262,3289,0,0,0,0,0,0,14.84,14.78,14.86
$GC,670,-0.55,-116.8,2563,2259,3263,3290,94.6,-12.7,75,679,0.00,2.40,0.00,0.000,2308,0.000,0.069,2553,3666,3276,3263,3289,0,0,0,0,0,0,15.26,14.66,15.26
$GC,746,-0.55,-116.8,2553,3666,3263,3290,103.5,-12.2,82,755,0.05,2.35,0.00,0.000,3078,0.286,0.039,2573,2262,3276,3263,3290,0,0,0,0,0,0,14.53,14.81,14.69
$GC,997,-0.55,-116.8,2573,2259,3265,3290,130.3,-9.1,107,1005,0.00,2.28,0.00,0.000,516,0.000,0.052,2573,864,3277,3266,3289,0,0,0,0,0,0,15.26,14.71,15.26
$GC,1072,-0.55,-116.8,2573,864,3266,3289,137.0,-8.7,114,1080,0.00,2.38,0.00,0.000,3078,0.000,0.055,2565,2251,3277,3267,3288,0,0,0,0,0,0,14.97,14.81,15.00
$GC,1323,-0.55,-116.8,2564,2250,3267,3288,158.1,-8.4,139,1331,0.00,2.38,0.00,0.000,2308,0.000,0.066,2554,3669,3277,3267,3288,0,0,0,0,0,0,15.26,14.68,15.26
$GC,1375,-0.55,-116.8,2553,3669,3267,3288,162.6,-8.0,144,1380,0.05,2.25,0.00,0.000,3078,0.329,0.032,2576,2258,3277,3267,3287,0,0,0,0,0,0,14.70,14.96,14.91
$GC,1630,-0.55,-116.8,2576,2252,3267,3287,182.3,-8.3,169,1638,0.00,2.25,0.00,0.000,516,0.000,0.049,2576,870,3277,3267,3288,0,0,0,0,0,0,15.27,14.73,15.28
$STATE,1830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1830,begin apogee
$GC,1839,-0.13,0.0,2569,2129,3267,3286,200.2,-8.8,189,1942,0.32,0.00,94.15,1.077,10246,0.182,0.000,2704,2129,2798,2864,2733,0,0,0,0,0,0,14.37,14.59,13.83
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1946,0.55,116.8,2704,2129,2864,2733,208.3,0.0,200,2053,0.50,2.42,97.55,1.069,11012,0.086,0.061,2948,3539,2324,2406,2242,0,0,0,0,0,0,14.64,14.28,13.76
$GC,2398,0.60,198.2,2948,3539,2406,2242,193.8,5.9,244,2476,0.05,2.30,66.68,1.063,13318,0.425,0.039,2944,2126,1988,2072,1905,0,0,0,0,0,0,14.57,14.90,13.92
$GC,2716,0.62,231.4,2943,2126,2070,1899,164.6,8.4,276,2748,0.00,2.38,26.62,1.020,10756,0.000,0.056,2954,719,1855,1938,1773,0,0,0,0,0,0,15.20,14.56,14.03
$GC,3263,0.65,283.4,2954,718,1926,1769,114.2,7.4,329,3311,0.00,2.38,42.00,0.985,11270,0.000,0.056,2954,2126,1642,1735,1550,0,0,0,0,0,0,15.02,14.88,14.06
$GC,3561,0.69,349.6,2953,2126,1735,1545,90.9,6.7,359,3619,0.00,0.00,52.65,0.958,10502,0.000,0.000,2954,2125,1372,1465,1279,0,0,0,0,0,0,15.21,14.68,14.04
$GC,3860,0.73,408.1,2954,2126,1465,1274,69.7,7.1,389,3912,0.00,2.45,45.72,0.929,10756,0.000,0.063,2964,730,1134,1231,1037,0,0,0,0,0,0,15.19,14.71,14.06
$GC,4033,0.73,416.8,2964,729,1224,1037,55.1,9.7,406,4047,0.00,2.35,7.90,0.822,11270,0.000,0.051,2964,2126,1099,1198,1000,0,0,0,0,0,0,14.63,14.58,14.05
$GC,4298,0.76,454.6,2964,2126,1197,997,31.0,8.2,432,4332,0.00,0.00,29.80,0.876,10502,0.000,0.000,2965,2126,944,1048,841,0,0,0,0,0,0,15.21,14.76,14.12
$GC,4595,0.76,454.6,2964,2126,1047,838,7.6,11.8,484,4604,0.00,2.47,0.00,0.000,2564,0.000,0.066,2974,724,942,1047,838,0,0,0,0,0,0,15.17,14.78,15.18
$STATE,4636,end climb,SURFACE_DEPTH_REACHED
$STATE,4636,begin surface coast
$FINISH,0.3,1.018850
$STATE,4665,end surface coast,CONTROL_FINISHED_OK
$STATE,4665,begin surface
$SM_CCo,4746,0.00,0.000,0,0,939,456.50
$SM_GC,1.12,6.30,2.60,0.00,0.025,0.037,0.000,124,2283,939,-7.96,-0.90,456.50,0,0,0,0,0,0,14.95,14.90,15.00
$IRIDIUM_FIX,2232.34,-15807.58,161021,124926
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.66
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.76,202.537
$10V_AH,12.55,0.000
$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,15.900,47.275,463.075,0.000,0.000,23.388,50.646,132.221,0.250,0.000,17.359,1269.202,1690.491,443.720,1515.447,197.913,0.000,1066.897,0.000,1302.825,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,68.850,1077.120,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.809,354.283,678.159,611.824,715.606,0.000,0.000,0.000,0.000,0.000
$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,47404,496
$CAP_FILE_SIZE,73647,0
$CFSIZE,1023623168,940539904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.096,217.47,1
$GPS,161021,141431,2242.575,-15805.558,5,0.9,27,9.8,0.9,294.1,9,5.8