version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 949
start: 10 16 121 22 11 25
data:
$ID,626
$MISSION,3
$DIVE,949
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,161021,220444,2241.7317,-15807.2725,6,1.2,20,9.8,1.4,280.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.1
$GPS2,161021,221035,2241.7483,-15807.3174,6,1.1,18,9.8,0.7,19.0,8,9.4
$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,79.0,13873,-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,-116.8,124,2276,1292,1189,0.0,0.0,0,80,0.00,0.00,-61.35,0.000,16386,0.000,0.000,124,2276,3199,3161,3238,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,123,2276,3161,3238,3.6,-6.5,9,101,8.60,2.38,-1.23,0.000,18692,0.433,0.070,2554,3685,3278,3249,3308,0,0,0,0,0,0,14.08,13.25,14.40
$GC,132,-0.55,-116.8,2553,3685,3257,3302,21.2,-23.9,16,140,0.05,2.42,0.00,0.000,3078,0.347,0.049,2573,2265,3279,3262,3297,0,0,0,0,0,0,14.57,14.78,14.80
$GC,392,-0.55,-116.8,2573,2262,3265,3295,57.4,-14.4,47,402,0.00,2.40,0.00,0.000,260,0.000,0.070,2564,3664,3280,3265,3295,0,0,0,0,0,0,15.22,14.45,15.22
$GC,501,-0.55,-116.8,2564,3665,3265,3295,71.6,-13.0,57,510,0.00,2.30,0.00,0.000,3078,0.000,0.044,2564,2262,3280,3266,3294,0,0,0,0,0,0,14.73,14.74,14.74
$GC,750,-0.55,-116.8,2564,2261,3267,3294,109.9,-13.2,82,760,0.00,2.35,0.00,0.000,2564,0.000,0.057,2565,861,3280,3267,3293,0,0,0,0,0,0,15.26,14.48,15.26
$GC,860,-0.55,-116.8,2564,860,3268,3293,122.0,-10.3,92,869,0.05,2.42,0.00,0.000,3078,0.373,0.058,2572,2264,3280,3269,3291,0,0,0,0,0,0,14.58,14.81,14.83
$GC,1112,-0.55,-116.8,2572,2265,3269,3291,144.3,-8.7,117,1121,0.00,2.35,0.00,0.000,516,0.000,0.053,2572,862,3279,3268,3291,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1159,-0.55,-116.8,2572,861,3269,3292,148.3,-8.5,121,1166,0.00,2.38,0.00,0.000,3078,0.000,0.057,2563,2270,3280,3269,3291,0,0,0,0,0,0,15.01,14.87,15.02
$GC,1410,-0.55,-116.8,2563,2270,3269,3291,170.5,-9.4,146,1419,0.00,2.38,0.00,0.000,2564,0.000,0.054,2563,861,3279,3268,3291,0,0,0,0,0,0,15.26,14.66,15.27
$GC,1475,-0.55,-116.8,2563,861,3269,3291,177.1,-9.5,152,1485,0.05,2.38,0.00,0.000,3078,0.296,0.057,2571,2268,3280,3269,3291,0,0,0,0,0,0,14.37,14.65,14.53
$STATE,1711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1711,begin apogee
$GC,1719,-0.13,0.0,2572,2070,3269,3290,200.4,-10.0,176,1818,0.32,0.10,94.85,1.071,10246,0.214,0.123,2701,2149,2798,2864,2733,0,0,0,0,0,0,14.43,14.57,13.83
$STATE,1819,end apogee,CONTROL_FINISHED_OK
$STATE,1819,begin climb
$GC,1822,0.55,116.8,2701,2150,2864,2733,205.6,0.0,186,1927,0.50,2.33,97.78,1.060,10500,0.123,0.064,2922,3519,2321,2405,2238,0,0,0,0,0,0,14.57,14.55,13.81
$GC,2248,0.58,164.1,2921,3519,2405,2241,179.8,7.7,228,2295,0.00,2.38,39.38,1.037,9222,0.000,0.044,2932,2104,2130,2218,2042,0,0,0,0,0,0,14.94,14.83,14.00
$GC,2536,0.63,243.6,2932,2105,2217,2035,160.1,6.0,257,2605,0.00,2.42,63.78,1.033,10756,0.000,0.060,2943,720,1805,1886,1724,0,0,0,0,0,0,15.21,14.67,13.96
$GC,2661,0.63,243.6,2943,719,1879,1723,149.5,10.6,269,2666,0.00,2.35,0.00,0.000,3078,0.000,0.056,2944,2103,1801,1880,1722,0,0,0,0,0,0,14.88,14.76,14.89
$GC,2916,0.63,243.6,2943,2102,1879,1719,120.7,11.1,294,2926,0.00,2.40,0.00,0.000,2308,0.000,0.066,2944,3528,1798,1879,1718,0,0,0,0,0,0,15.19,14.50,15.19
$GC,3020,0.63,243.6,2943,3529,1879,1719,108.6,11.4,304,3030,0.00,2.33,0.00,0.000,5126,0.000,0.049,2954,2126,1799,1879,1719,0,0,0,0,0,0,14.59,14.54,14.62
$GC,3275,0.66,292.7,2954,2126,1879,1719,85.5,7.6,329,3320,0.00,0.00,39.70,0.952,10246,0.000,0.000,2954,2125,1603,1693,1514,0,0,0,0,0,0,15.24,14.74,14.08
$GC,3564,0.69,346.0,2954,2124,1694,1509,66.1,7.3,358,3613,0.00,2.45,42.50,0.926,10500,0.000,0.065,2954,3533,1387,1480,1295,0,0,0,0,0,0,15.19,14.72,14.07
$GC,3625,0.71,378.5,2954,3533,1480,1294,61.0,8.4,364,3663,0.00,2.40,26.58,0.897,11270,0.000,0.049,2964,2128,1254,1349,1159,0,0,0,0,0,0,14.88,14.75,14.00
$GC,3904,0.72,391.6,2964,2128,1348,1155,33.9,9.4,392,3924,0.00,2.42,10.98,0.840,10756,0.000,0.062,2975,714,1202,1300,1104,0,0,0,0,0,0,15.18,14.46,14.02
$GC,3986,0.72,391.6,2974,714,1295,1104,25.8,10.4,403,3995,0.00,2.45,0.00,0.000,3078,0.000,0.053,2975,2119,1199,1295,1103,0,0,0,0,0,0,14.75,14.69,14.77
$STATE,4204,end climb,SURFACE_DEPTH_REACHED
$STATE,4207,begin surface coast
$FINISH,0.6,1.023216
$STATE,4239,end surface coast,CONTROL_FINISHED_OK
$STATE,4239,begin surface
$SM_CCo,4318,0.00,0.000,0,0,1197,393.21
$SM_GC,1.31,6.38,0.22,0.00,0.036,0.095,0.000,168,2268,1197,-7.95,-1.10,393.21,0,0,0,0,0,0,14.89,14.87,14.95
$IRIDIUM_FIX,2232.34,-15807.58,161021,220624
$TT8_MAMPS,0.02247,0.341544
$HUMID,54.01
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.25,203.813
$10V_AH,12.62,0.000
$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,15.950,48.250,415.525,0.000,0.000,23.813,42.621,146.854,0.000,0.000,19.551,1139.506,1613.312,413.796,1330.998,199.575,0.000,965.273,0.000,1116.845,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,123.165,1071.000,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,296.320,321.820,613.681,558.249,650.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,40722,449
$CAP_FILE_SIZE,69133,0
$CFSIZE,1023623168,940081152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161,307.74,1
$GPS,161021,232420,2242.102,-15807.339,6,1.0,21,9.8,0.0,257.1,8,9.5