version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 954
start: 10 17 121 4 51 46
data:
$ID,626
$MISSION,3
$DIVE,954
$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,31
$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
$GPS1,171021,044455,2242.4502,-15806.2334,6,0.9,18,9.8,0.0,126.8,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.6
$GPS2,171021,045055,2242.4124,-15806.2363,6,1.0,18,9.8,0.0,61.7,8,10.0
$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,42.8,11680,-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,-116.8,123,2296,1256,1136,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,16386,0.000,0.000,123,2296,3210,3173,3247,0,0,0,0,0,0,15.17,28.83,15.18
$GC,85,-0.55,-116.8,123,2296,3174,3249,3.9,-7.7,9,100,8.52,0.00,-1.05,0.000,18950,0.427,0.000,2563,2296,3279,3251,3308,0,0,0,0,0,0,14.06,13.31,14.37
$GC,353,-0.55,-116.8,2563,2296,3264,3296,60.4,-16.4,43,358,0.00,2.45,0.00,0.000,2564,0.000,0.054,2564,847,3280,3264,3296,0,0,0,0,0,0,15.22,14.83,15.22
$GC,418,-0.55,-116.8,2563,847,3267,3296,69.9,-13.3,49,423,0.05,2.40,0.00,0.000,3078,0.389,0.060,2572,2255,3280,3267,3294,0,0,0,0,0,0,14.59,14.83,14.83
$GC,674,-0.55,-116.8,2571,2259,3267,3294,102.9,-11.9,74,683,0.00,2.33,0.00,0.000,516,0.000,0.051,2572,856,3280,3267,3294,0,0,0,0,0,0,15.25,14.63,15.25
$GC,728,-0.55,-116.8,2571,856,3267,3294,109.9,-12.2,79,733,0.00,2.40,0.00,0.000,3078,0.000,0.056,2563,2274,3280,3268,3293,0,0,0,0,0,0,15.00,14.86,15.02
$GC,982,-0.55,-116.8,2562,2274,3268,3293,141.2,-11.8,104,991,0.00,2.38,0.00,0.000,2564,0.000,0.050,2563,855,3281,3268,3294,0,0,0,0,0,0,15.27,14.48,15.27
$GC,1029,-0.55,-116.8,2562,855,3268,3293,146.0,-10.9,108,1037,0.05,2.45,0.00,0.000,3078,0.312,0.050,2571,2273,3280,3268,3293,0,0,0,0,0,0,14.47,14.76,14.62
$GC,1277,-0.55,-116.8,2571,2274,3268,3293,169.6,-9.3,133,1281,0.00,2.38,0.00,0.000,2564,0.000,0.049,2571,852,3280,3268,3293,0,0,0,0,0,0,15.27,14.88,15.27
$GC,1350,-0.55,-116.8,2571,851,3268,3293,177.1,-10.0,140,1359,0.00,2.35,0.00,0.000,3078,0.000,0.048,2562,2267,3280,3269,3292,0,0,0,0,0,0,14.77,14.72,14.80
$STATE,1557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1565,-0.13,0.0,2562,2058,3269,3291,200.5,-12.1,161,1664,0.38,0.12,94.45,1.076,10246,0.218,0.107,2708,2156,2799,2866,2732,0,0,0,0,0,0,14.42,14.58,13.83
$STATE,1665,end apogee,CONTROL_FINISHED_OK
$STATE,1665,begin climb
$GC,1668,0.55,116.8,2707,2157,2866,2733,208.7,0.0,171,1773,0.45,2.30,98.00,1.066,10500,0.090,0.067,2932,3504,2321,2405,2238,0,0,0,0,0,0,14.63,14.55,13.78
$GC,1839,0.64,271.6,2932,3505,2405,2239,216.6,2.1,188,1971,0.00,2.33,124.85,1.072,11270,0.000,0.041,2943,2112,1689,1774,1605,0,0,0,0,0,0,14.85,14.75,13.83
$GC,2223,0.64,271.6,2943,2111,1774,1601,173.5,11.7,226,2227,0.00,2.33,0.00,0.000,2564,0.000,0.054,2954,722,1686,1773,1600,0,0,0,0,0,0,15.18,14.83,15.18
$GC,2410,0.65,279.5,2954,721,1769,1601,153.8,9.7,244,2426,0.00,2.33,7.05,0.897,11270,0.000,0.060,2954,2102,1659,1747,1571,0,0,0,0,0,0,15.00,14.86,13.95
$GC,2667,0.66,296.9,2954,2102,1747,1569,131.4,9.2,270,2689,0.00,2.45,15.90,0.968,10500,0.000,0.069,2954,3534,1587,1680,1494,0,0,0,0,0,0,15.24,14.84,14.08
$GC,2711,0.66,299.2,2953,3534,1680,1494,127.2,10.0,274,2720,0.00,2.42,0.00,0.000,5126,0.000,0.057,2964,2138,1587,1680,1494,0,0,0,0,0,0,14.79,14.72,14.82
$GC,2961,0.66,299.2,2964,2138,1680,1494,101.6,10.5,299,2970,0.00,2.42,0.00,0.000,4612,0.000,0.065,2976,711,1586,1680,1493,0,0,0,0,0,0,15.22,14.65,15.22
$GC,3006,0.66,299.2,2975,711,1677,1493,96.9,10.3,303,3013,0.00,2.40,0.00,0.000,5126,0.000,0.057,2976,2122,1584,1677,1492,0,0,0,0,0,0,15.00,14.86,15.02
$GC,3258,0.68,324.4,2976,2123,1678,1491,71.4,8.8,328,3287,0.00,2.45,23.10,0.923,12804,0.000,0.064,2987,718,1475,1568,1382,0,0,0,0,0,0,15.24,14.82,14.12
$GC,3318,0.69,351.0,2987,717,1566,1383,66.1,8.7,334,3348,0.03,2.40,21.95,0.906,13318,0.362,0.058,2976,2130,1367,1463,1272,0,0,0,0,0,0,14.35,14.54,14.07
$GC,3587,0.70,359.3,2976,2130,1462,1268,42.2,9.7,361,3601,0.00,2.40,7.78,0.819,8452,0.000,0.068,2976,3529,1332,1430,1235,0,0,0,0,0,0,15.19,14.82,14.08
$GC,3737,0.72,402.9,2976,3529,1430,1235,27.8,7.8,377,3766,0.00,2.40,19.90,0.857,13318,0.000,0.050,2985,2122,1155,1251,1059,0,0,0,0,0,0,14.95,14.80,14.05
$STATE,4021,end climb,SURFACE_DEPTH_REACHED
$STATE,4021,begin surface coast
$FINISH,0.3,1.023264
$STATE,4052,end surface coast,CONTROL_FINISHED_OK
$STATE,4052,begin surface
$SM_CCo,4131,0.00,0.000,0,0,1151,404.74
$SM_GC,1.20,6.53,0.25,0.00,0.054,0.062,0.000,109,2307,1151,-7.95,-0.99,404.74,0,0,0,0,0,0,14.96,14.95,15.00
$IRIDIUM_FIX,2232.34,-15807.58,171021,044636
$TT8_MAMPS,0.02247,0.345289
$HUMID,55.00
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,13.31,204.720
$10V_AH,12.49,0.000
$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,16.000,48.375,412.975,0.000,0.000,25.316,47.678,149.506,0.500,0.000,19.398,1107.390,1529.506,397.998,1291.657,191.830,0.000,921.600,0.000,1071.117,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,107.100,1075.590,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.190,315.166,596.866,544.968,636.468,0.000,0.000,0.000,0.000,0.000
$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,40738,433
$CAP_FILE_SIZE,67685,0
$CFSIZE,1023623168,939753472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.145,189.61,1
$GPS,171021,060155,2242.193,-15806.226,6,0.8,42,9.8,0.3,247.7,10,6.9