version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 801
start: 10 8 121 23 36 10
data:
$ID,626
$MISSION,3
$DIVE,801
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,081021,232738,2244.9160,-15800.2119,8,1.0,22,9.8,0.7,321.7,8,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,081021,233520,2244.8594,-15800.2900,8,1.0,21,9.8,0.0,286.6,8,9.7
$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,35.1,560,-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,-116.8,122,2298,1273,1198,0.0,0.0,0,75,0.00,0.00,-56.33,0.000,16386,0.000,0.000,122,2299,3026,2994,3058,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,122,2299,2997,3056,3.3,-6.0,8,101,8.52,2.30,-4.22,0.000,18692,0.431,0.074,2559,3655,3279,3257,3302,0,0,0,0,0,0,14.11,13.29,14.42
$GC,158,-0.55,-116.8,2558,3655,3261,3299,25.1,-13.8,21,166,0.00,2.38,0.00,0.000,3078,0.000,0.049,2558,2272,3279,3263,3296,0,0,0,0,0,0,14.95,14.77,14.96
$GC,411,-0.55,-116.8,2558,2271,3266,3295,73.5,-17.3,48,420,0.00,2.38,0.00,0.000,2564,0.000,0.063,2558,855,3280,3267,3294,0,0,0,0,0,0,15.24,14.54,15.25
$GC,570,-0.55,-116.8,2557,855,3268,3294,95.6,-12.3,63,578,0.08,2.35,0.00,0.000,3078,0.340,0.058,2575,2247,3280,3269,3291,0,0,0,0,0,0,14.62,14.88,14.88
$GC,818,-0.55,-116.8,2574,2249,3270,3290,121.9,-10.9,88,827,0.00,2.30,0.00,0.000,516,0.000,0.054,2575,858,3280,3268,3292,0,0,0,0,0,0,15.26,14.58,15.27
$GC,854,-0.55,-116.8,2574,857,3270,3292,125.9,-11.3,91,861,0.00,2.38,0.00,0.000,3078,0.000,0.057,2565,2268,3281,3271,3291,0,0,0,0,0,0,15.04,14.89,15.05
$GC,1101,-0.55,-116.8,2565,2268,3271,3291,155.1,-12.1,116,1109,0.00,2.38,0.00,0.000,2564,0.000,0.057,2565,855,3281,3271,3291,0,0,0,0,0,0,15.29,14.73,15.29
$GC,1185,-0.55,-116.8,2565,855,3271,3292,164.6,-11.3,124,1194,0.05,2.38,0.00,0.000,3078,0.295,0.058,2574,2270,3281,3271,3291,0,0,0,0,0,0,14.46,14.71,14.62
$GC,1436,-0.55,-116.8,2574,2271,3272,3290,190.3,-9.7,149,1440,0.00,2.38,0.00,0.000,516,0.000,0.054,2574,845,3281,3272,3290,0,0,0,0,0,0,15.28,14.90,15.28
$GC,1469,-0.55,-116.8,2574,846,3271,3291,193.5,-9.3,152,1477,0.00,2.38,0.00,0.000,3078,0.000,0.058,2564,2260,3280,3271,3290,0,0,0,0,0,0,14.80,14.73,14.84
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1547,begin apogee
$GC,1554,-0.13,0.0,2564,2083,3272,3290,200.7,-9.3,160,1653,0.35,0.10,94.78,1.069,10246,0.225,0.126,2701,2160,2798,2863,2734,0,0,0,0,0,0,14.50,14.61,13.91
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1657,0.55,116.8,2701,2159,2863,2734,204.0,0.0,170,1762,0.50,2.45,97.12,1.063,10756,0.130,0.054,2929,755,2321,2403,2239,0,0,0,0,0,0,14.58,14.56,13.88
$GC,1897,0.55,116.8,2929,755,2389,2238,193.1,10.3,194,1904,0.00,2.28,0.00,0.000,5126,0.000,0.052,2930,2104,2313,2390,2237,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2146,0.58,162.8,2929,2105,2389,2237,170.8,7.7,219,2195,0.00,2.45,37.53,1.034,10500,0.000,0.066,2930,3536,2135,2222,2049,0,0,0,0,0,0,15.21,14.70,14.05
$GC,2274,0.58,174.0,2929,3536,2222,2049,159.6,9.5,231,2291,0.00,2.35,10.85,0.955,13318,0.000,0.050,2940,2163,2088,2175,2002,0,0,0,0,0,0,14.93,14.76,14.05
$GC,2530,0.59,191.8,2940,2164,2175,1997,135.7,9.2,257,2552,0.00,2.47,15.30,0.972,8708,0.000,0.062,2952,718,2015,2100,1930,0,0,0,0,0,0,15.21,14.83,14.13
$GC,2581,0.60,196.4,2951,717,2094,1930,130.7,9.9,262,2592,0.00,2.38,4.55,0.776,13318,0.000,0.056,2952,2126,1997,2079,1915,0,0,0,0,0,0,14.70,14.64,14.04
$GC,2832,0.60,205.7,2951,2126,2079,1914,105.5,9.6,287,2851,0.00,2.35,8.85,0.901,12548,0.000,0.064,2952,3541,1959,2039,1880,0,0,0,0,0,0,15.23,14.64,14.12
$GC,3027,0.60,205.7,2951,3540,2039,1880,83.8,10.5,306,3037,0.05,2.33,0.00,0.000,5126,0.315,0.049,2945,2127,1959,2039,1880,0,0,0,0,0,0,14.35,14.62,14.51
$GC,3279,0.63,245.8,2944,2125,2039,1878,62.8,8.0,331,3316,0.00,0.00,32.65,0.925,10502,0.000,0.000,2945,2125,1795,1878,1712,0,0,0,0,0,0,15.25,14.78,14.17
$GC,3557,0.67,310.1,2944,2125,1877,1708,41.1,6.8,359,3617,0.00,2.47,50.50,0.896,10756,0.000,0.063,2954,713,1533,1623,1443,0,0,0,0,0,0,15.21,14.69,14.13
$GC,3633,0.67,321.2,2954,713,1619,1443,34.9,9.5,366,3651,0.00,2.45,9.90,0.823,11270,0.000,0.056,2954,2132,1488,1580,1397,0,0,0,0,0,0,14.88,14.74,14.08
$GC,3905,0.67,321.2,2954,2133,1579,1393,8.9,10.7,413,3913,0.00,2.40,0.00,0.000,2308,0.000,0.062,2954,3539,1485,1579,1392,0,0,0,0,0,0,15.16,14.79,15.16
$GC,3955,0.68,337.6,2954,3540,1579,1392,5.0,9.3,421,3970,0.00,2.40,6.80,0.207,11270,0.000,0.049,2965,2119,1418,1512,1325,0,0,0,0,0,0,14.95,14.82,14.60
$STATE,3976,end climb,SURFACE_DEPTH_REACHED
$STATE,3976,begin surface coast
$FINISH,0.2,1.023106
$STATE,4000,end surface coast,CONTROL_FINISHED_OK
$STATE,4000,begin surface
$SM_CCo,4018,17.48,0.185,0,0,1247,380.21
$SM_GC,0.96,6.47,0.28,17.48,0.057,0.082,0.185,165,2282,1247,-7.93,-0.76,380.21,0,0,0,0,0,0,14.89,14.90,14.62
$IRIDIUM_FIX,2237.01,-15759.32,081021,233131
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.87
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.29,177.204
$10V_AH,12.56,0.000
$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,16.025,52.950,368.825,17.475,0.000,51.183,99.132,111.180,0.250,0.000,22.807,1103.170,1508.794,405.282,1342.381,173.531,0.000,926.650,0.000,1061.293,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,126.225,1069.470,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.677,310.085,587.963,541.466,630.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,40735,428
$CAP_FILE_SIZE,70463,0
$CFSIZE,1023623168,949780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.223,220.17,1
$GPS,091021,004449,2244.810,-15800.488,11,0.7,45,9.8,2.1,215.9,11,5.6