version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 828
start: 10 10 121 9 18 22
data:
$ID,626
$MISSION,3
$DIVE,828
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,101021,091201,2246.0142,-15759.3008,7,0.8,26,9.8,1.0,239.7,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.5
$GPS2,101021,091733,2246.0088,-15759.3232,6,0.8,17,9.8,1.3,271.9,10,9.6
$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,203.3,2197,-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,14,begin dive
$GC,17,-0.55,-116.8,123,2294,817,694,0.0,0.0,0,96,0.00,0.00,-77.15,0.000,16390,0.000,0.000,122,2295,3278,3241,3315,0,0,0,0,0,0,15.19,13.08,15.14
$GC,100,-0.55,-116.8,121,2295,3242,3315,4.0,-7.6,11,115,8.45,2.35,0.00,0.000,2564,0.429,0.031,2576,826,3279,3249,3309,0,0,0,0,0,0,14.10,14.55,14.40
$GC,144,-0.55,-116.8,2575,826,3261,3299,24.4,-33.6,18,152,0.00,2.45,0.00,0.000,3078,0.000,0.057,2567,2250,3279,3262,3297,0,0,0,0,0,0,14.95,14.81,14.97
$GC,397,-0.55,-116.8,2567,2252,3262,3296,74.2,-19.5,45,401,0.00,2.38,0.00,0.000,2564,0.000,0.059,2567,846,3279,3262,3296,0,0,0,0,0,0,15.24,14.88,15.24
$GC,511,-0.55,-116.8,2566,846,3264,3296,91.6,-13.1,56,522,0.03,2.40,0.00,0.000,3078,0.410,0.055,2566,2285,3280,3265,3295,0,0,0,0,0,0,14.47,14.82,14.55
$GC,764,-0.55,-116.8,2565,2286,3266,3294,128.9,-13.6,81,769,0.00,2.40,0.00,0.000,2564,0.000,0.052,2566,850,3280,3266,3295,0,0,0,0,0,0,15.27,14.91,15.27
$GC,868,-0.55,-116.8,2566,850,3266,3295,142.1,-11.6,91,873,0.05,2.35,0.00,0.000,3078,0.386,0.050,2574,2267,3280,3267,3294,0,0,0,0,0,0,14.67,14.92,14.91
$GC,1122,-0.55,-116.8,2574,2268,3267,3293,170.3,-10.9,116,1130,0.00,2.33,0.00,0.000,516,0.000,0.052,2574,852,3280,3267,3294,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1199,-0.55,-116.8,2574,852,3267,3293,177.5,-9.7,123,1206,0.00,2.40,0.00,0.000,3078,0.000,0.054,2565,2266,3279,3267,3291,0,0,0,0,0,0,15.01,14.86,15.04
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1442,-0.13,0.0,2565,2071,3267,3291,200.2,-10.0,147,1545,0.35,0.10,94.40,1.073,10246,0.226,0.125,2700,2161,2798,2864,2733,0,0,0,0,0,0,14.35,14.62,13.92
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,0.55,116.8,2700,2161,2864,2734,205.5,0.0,158,1656,0.50,2.50,97.50,1.063,10756,0.121,0.054,2932,710,2322,2405,2239,0,0,0,0,0,0,14.60,14.31,13.82
$GC,2040,0.61,213.0,2932,710,2393,2236,185.2,5.1,206,2124,0.00,2.28,77.32,1.053,11270,0.000,0.048,2932,2089,1929,2012,1847,0,0,0,0,0,0,14.81,14.77,13.98
$GC,2372,0.61,213.0,2932,2089,2011,1839,155.2,10.3,239,2382,0.00,2.33,0.00,0.000,2564,0.000,0.057,2943,713,1924,2009,1839,0,0,0,0,0,0,15.20,14.73,15.20
$GC,2894,0.63,251.6,2943,713,2000,1839,106.9,8.1,290,2934,0.00,2.35,30.55,0.969,11270,0.000,0.054,2943,2117,1772,1859,1686,0,0,0,0,0,0,14.65,14.59,14.16
$GC,3175,0.67,310.4,2943,2116,1859,1680,85.6,7.1,318,3227,0.00,2.38,46.90,0.949,10500,0.000,0.067,2943,3537,1533,1626,1440,0,0,0,0,0,0,15.23,14.76,14.11
$GC,3343,0.69,346.8,2942,3537,1625,1439,72.4,8.2,334,3382,0.00,2.33,29.67,0.919,11270,0.000,0.044,2954,2118,1384,1483,1285,0,0,0,0,0,0,14.68,14.65,14.04
$GC,3623,0.74,422.3,2954,2116,1482,1280,57.3,6.2,362,3693,0.05,2.38,58.45,0.903,10756,0.256,0.060,3093,719,1074,1165,984,0,0,0,0,0,0,14.86,14.54,14.09
$GC,3883,0.74,422.3,3093,718,1158,983,23.7,12.7,391,3891,0.30,2.42,0.00,0.000,5126,0.225,0.057,2982,2125,1069,1158,981,0,0,0,0,0,0,14.59,14.79,14.85
$STATE,4108,end climb,SURFACE_DEPTH_REACHED
$STATE,4108,begin surface coast
$FINISH,0.2,1.023189
$STATE,4134,end surface coast,CONTROL_FINISHED_OK
$STATE,4134,begin surface
$SM_CCo,4212,0.00,0.000,0,0,1068,424.85
$SM_GC,1.15,6.40,0.22,0.00,0.046,0.063,0.000,178,2309,1068,-7.89,-0.76,424.85,0,0,0,0,0,0,14.90,14.98,14.98
$IRIDIUM_FIX,2237.01,-15759.32,101021,091334
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.26
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.08,181.973
$10V_AH,12.75,0.000
$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,16.125,38.575,434.800,0.000,0.000,25.770,45.093,126.973,0.250,0.000,18.396,1128.435,1481.933,409.905,1387.958,164.725,0.000,987.407,0.000,1176.143,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,125.460,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.584,318.018,594.174,532.028,617.135,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,40674,437
$CAP_FILE_SIZE,64890,0
$CFSIZE,1023623168,948027392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,238.97,1
$GPS,101021,102935,2245.837,-15759.459,6,0.9,26,9.8,0.5,131.8,8,8.7