version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 835
start: 10 10 121 18 13 19
data:
$ID,626
$MISSION,3
$DIVE,835
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,101021,180419,2245.2979,-15759.8828,11,0.8,45,9.8,0.7,322.9,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.0
$GPS2,101021,181228,2245.3735,-15759.9082,6,0.9,18,9.8,0.0,345.4,10,9.6
$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,180.4,709,-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,-116.8,111,2235,1278,1195,0.0,0.0,0,73,0.00,0.00,-54.70,0.000,16386,0.000,0.000,111,2234,2969,2953,2985,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,111,2234,2952,2987,3.1,-5.2,8,100,8.50,2.33,-5.35,0.000,19204,0.426,0.072,2567,878,3280,3262,3298,0,0,0,0,0,0,14.11,13.27,14.41
$GC,258,-0.55,-116.8,2567,877,3269,3293,43.1,-19.8,34,269,0.00,2.33,0.00,0.000,3078,0.000,0.057,2558,2265,3280,3271,3290,0,0,0,0,0,0,14.69,14.70,14.71
$GC,509,-0.55,-116.8,2557,2265,3271,3290,92.2,-18.6,59,517,0.00,2.33,0.00,0.000,2564,0.000,0.054,2558,879,3280,3271,3290,0,0,0,0,0,0,15.26,14.73,15.26
$GC,555,-0.55,-116.8,2557,878,3271,3290,99.0,-15.3,63,562,0.08,2.35,0.00,0.000,3078,0.343,0.058,2574,2270,3280,3270,3290,0,0,0,0,0,0,14.62,14.88,14.88
$GC,804,-0.55,-116.8,2574,2271,3271,3290,130.6,-11.8,88,815,0.00,2.33,0.00,0.000,516,0.000,0.054,2574,872,3281,3272,3290,0,0,0,0,0,0,15.26,14.57,15.27
$GC,883,-0.55,-116.8,2574,872,3272,3290,139.3,-10.7,95,890,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2266,3280,3272,3289,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1133,-0.55,-116.8,2565,2266,3272,3289,169.2,-11.5,120,1143,0.00,2.33,0.00,0.000,2564,0.000,0.055,2564,878,3280,3272,3289,0,0,0,0,0,0,15.28,14.85,15.28
$GC,1179,-0.55,-116.8,2564,877,3272,3290,174.5,-11.6,124,1188,0.05,2.35,0.00,0.000,3078,0.379,0.057,2573,2276,3281,3272,3290,0,0,0,0,0,0,14.66,14.90,14.90
$GC,1430,-0.55,-116.8,2573,2277,3272,3289,197.9,-9.1,149,1438,0.00,2.35,0.00,0.000,516,0.000,0.054,2573,878,3281,3272,3290,0,0,0,0,0,0,15.28,14.74,15.28
$STATE,1450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1450,begin apogee
$GC,1459,-0.13,0.0,2564,2127,3272,3289,200.3,-9.5,151,1561,0.35,0.00,94.68,1.058,10246,0.225,0.000,2702,2128,2798,2865,2732,0,0,0,0,0,0,14.50,14.38,13.88
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1564,0.55,116.8,2702,2128,2864,2732,204.6,0.0,162,1673,0.50,2.38,96.85,1.060,10500,0.135,0.062,2919,3537,2321,2406,2237,0,0,0,0,0,0,14.59,14.37,13.87
$GC,1820,0.56,139.3,2918,3537,2406,2237,192.0,8.9,187,1851,0.00,2.30,19.23,1.009,9222,0.000,0.046,2930,2136,2232,2320,2144,0,0,0,0,0,0,14.74,14.71,13.97
$GC,2091,0.58,175.8,2929,2136,2319,2140,167.5,8.2,214,2130,0.00,2.38,30.38,1.011,10500,0.000,0.062,2930,3537,2082,2172,1992,0,0,0,0,0,0,15.22,14.55,14.07
$GC,2206,0.58,175.8,2929,3536,2172,1992,156.0,11.1,225,2216,0.00,2.33,0.00,0.000,5126,0.000,0.048,2939,2129,2082,2173,1992,0,0,0,0,0,0,14.65,14.60,14.68
$GC,2457,0.60,196.7,2940,2129,2172,1989,130.9,9.0,250,2485,0.00,2.38,17.70,0.961,8452,0.000,0.064,2940,3537,1996,2083,1910,0,0,0,0,0,0,15.22,14.63,14.12
$GC,2529,0.60,196.7,2940,3537,2083,1910,123.7,10.1,257,2538,0.00,2.35,0.00,0.000,5126,0.000,0.051,2951,2121,1996,2083,1910,0,0,0,0,0,0,14.81,14.73,14.82
$GC,2783,0.61,221.1,2951,2121,2083,1908,100.1,8.8,282,2810,0.00,2.40,19.92,0.938,12804,0.000,0.060,2962,706,1898,1981,1816,0,0,0,0,0,0,15.24,14.58,14.10
$GC,2846,0.62,229.9,2962,706,1973,1816,94.0,9.6,288,2864,0.00,2.42,8.52,0.868,13318,0.000,0.057,2962,2123,1860,1943,1778,0,0,0,0,0,0,14.97,14.83,14.12
$GC,3106,0.67,312.1,2962,2124,1943,1774,74.4,5.9,314,3177,0.00,2.40,64.78,0.930,8452,0.000,0.066,2962,3533,1524,1614,1435,0,0,0,0,0,0,15.23,14.69,14.08
$GC,3259,0.68,340.1,2962,3533,1613,1435,60.7,8.7,329,3290,0.00,2.35,22.95,0.890,13318,0.000,0.050,2973,2125,1411,1505,1318,0,0,0,0,0,0,14.65,14.62,14.10
$GC,3530,0.68,340.1,2973,2124,1505,1312,30.9,12.8,356,3539,0.00,2.38,0.00,0.000,4612,0.000,0.062,2984,716,1408,1504,1312,0,0,0,0,0,0,15.20,14.58,15.20
$GC,3575,0.68,340.1,2984,716,1500,1312,25.1,12.7,363,3584,0.03,2.45,0.00,0.000,5126,0.368,0.054,2974,2128,1405,1500,1311,0,0,0,0,0,0,14.54,14.72,14.65
$STATE,3767,end climb,SURFACE_DEPTH_REACHED
$STATE,3767,begin surface coast
$FINISH,0.2,1.013892
$STATE,3799,end surface coast,CONTROL_FINISHED_OK
$STATE,3799,begin surface
$SM_CCo,3817,16.12,0.188,0,0,1248,380.21
$SM_GC,0.88,6.35,0.22,16.12,0.039,0.069,0.188,141,2302,1248,-7.91,-0.71,380.21,0,0,0,0,0,0,15.00,14.98,14.64
$IRIDIUM_FIX,2234.68,-15802.37,101021,180830
$TT8_MAMPS,0.023968,0.313831
$HUMID,52.63
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,13.27,183.212
$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,15.850,52.000,375.000,16.125,0.000,60.962,96.338,130.510,1.500,0.000,20.027,1030.323,1437.777,410.530,1309.122,171.164,0.000,921.912,0.000,994.874,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,92.565,1060.290,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.931,292.181,549.945,498.070,579.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,37149,404
$CAP_FILE_SIZE,67056,0
$CFSIZE,1023623168,947552256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1614.17,0x23609a,1,24
$CURRENT,0.192,8.53,1
$GPS,101021,191813,2245.375,-15759.791,6,0.9,21,9.8,1.3,68.7,9,9.7