version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 837
start: 10 10 121 20 36 21
data:
$ID,626
$MISSION,3
$DIVE,837
$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,42
$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
$GPS1,101021,202955,2245.3328,-15759.6748,8,0.9,41,9.8,0.4,261.3,9,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.4
$GPS2,101021,203529,2245.3721,-15759.6826,7,0.8,22,9.8,0.8,283.6,10,9.3
$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,196.2,877,-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,17,-0.55,-116.8,123,2244,1278,1193,0.0,0.0,0,73,0.00,0.00,-54.38,0.000,16386,0.000,0.000,123,2243,2993,2971,3016,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,122,2245,2972,3016,3.8,-7.6,8,100,8.48,2.33,-4.65,0.000,18948,0.428,0.061,2571,849,3278,3258,3298,0,0,0,0,0,0,14.12,13.88,14.41
$GC,246,-0.55,-116.8,2571,849,3267,3291,40.5,-14.2,32,254,0.00,2.45,0.00,0.000,3078,0.000,0.058,2562,2271,3278,3267,3290,0,0,0,0,0,0,14.96,14.81,14.99
$GC,494,-0.55,-116.8,2561,2273,3268,3289,87.5,-18.3,57,503,0.00,2.38,0.00,0.000,2564,0.000,0.055,2562,859,3279,3268,3290,0,0,0,0,0,0,15.26,14.71,15.26
$GC,550,-0.55,-116.8,2561,859,3268,3290,95.0,-13.2,62,558,0.05,2.42,0.00,0.000,3078,0.396,0.058,2568,2269,3278,3268,3289,0,0,0,0,0,0,14.61,14.83,14.86
$GC,801,-0.55,-116.8,2568,2270,3269,3290,126.0,-13.4,87,809,0.00,2.35,0.00,0.000,2564,0.000,0.056,2568,867,3279,3269,3289,0,0,0,0,0,0,15.26,14.73,15.27
$GC,877,-0.55,-116.8,2568,867,3269,3290,135.2,-11.0,94,884,0.00,2.40,0.00,0.000,3078,0.000,0.058,2559,2265,3279,3270,3289,0,0,0,0,0,0,15.00,14.84,15.02
$GC,1125,-0.55,-116.8,2558,2265,3269,3289,163.7,-11.3,119,1133,0.00,2.35,0.00,0.000,2564,0.000,0.057,2559,870,3279,3270,3289,0,0,0,0,0,0,15.28,14.74,15.29
$GC,1178,-0.55,-116.8,2559,869,3271,3289,169.6,-11.1,124,1184,0.08,2.35,0.00,0.000,3078,0.330,0.058,2576,2265,3280,3271,3289,0,0,0,0,0,0,14.64,14.90,14.90
$GC,1432,-0.55,-116.8,2576,2266,3271,3289,193.1,-9.6,149,1441,0.00,2.33,0.00,0.000,516,0.000,0.056,2576,865,3280,3271,3289,0,0,0,0,0,0,15.28,14.72,15.29
$GC,1508,-0.55,-116.8,2576,865,3271,3289,200.0,-9.0,156,1516,0.00,2.42,0.00,0.000,3078,0.000,0.059,2567,2273,3279,3271,3288,0,0,0,0,0,0,15.00,14.83,15.02
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1528,-0.13,0.0,2567,2094,3271,3289,201.6,-8.5,158,1626,0.35,0.00,94.22,1.074,10246,0.220,0.000,2703,2091,2798,2865,2732,0,0,0,0,0,0,14.50,14.61,13.89
$STATE,1627,end apogee,CONTROL_FINISHED_OK
$STATE,1627,begin climb
$GC,1630,0.55,116.8,2703,2091,2865,2731,205.3,0.0,168,1735,0.50,2.33,97.10,1.064,10756,0.124,0.053,2934,750,2321,2407,2236,0,0,0,0,0,0,14.59,14.56,13.85
$GC,1865,0.56,130.7,2934,750,2394,2235,196.2,9.4,191,1883,0.00,2.33,12.15,0.999,13318,0.000,0.054,2933,2128,2265,2350,2181,0,0,0,0,0,0,14.92,14.80,13.99
$GC,2124,0.57,151.2,2933,2128,2350,2177,171.9,9.0,217,2153,0.00,2.40,17.85,1.018,8452,0.000,0.065,2934,3537,2182,2272,2092,0,0,0,0,0,0,15.21,14.83,14.08
$GC,2177,0.57,154.9,2933,3536,2272,2092,166.7,9.9,222,2188,0.00,2.25,5.03,0.828,13318,0.000,0.047,2944,2166,2166,2257,2076,0,0,0,0,0,0,14.69,14.64,14.00
$GC,2428,0.58,172.0,2943,2167,2258,2073,143.2,9.2,247,2449,0.00,2.38,14.98,0.986,12548,0.000,0.063,2944,3543,2096,2187,2006,0,0,0,0,0,0,15.23,14.85,14.12
$GC,2503,0.58,172.0,2944,3543,2188,2006,135.5,10.7,254,2513,0.05,2.33,0.00,0.000,5126,0.334,0.049,2936,2129,2096,2187,2006,0,0,0,0,0,0,14.34,14.62,14.52
$GC,2754,0.59,191.4,2938,2128,2187,2001,112.1,9.1,279,2773,0.00,0.00,16.55,0.966,8710,0.000,0.000,2938,2128,2017,2107,1927,0,0,0,0,0,0,15.24,14.82,14.13
$GC,3017,0.60,209.2,2937,2128,2104,1925,91.1,9.2,305,3039,0.00,2.42,14.60,0.937,10756,0.000,0.061,2947,710,1946,2031,1861,0,0,0,0,0,0,15.23,14.86,14.14
$GC,3119,0.60,209.2,2947,710,2022,1861,80.4,10.3,315,3129,0.00,2.38,0.00,0.000,5126,0.000,0.056,2947,2125,1941,2022,1861,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3372,0.65,290.9,2947,2125,2022,1860,60.9,5.9,340,3449,0.00,2.38,63.75,0.933,10500,0.000,0.061,2947,3535,1612,1705,1520,0,0,0,0,0,0,15.23,14.53,14.07
$GC,3537,0.66,299.0,2947,3535,1705,1520,47.7,9.7,356,3550,0.00,2.33,7.85,0.818,9222,0.000,0.049,2959,2131,1580,1672,1488,0,0,0,0,0,0,14.64,14.61,14.07
$GC,3800,0.66,306.2,2958,2130,1670,1482,23.5,9.7,388,3809,0.00,2.45,2.92,0.589,10756,0.000,0.062,2970,709,1549,1642,1456,0,0,0,0,0,0,15.19,14.78,14.00
$GC,3852,0.67,309.8,2970,709,1638,1456,18.4,9.9,396,3860,0.00,2.45,1.15,0.366,13318,0.000,0.055,2970,2131,1534,1626,1443,0,0,0,0,0,0,14.97,14.83,14.53
$STATE,3995,end climb,SURFACE_DEPTH_REACHED
$STATE,3995,begin surface coast
$FINISH,0.2,1.016002
$STATE,4022,end surface coast,CONTROL_FINISHED_OK
$STATE,4022,begin surface
$SM_CCo,4040,29.50,0.185,0,0,1249,380.21
$SM_GC,1.61,6.47,0.22,29.50,0.060,0.073,0.185,154,2297,1249,-7.91,-0.68,380.21,0,0,0,0,0,0,14.97,14.95,14.62
$IRIDIUM_FIX,2237.01,-15757.16,101021,203127
$TT8_MAMPS,0.020972,0.316078
$HUMID,53.62
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,5
$24V_AH,13.85,183.532
$10V_AH,12.54,0.000
$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,15.975,52.625,348.150,29.500,0.000,27.989,54.004,121.689,1.250,0.000,23.289,1114.516,1494.244,389.755,1268.583,172.222,0.000,908.115,0.000,1049.717,0.000,0.554,0.000
$DEVICE_MAMPS,428.400,72.675,1074.060,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.536,308.358,580.548,528.600,616.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,40559,427
$CAP_FILE_SIZE,69146,0
$CFSIZE,1023623168,947421184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,8.72,1
$GPS,101021,214511,2245.121,-15759.722,8,1.0,22,9.8,0.0,282.4,8,9.8