version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 838
start: 10 10 121 21 51 49
data:
$ID,626
$MISSION,3
$DIVE,838
$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,72
$R_STBD_OVSHOOT,52
$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
$GPS1,101021,214511,2245.1211,-15759.7217,8,1.0,22,9.8,0.0,282.4,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.9
$GPS2,101021,215056,2245.1316,-15759.7402,7,1.0,25,9.8,0.5,224.4,8,9.9
$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,221.8,507,-19.1,-10.101,-25.00,1808
$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,-0.58,-116.8,121,2224,1278,1197,0.0,0.0,0,76,0.00,0.00,-57.28,0.000,16386,0.000,0.000,121,2224,3097,3061,3133,0,0,0,0,0,0,15.19,28.83,15.19
$GC,80,-0.58,-116.8,121,2224,3067,3128,4.2,-8.8,8,103,8.48,2.22,-2.85,0.000,18948,0.430,0.064,2567,889,3279,3256,3303,0,0,0,0,0,0,14.09,13.28,14.40
$GC,258,-0.58,-116.8,2566,884,3267,3295,45.7,-16.7,32,268,0.00,2.28,0.00,0.000,3078,0.000,0.056,2558,2240,3280,3268,3293,0,0,0,0,0,0,14.62,14.56,14.63
$GC,510,-0.58,-116.8,2557,2240,3268,3294,91.7,-14.6,57,515,0.00,2.28,0.00,0.000,2564,0.000,0.057,2558,895,3280,3268,3293,0,0,0,0,0,0,15.24,14.88,15.24
$GC,584,-0.58,-116.8,2557,895,3268,3293,100.5,-10.7,64,595,0.00,2.33,0.00,0.000,3078,0.000,0.057,2548,2273,3280,3270,3291,0,0,0,0,0,0,15.02,14.88,15.04
$GC,837,-0.58,-116.8,2548,2273,3269,3291,135.5,-13.7,89,841,0.00,2.33,0.00,0.000,2564,0.000,0.057,2548,896,3281,3269,3293,0,0,0,0,0,0,15.26,14.90,15.26
$GC,941,-0.58,-116.8,2548,896,3270,3293,148.4,-11.1,99,946,0.08,2.30,0.00,0.000,3078,0.328,0.059,2565,2263,3282,3271,3293,0,0,0,0,0,0,14.64,14.89,14.89
$GC,1195,-0.58,-116.8,2564,2264,3271,3291,176.0,-10.7,124,1204,0.00,2.28,0.00,0.000,516,0.000,0.054,2565,893,3281,3271,3291,0,0,0,0,0,0,15.28,14.74,15.28
$GC,1267,-0.58,-116.8,2565,893,3271,3292,183.7,-10.4,131,1273,0.00,2.33,0.00,0.000,3078,0.000,0.059,2556,2271,3281,3271,3291,0,0,0,0,0,0,15.04,14.89,15.05
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1436,-0.13,0.0,2556,2119,3271,3290,200.7,-10.4,147,1534,0.38,0.00,94.80,1.073,10246,0.235,0.000,2699,2116,2799,2866,2732,0,0,0,0,0,0,14.31,14.60,13.88
$STATE,1535,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1538,0.58,116.8,2698,2116,2865,2732,204.6,0.0,157,1643,0.52,2.35,96.88,1.082,10756,0.131,0.052,2935,752,2321,2407,2236,0,0,0,0,0,0,14.52,14.55,13.83
$GC,1736,0.59,139.3,2935,752,2393,2237,200.3,8.8,177,1765,0.00,2.33,19.02,1.047,11270,0.000,0.054,2935,2129,2231,2318,2144,0,0,0,0,0,0,14.63,14.62,13.93
$GC,2006,0.60,155.6,2935,2128,2318,2140,176.0,9.2,204,2026,0.00,2.42,14.62,1.020,10500,0.000,0.066,2935,3543,2164,2255,2073,0,0,0,0,0,0,15.20,14.82,14.06
$GC,2090,0.60,155.6,2935,3543,2255,2074,166.7,11.5,212,2100,0.00,2.30,0.00,0.000,5126,0.000,0.048,2946,2166,2164,2255,2074,0,0,0,0,0,0,14.92,14.87,14.92
$GC,2346,0.63,203.2,2946,2166,2255,2072,144.0,7.4,237,2391,0.00,2.35,38.90,1.021,10500,0.000,0.064,2946,3545,1969,2054,1885,0,0,0,0,0,0,15.23,14.78,14.08
$GC,2470,0.65,225.0,2944,3545,2055,1884,134.0,8.9,249,2497,0.00,2.35,18.45,0.981,9222,0.000,0.050,2956,2129,1880,1963,1797,0,0,0,0,0,0,14.75,14.69,14.06
$GC,2737,0.66,244.3,2956,2130,1963,1793,105.5,9.0,276,2759,0.00,2.42,16.30,0.950,8708,0.000,0.063,2968,720,1801,1886,1717,0,0,0,0,0,0,15.21,14.81,14.12
$GC,2810,0.66,246.1,2966,720,1879,1717,98.7,10.0,283,2819,0.00,2.38,0.00,0.000,5126,0.000,0.057,2967,2130,1798,1879,1717,0,0,0,0,0,0,14.78,14.70,14.81
$GC,3063,0.66,255.7,2967,2130,1879,1716,73.3,9.6,308,3082,0.00,2.35,9.82,0.881,12548,0.000,0.064,2967,3539,1755,1841,1670,0,0,0,0,0,0,15.22,14.62,14.11
$GC,3173,0.66,255.7,2967,3539,1841,1670,61.9,10.2,318,3182,0.05,2.38,0.00,0.000,5126,0.377,0.050,2961,2125,1755,1841,1670,0,0,0,0,0,0,14.62,14.85,14.87
$GC,3424,0.68,284.5,2960,2123,1841,1669,41.0,8.5,343,3454,0.00,2.42,23.85,0.890,10756,0.000,0.061,2970,716,1638,1730,1546,0,0,0,0,0,0,15.23,14.84,14.16
$GC,3479,0.68,290.0,2970,716,1726,1546,35.5,9.8,348,3491,0.00,2.38,5.57,0.758,9222,0.000,0.055,2971,2120,1615,1706,1524,0,0,0,0,0,0,14.70,14.70,14.08
$GC,3744,0.68,290.0,2970,2121,1706,1520,4.8,10.7,393,3751,0.00,2.45,0.00,0.000,260,0.000,0.068,2971,3543,1613,1706,1520,0,0,0,0,0,0,15.18,14.79,15.19
$GC,3765,0.70,320.0,2970,3542,1706,1520,3.0,8.4,396,3777,0.00,2.42,6.72,0.192,13314,0.000,0.049,2982,2132,1549,1647,1452,0,0,0,0,0,0,14.76,14.70,14.80
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.2,1.023152
$STATE,3800,end surface coast,CONTROL_FINISHED_OK
$STATE,3800,begin surface
$SM_CCo,3819,30.88,0.187,0,0,1248,380.21
$SM_GC,1.52,6.57,0.25,30.88,0.073,0.079,0.187,167,2289,1248,-7.90,-0.74,380.21,0,0,0,0,0,0,14.95,14.90,14.62
$IRIDIUM_FIX,2234.68,-15800.20,101021,214645
$TT8_MAMPS,0.02247,0.288365
$HUMID,53.42
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.28,183.694
$10V_AH,12.42,0.000
$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,16.075,52.100,344.950,30.875,0.000,26.620,43.558,135.185,0.250,0.000,26.274,1052.541,1400.743,385.935,1218.025,174.426,0.000,883.406,0.000,998.676,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,187.425,1081.710,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.346,292.292,547.518,496.001,578.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,37343,401
$CAP_FILE_SIZE,66895,0
$CFSIZE,1023623168,947355648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.014,229.61,1
$GPS,101021,225726,2244.796,-15800.004,8,1.1,48,9.8,0.5,204.4,6,6.1