version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 840
start: 10 11 121 0 13 21
data:
$ID,626
$MISSION,3
$DIVE,840
$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
$GPS1,111021,000507,2244.8406,-15800.1592,9,0.8,19,9.8,0.0,328.2,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.7
$GPS2,111021,001228,2244.8159,-15800.2002,7,0.8,20,9.8,0.0,286.6,10,9.7
$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,19.7,483,-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,14,begin dive
$GC,17,-0.58,-116.8,123,2232,1280,1195,0.0,0.0,0,73,0.00,0.00,-53.67,0.000,16386,0.000,0.000,123,2232,2921,2902,2941,0,0,0,0,0,0,15.16,28.83,15.16
$GC,76,-0.58,-116.8,123,2232,2903,2941,3.1,-6.0,8,100,8.50,2.45,-6.20,0.000,18692,0.432,0.077,2544,3686,3278,3259,3297,0,0,0,0,0,0,14.10,13.86,14.38
$GC,157,-0.58,-116.8,2543,3687,3260,3297,24.1,-14.0,21,165,0.05,2.40,0.00,0.000,3078,0.351,0.050,2562,2271,3278,3262,3295,0,0,0,0,0,0,14.59,14.79,14.81
$GC,411,-0.58,-116.8,2562,2267,3265,3294,68.8,-17.0,49,421,0.00,2.35,0.00,0.000,772,0.000,0.061,2563,854,3279,3266,3292,0,0,0,0,0,0,15.23,14.51,15.24
$GC,427,-0.58,-116.8,2562,854,3267,3292,70.4,-16.9,50,434,0.00,2.45,0.00,0.000,3078,0.000,0.056,2554,2260,3279,3267,3291,0,0,0,0,0,0,14.82,14.74,14.85
$GC,675,-0.58,-116.8,2553,2260,3267,3291,108.2,-12.7,75,685,0.00,2.35,0.00,0.000,2308,0.000,0.067,2542,3672,3279,3267,3291,0,0,0,0,0,0,15.26,14.71,15.27
$GC,770,-0.58,-116.8,2543,3672,3267,3292,118.8,-10.4,84,781,0.05,2.30,0.00,0.000,3078,0.269,0.045,2563,2253,3279,3267,3291,0,0,0,0,0,0,14.34,14.60,14.48
$GC,1021,-0.58,-116.8,2562,2251,3267,3291,149.9,-12.6,109,1030,0.00,2.28,0.00,0.000,516,0.000,0.058,2563,866,3280,3269,3291,0,0,0,0,0,0,15.27,14.75,15.28
$GC,1150,-0.58,-116.8,2563,866,3268,3290,163.1,-9.3,121,1159,0.00,2.35,0.00,0.000,3078,0.000,0.058,2554,2264,3278,3267,3290,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1402,-0.58,-116.8,2553,2264,3268,3289,189.1,-10.6,146,1410,0.00,2.38,0.00,0.000,2564,0.000,0.057,2554,857,3279,3269,3289,0,0,0,0,0,0,15.28,14.71,15.28
$GC,1434,-0.58,-116.8,2553,857,3269,3290,192.9,-10.5,149,1445,0.05,2.38,0.00,0.000,3078,0.304,0.058,2562,2276,3279,3269,3289,0,0,0,0,0,0,14.45,14.81,14.62
$STATE,1512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1513,begin apogee
$GC,1520,-0.13,0.0,2562,2084,3269,3289,200.1,-9.2,157,1618,0.35,0.08,94.43,1.072,10246,0.226,0.145,2700,2147,2798,2864,2733,0,0,0,0,0,0,14.48,14.59,13.88
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1622,0.58,116.8,2699,2147,2865,2732,203.9,0.0,167,1728,0.52,2.42,97.25,1.060,10756,0.132,0.052,2936,749,2322,2405,2239,0,0,0,0,0,0,14.50,14.56,13.85
$GC,1934,0.59,141.0,2936,749,2389,2237,189.7,8.7,198,1962,0.00,2.22,20.25,1.012,9222,0.000,0.054,2936,2099,2224,2309,2139,0,0,0,0,0,0,14.64,14.59,14.04
$GC,2202,0.63,199.9,2936,2099,2309,2135,169.1,6.8,225,2262,0.00,2.47,47.97,1.035,10500,0.000,0.065,2936,3539,1983,2065,1901,0,0,0,0,0,0,15.22,14.73,14.03
$GC,2414,0.63,199.9,2935,3539,2065,1901,148.8,11.2,245,2421,0.00,2.28,0.00,0.000,3078,0.000,0.049,2946,2164,1983,2065,1902,0,0,0,0,0,0,14.97,14.85,14.98
$GC,2662,0.63,199.9,2946,2164,2065,1897,121.0,10.6,270,2672,0.00,2.30,0.00,0.000,2308,0.000,0.062,2946,3536,1981,2065,1897,0,0,0,0,0,0,15.22,14.60,15.22
$GC,2697,0.63,199.9,2946,3536,2065,1897,117.0,10.8,273,2706,0.00,2.30,0.00,0.000,5126,0.000,0.047,2957,2132,1981,2065,1897,0,0,0,0,0,0,14.80,14.75,14.81
$GC,2948,0.65,237.0,2957,2131,2065,1896,94.1,8.0,298,2984,0.00,0.00,30.42,0.959,8198,0.000,0.000,2957,2132,1831,1912,1750,0,0,0,0,0,0,15.24,14.57,14.09
$GC,3229,0.68,279.8,2957,2131,1912,1744,70.3,7.7,326,3269,0.00,2.42,34.08,0.934,10756,0.000,0.062,2968,720,1658,1748,1568,0,0,0,0,0,0,15.21,14.78,14.13
$GC,3289,0.70,311.8,2968,720,1743,1569,65.3,8.3,332,3321,0.00,2.38,26.52,0.908,11270,0.000,0.058,2968,2123,1525,1616,1435,0,0,0,0,0,0,14.66,14.59,14.04
$GC,3571,0.70,316.1,2968,2123,1615,1430,37.9,9.9,360,3582,0.00,2.38,4.12,0.718,10500,0.000,0.063,2968,3535,1509,1602,1417,0,0,0,0,0,0,15.19,14.48,13.97
$GC,3610,0.70,316.1,2968,3536,1602,1417,33.9,11.0,363,3618,0.00,2.38,0.00,0.000,5126,0.000,0.047,2979,2121,1509,1602,1417,0,0,0,0,0,0,14.97,14.83,14.99
$GC,3872,0.70,316.1,2978,2122,1602,1416,5.2,13.7,409,3881,0.00,2.42,0.00,0.000,4612,0.000,0.063,2990,719,1508,1602,1415,0,0,0,0,0,0,15.19,14.80,15.19
$STATE,3886,end climb,SURFACE_DEPTH_REACHED
$STATE,3887,begin surface coast
$FINISH,1.3,1.023161
$STATE,3899,end surface coast,CONTROL_FINISHED_OK
$STATE,3899,begin surface
$SM_CCo,3919,26.70,0.184,0,0,1247,380.21
$SM_GC,1.42,6.50,2.65,26.70,0.056,0.052,0.184,166,2263,1247,-7.92,-0.88,380.21,0,0,0,0,0,0,14.93,14.86,14.62
$IRIDIUM_FIX,2234.68,-15757.16,111021,000637
$TT8_MAMPS,0.023219,0.293608
$HUMID,53.38
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,13.85,184.028
$10V_AH,12.33,0.000
$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,16.025,52.625,355.050,26.700,0.000,24.464,45.060,241.128,0.750,0.000,21.783,1062.146,1441.627,414.805,1285.302,219.901,0.000,918.734,0.000,1011.320,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,145.350,1071.765,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.705,297.467,564.032,507.755,586.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339184
$DATA_FILE_SIZE,37349,413
$CAP_FILE_SIZE,67571,0
$CFSIZE,1023623168,947224576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,197.86,1
$GPS,111021,012025,2244.662,-15800.282,9,0.9,39,9.8,0.2,166.4,9,6.6