version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 843
start: 10 11 121 3 58 14
data:
$ID,626
$MISSION,3
$DIVE,843
$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,34
$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
$GPS1,111021,035132,2244.5969,-15800.8350,8,1.0,25,9.8,1.1,139.6,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,111021,035722,2244.5774,-15800.8750,7,1.0,26,9.8,0.6,170.0,8,9.4
$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,48.8,1687,-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,-116.8,123,2279,1288,1190,0.0,0.0,0,74,0.00,0.00,-55.95,0.000,16386,0.000,0.000,124,2279,2995,2972,3019,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,123,2279,2973,3019,3.2,-5.7,8,101,8.55,2.38,-4.80,0.000,18692,0.436,0.073,2555,3681,3279,3257,3302,0,0,0,0,0,0,14.12,13.26,14.43
$GC,110,-0.55,-116.8,2554,3683,3258,3302,15.8,-34.8,12,118,0.05,2.42,0.00,0.000,3078,0.382,0.060,2572,2274,3280,3261,3299,0,0,0,0,0,0,14.57,14.79,14.82
$GC,370,-0.55,-116.8,2571,2269,3267,3295,62.4,-14.0,43,380,0.00,2.38,0.00,0.000,260,0.000,0.065,2563,3674,3281,3267,3295,0,0,0,0,0,0,15.23,14.53,15.23
$GC,495,-0.55,-116.8,2563,3674,3266,3295,76.3,-10.3,55,505,0.00,2.33,0.00,0.000,3078,0.000,0.046,2563,2254,3281,3267,3295,0,0,0,0,0,0,14.63,14.57,14.65
$GC,747,-0.55,-116.8,2562,2254,3267,3295,108.2,-13.1,80,751,0.00,2.42,0.00,0.000,2308,0.000,0.067,2552,3680,3280,3267,3294,0,0,0,0,0,0,15.26,14.88,15.26
$GC,851,-0.55,-116.8,2552,3680,3267,3295,120.9,-11.8,90,856,0.05,2.33,0.00,0.000,3078,0.343,0.044,2572,2260,3281,3267,3295,0,0,0,0,0,0,14.69,14.93,14.92
$GC,1107,-0.55,-116.8,2572,2255,3267,3295,150.9,-10.3,115,1115,0.00,2.40,0.00,0.000,260,0.000,0.067,2563,3672,3281,3268,3294,0,0,0,0,0,0,15.26,14.70,15.27
$GC,1190,-0.55,-116.8,2563,3672,3267,3295,158.8,-9.0,123,1200,0.00,2.30,0.00,0.000,3078,0.000,0.044,2563,2260,3281,3268,3294,0,0,0,0,0,0,14.67,14.63,14.68
$GC,1442,-0.55,-116.8,2563,2260,3268,3293,184.5,-11.0,148,1447,0.00,2.42,0.00,0.000,2308,0.000,0.070,2553,3677,3279,3268,3291,0,0,0,0,0,0,15.27,14.88,15.27
$GC,1516,-0.55,-116.8,2552,3677,3268,3293,193.0,-10.9,155,1525,0.05,2.28,0.00,0.000,3078,0.263,0.037,2574,2250,3281,3269,3293,0,0,0,0,0,0,14.54,14.76,14.69
$STATE,1583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1583,begin apogee
$GC,1590,-0.13,0.0,2574,2081,3269,3292,201.3,-12.8,162,1689,0.32,0.10,95.05,1.066,10246,0.244,0.119,2700,2166,2798,2864,2733,0,0,0,0,0,0,14.31,14.60,13.89
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1693,0.55,116.8,2700,2166,2864,2733,208.0,0.0,172,1798,0.50,2.28,96.95,1.061,10500,0.083,0.050,2951,3518,2322,2399,2245,0,0,0,0,0,0,14.65,14.56,13.86
$GC,1860,0.62,237.7,2951,3518,2399,2245,212.4,3.9,189,1964,0.00,2.22,97.25,1.063,13318,0.000,0.034,2963,2153,1829,1905,1754,0,0,0,0,0,0,14.86,14.77,13.90
$GC,2207,0.66,307.4,2962,2153,1903,1746,188.9,6.5,223,2269,0.00,2.33,56.72,1.042,8452,0.000,0.063,2963,3513,1544,1630,1459,0,0,0,0,0,0,15.17,14.47,14.00
$GC,2322,0.66,307.4,2962,3514,1630,1459,177.8,12.0,234,2330,0.00,2.35,0.00,0.000,5126,0.000,0.045,2973,2135,1544,1630,1459,0,0,0,0,0,0,14.78,14.72,14.81
$GC,2571,0.66,307.4,2973,2134,1630,1456,150.7,11.6,259,2575,0.00,2.40,0.00,0.000,4612,0.000,0.065,2984,720,1543,1630,1457,0,0,0,0,0,0,15.20,14.85,15.20
$GC,2667,0.66,307.4,2984,720,1626,1456,138.4,13.0,268,2676,0.08,2.38,0.00,0.000,5126,0.321,0.052,2957,2121,1540,1626,1455,0,0,0,0,0,0,14.63,14.86,14.88
$GC,2915,0.67,322.6,2956,2122,1626,1454,115.1,9.3,293,2935,0.00,2.35,12.88,0.943,11012,0.000,0.057,2957,3532,1484,1576,1393,0,0,0,0,0,0,15.26,14.59,14.09
$GC,2979,0.67,322.6,2956,3532,1576,1394,107.9,11.6,299,2984,0.00,2.33,0.00,0.000,1030,0.000,0.045,2966,2123,1484,1576,1393,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3235,0.68,334.4,2966,2123,1575,1392,83.2,9.5,324,3254,0.00,2.38,11.30,0.903,8708,0.000,0.064,2977,711,1434,1528,1340,0,0,0,0,0,0,15.24,14.87,14.14
$GC,3609,0.70,369.3,2977,710,1521,1340,49.1,8.3,360,3647,0.00,2.42,27.73,0.911,9222,0.000,0.057,2977,2114,1292,1389,1195,0,0,0,0,0,0,14.97,14.83,14.11
$GC,3888,0.73,412.5,2976,2116,1389,1192,29.2,7.9,388,3917,0.00,2.45,23.62,0.865,10500,0.000,0.065,2977,3544,1115,1216,1015,0,0,0,0,0,0,15.22,14.83,14.18
$GC,3947,0.73,412.5,2977,3544,1216,1014,22.8,12.2,397,3955,0.00,2.42,0.00,0.000,5126,0.000,0.052,2987,2120,1115,1216,1014,0,0,0,0,0,0,14.94,14.81,14.95
$STATE,4117,end climb,SURFACE_DEPTH_REACHED
$STATE,4117,begin surface coast
$FINISH,0.2,1.016063
$STATE,4139,end surface coast,CONTROL_FINISHED_OK
$STATE,4139,begin surface
$SM_CCo,4217,0.00,0.000,0,0,1113,413.81
$SM_GC,1.24,6.35,0.28,0.00,0.032,0.076,0.000,137,2285,1113,-7.91,-0.74,413.81,0,0,0,0,0,0,14.99,14.91,15.02
$IRIDIUM_FIX,2234.68,-15800.20,111021,035311
$TT8_MAMPS,0.02247,0.342293
$HUMID,53.66
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.26,184.559
$10V_AH,12.62,0.000
$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,15.950,52.500,421.500,0.000,0.000,33.902,47.568,128.447,0.500,0.000,27.515,1121.657,1568.732,410.348,1328.960,169.439,0.000,956.970,0.000,1099.552,0.000,0.557,0.000
$DEVICE_MAMPS,436.050,119.340,1065.645,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.145,318.599,586.111,532.480,614.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,40632,432
$CAP_FILE_SIZE,66759,0
$CFSIZE,1023623168,947027968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,275.17,1
$GPS,111021,050950,2244.587,-15801.229,20,0.8,44,9.8,1.1,77.8,10,8.1