version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 856
start: 10 11 121 20 44 20
data:
$ID,626
$MISSION,3
$DIVE,856
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,111021,203801,2245.5125,-15800.3662,7,0.8,34,9.8,1.1,67.6,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.8
$GPS2,111021,204328,2245.5396,-15800.3711,7,0.8,17,9.8,0.7,316.2,10,10.0
$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,169.7,1183,-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,-116.8,124,2257,1282,1193,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,16386,0.000,0.000,124,2257,3254,3218,3290,0,0,0,0,0,0,15.19,28.83,15.19
$GC,85,-0.55,-116.8,124,2257,3218,3290,4.2,-8.3,9,100,8.52,2.33,-0.28,0.000,18948,0.432,0.059,2574,833,3274,3245,3304,0,0,0,0,0,0,14.10,13.82,14.40
$GC,169,-0.55,-116.8,2573,833,3260,3290,32.0,-15.7,22,173,0.00,2.42,0.00,0.000,3078,0.000,0.057,2565,2264,3275,3261,3290,0,0,0,0,0,0,14.97,14.83,15.00
$GC,422,-0.55,-116.8,2564,2264,3261,3289,80.1,-18.8,47,431,0.00,2.38,0.00,0.000,2564,0.000,0.063,2565,860,3275,3261,3289,0,0,0,0,0,0,15.24,14.70,15.24
$GC,519,-0.55,-116.8,2564,860,3262,3289,93.2,-11.5,56,527,0.05,2.42,0.00,0.000,3078,0.386,0.059,2572,2269,3275,3262,3288,0,0,0,0,0,0,14.61,14.83,14.86
$GC,770,-0.55,-116.8,2571,2270,3263,3288,123.8,-11.9,81,778,0.00,2.38,0.00,0.000,2564,0.000,0.054,2571,846,3275,3263,3288,0,0,0,0,0,0,15.26,14.73,15.26
$GC,833,-0.55,-116.8,2571,846,3263,3288,131.0,-10.3,87,841,0.00,2.38,0.00,0.000,3078,0.000,0.057,2562,2261,3276,3264,3288,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1085,-0.55,-116.8,2562,2262,3264,3288,157.5,-11.7,112,1090,0.00,2.38,0.00,0.000,2564,0.000,0.057,2563,853,3275,3264,3287,0,0,0,0,0,0,15.27,14.90,15.27
$GC,1162,-0.55,-116.8,2562,853,3264,3288,165.6,-9.4,119,1169,0.05,2.40,0.00,0.000,3078,0.381,0.057,2570,2273,3275,3264,3287,0,0,0,0,0,0,14.65,14.89,14.90
$GC,1411,-0.55,-116.8,2570,2273,3264,3287,186.3,-8.0,144,1418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2274,3275,3264,3287,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1583,-0.13,0.0,2570,2076,3264,3286,200.4,-8.2,161,1682,0.32,0.10,93.90,1.078,10246,0.216,0.123,2701,2158,2798,2866,2730,0,0,0,0,0,0,14.51,14.60,13.88
$STATE,1683,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1686,0.55,116.8,2701,2158,2866,2731,204.3,0.0,171,1791,0.50,2.42,97.43,1.068,11012,0.127,0.053,2931,762,2321,2408,2235,0,0,0,0,0,0,14.59,14.56,13.86
$GC,1933,0.57,150.6,2930,762,2394,2234,196.6,8.4,196,1967,0.00,2.25,28.15,1.048,9222,0.000,0.053,2931,2100,2185,2274,2096,0,0,0,0,0,0,14.73,14.69,13.98
$GC,2215,0.57,159.9,2931,2099,2272,2091,169.8,9.6,224,2236,0.00,2.40,8.70,0.955,8452,0.000,0.063,2931,3537,2147,2237,2057,0,0,0,0,0,0,15.20,14.58,14.04
$GC,2313,0.57,161.1,2931,3538,2236,2057,160.4,10.0,233,2320,0.00,2.25,0.00,0.000,5126,0.000,0.043,2942,2161,2147,2237,2057,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2562,0.62,228.4,2941,2161,2237,2056,142.5,6.6,258,2623,0.00,2.35,55.67,1.027,10500,0.000,0.063,2941,3533,1866,1950,1782,0,0,0,0,0,0,15.24,14.52,14.03
$GC,2638,0.63,249.9,2941,3533,1950,1782,135.9,9.0,265,2666,0.00,2.33,18.40,0.972,9222,0.000,0.050,2952,2137,1780,1865,1696,0,0,0,0,0,0,14.70,14.66,13.96
$GC,2907,0.64,264.5,2952,2137,1865,1689,105.8,9.3,292,2926,0.00,2.40,12.93,0.943,8708,0.000,0.059,2963,711,1719,1806,1632,0,0,0,0,0,0,15.19,14.59,14.09
$GC,2974,0.65,288.0,2964,710,1800,1632,99.9,8.9,298,3004,0.00,2.42,19.83,0.952,13318,0.000,0.054,2963,2127,1622,1713,1532,0,0,0,0,0,0,14.96,14.83,14.09
$GC,3243,0.66,305.8,2963,2127,1712,1528,75.1,9.2,325,3264,0.00,2.40,15.00,0.916,8452,0.000,0.062,2964,3535,1550,1643,1458,0,0,0,0,0,0,15.21,14.83,14.14
$GC,3333,0.66,305.8,2963,3535,1643,1458,66.0,11.0,333,3340,0.00,2.40,0.00,0.000,5126,0.000,0.047,2974,2114,1550,1643,1457,0,0,0,0,0,0,14.97,14.83,14.98
$GC,3583,0.66,305.8,2974,2114,1643,1457,38.9,11.4,358,3594,0.00,2.35,0.00,0.000,4612,0.000,0.061,2985,719,1550,1643,1457,0,0,0,0,0,0,15.22,14.57,15.23
$GC,3629,0.66,305.8,2985,718,1640,1457,33.9,10.5,362,3640,0.05,2.35,0.00,0.000,5126,0.271,0.054,2965,2121,1548,1640,1457,0,0,0,0,0,0,14.35,14.57,14.50
$GC,3890,0.66,305.8,2965,2122,1639,1456,6.8,10.6,408,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2122,1547,1639,1456,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,3931,end climb,SURFACE_DEPTH_REACHED
$STATE,3931,begin surface coast
$FINISH,0.3,1.005197
$STATE,3967,end surface coast,CONTROL_FINISHED_OK
$STATE,3967,begin surface
$SM_CCo,3985,31.23,0.187,0,0,1247,380.21
$SM_GC,1.44,6.32,0.22,31.23,0.037,0.066,0.187,154,2306,1247,-7.90,-0.90,380.21,0,0,0,0,0,0,14.99,15.00,14.59
$IRIDIUM_FIX,2234.68,-15802.37,111021,203933
$TT8_MAMPS,0.02247,0.315329
$HUMID,53.46
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.82,186.880
$10V_AH,12.47,0.000
$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,15.825,47.975,350.000,31.225,0.000,30.696,47.134,119.214,0.500,0.000,18.982,1088.242,1495.109,399.265,1226.136,170.799,0.000,902.863,0.000,1023.495,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,123.165,1077.885,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.452,305.132,578.254,507.657,587.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,37407,421
$CAP_FILE_SIZE,68338,0
$CFSIZE,1023623168,946176000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,47.36,1
$GPS,111021,215222,2245.230,-15800.174,8,1.0,27,9.8,0.7,122.7,8,9.3