version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 858
start: 10 11 121 23 8 14
data:
$ID,626
$MISSION,3
$DIVE,858
$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,43
$R_STBD_OVSHOOT,50
$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
$GPS1,111021,230201,2244.9600,-15759.9199,8,0.9,47,9.8,0.3,320.3,10,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.4
$GPS2,111021,230721,2244.9490,-15759.9551,7,0.9,16,9.8,1.0,100.5,10,9.4
$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,311.9,122,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-116.8,123,2292,1282,1193,0.0,0.0,0,74,0.00,0.00,-54.62,0.000,16386,0.000,0.000,123,2292,2959,2941,2977,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.58,-116.8,123,2293,2941,2979,3.2,-6.5,8,102,8.45,2.30,-5.38,0.000,18692,0.429,0.069,2542,3655,3279,3259,3300,0,0,0,0,0,0,14.03,13.24,14.34
$GC,170,-0.58,-116.8,2542,3655,3261,3299,26.5,-15.0,23,178,0.05,2.38,0.00,0.000,3078,0.342,0.048,2561,2270,3280,3265,3295,0,0,0,0,0,0,14.61,14.76,14.83
$GC,427,-0.58,-116.8,2561,2266,3266,3294,68.4,-16.0,50,432,0.00,2.35,0.00,0.000,2308,0.000,0.063,2553,3655,3280,3267,3294,0,0,0,0,0,0,15.24,14.85,15.24
$GC,535,-0.58,-116.8,2552,3656,3267,3295,81.2,-10.4,60,547,0.00,2.35,0.00,0.000,3078,0.000,0.047,2553,2261,3280,3268,3293,0,0,0,0,0,0,14.78,14.72,14.81
$GC,786,-0.58,-116.8,2553,2260,3267,3294,115.1,-11.9,85,794,0.00,2.33,0.00,0.000,2564,0.000,0.057,2553,857,3280,3268,3293,0,0,0,0,0,0,15.27,14.72,15.27
$GC,945,-0.58,-116.8,2552,857,3269,3294,131.8,-10.3,100,953,0.05,2.38,0.00,0.000,3078,0.388,0.056,2560,2245,3281,3271,3292,0,0,0,0,0,0,14.61,14.83,14.85
$GC,1191,-0.58,-116.8,2560,2247,3271,3292,162.9,-13.3,125,1200,0.00,2.33,0.00,0.000,2564,0.000,0.055,2560,860,3281,3270,3292,0,0,0,0,0,0,15.27,14.73,15.28
$GC,1244,-0.58,-116.8,2560,860,3271,3292,169.1,-11.8,130,1249,0.00,2.38,0.00,0.000,3078,0.000,0.057,2550,2269,3282,3272,3292,0,0,0,0,0,0,15.04,14.89,15.05
$GC,1501,-0.58,-116.8,2550,2269,3272,3291,197.7,-10.1,155,1509,0.00,2.38,0.00,0.000,2564,0.000,0.057,2551,863,3281,3271,3291,0,0,0,0,0,0,15.28,14.71,15.28
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1530,-0.13,0.0,2541,2130,3272,3291,200.8,-11.1,157,1632,0.43,0.00,94.75,1.071,10246,0.236,0.000,2702,2130,2799,2867,2732,0,0,0,0,0,0,14.42,14.35,13.83
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1636,0.58,116.8,2702,2130,2868,2732,206.3,0.0,168,1743,0.52,2.42,97.47,1.066,10756,0.124,0.052,2943,716,2319,2403,2236,0,0,0,0,0,0,14.59,14.32,13.80
$GC,1782,0.64,224.2,2943,716,2393,2238,207.8,4.0,182,1879,0.00,2.40,86.57,1.063,11270,0.000,0.053,2943,2131,1884,1961,1808,0,0,0,0,0,0,14.81,14.71,13.85
$GC,2120,0.64,224.2,2943,2132,1961,1802,168.3,11.2,216,2129,0.00,2.35,0.00,0.000,2308,0.000,0.065,2943,3534,1881,1961,1802,0,0,0,0,0,0,15.18,14.57,15.18
$GC,2257,0.64,224.2,2942,3534,1960,1801,153.0,10.7,229,2266,0.00,2.33,0.00,0.000,1030,0.000,0.050,2954,2128,1881,1961,1802,0,0,0,0,0,0,14.79,14.76,14.82
$GC,2507,0.65,234.3,2953,2128,1961,1801,127.0,9.5,254,2523,0.00,0.00,9.30,0.937,10246,0.000,0.000,2954,2128,1842,1923,1762,0,0,0,0,0,0,15.24,14.56,14.04
$GC,2768,0.65,237.4,2953,2128,1923,1761,100.6,9.9,280,2777,0.00,2.45,4.00,0.769,10500,0.000,0.067,2954,3536,1830,1912,1748,0,0,0,0,0,0,15.25,14.83,14.01
$GC,2794,0.66,244.4,2953,3536,1912,1748,98.1,9.7,282,2810,0.00,2.40,7.43,0.886,13318,0.000,0.052,2964,2119,1803,1885,1721,0,0,0,0,0,0,15.02,14.88,14.11
$GC,3051,0.68,274.3,2964,2119,1885,1717,74.9,8.4,308,3084,0.00,2.42,24.95,0.945,8708,0.000,0.060,2975,709,1679,1767,1592,0,0,0,0,0,0,15.24,14.83,14.14
$GC,3166,0.68,284.1,2975,708,1760,1592,64.5,9.5,319,3180,0.00,2.40,8.88,0.870,13318,0.000,0.053,2975,2128,1640,1728,1553,0,0,0,0,0,0,14.97,14.85,14.10
$GC,3430,0.68,284.1,2975,2128,1728,1549,38.0,10.4,345,3434,0.00,2.38,0.00,0.000,4356,0.000,0.063,2975,3544,1637,1727,1548,0,0,0,0,0,0,15.22,14.86,15.22
$GC,3464,0.68,284.1,2975,3545,1727,1548,34.2,10.8,348,3474,0.05,2.35,0.00,0.000,5126,0.288,0.047,2967,2118,1638,1728,1549,0,0,0,0,0,0,14.38,14.68,14.54
$GC,3729,0.69,295.5,2967,2115,1727,1548,7.4,9.5,394,3737,0.00,0.00,4.70,0.242,10246,0.000,0.000,2967,2115,1593,1684,1502,0,0,0,0,0,0,15.21,14.81,14.54
$STATE,3781,end climb,SURFACE_DEPTH_REACHED
$STATE,3781,begin surface coast
$FINISH,0.2,1.002109
$STATE,3808,end surface coast,CONTROL_FINISHED_OK
$STATE,3809,begin surface
$SM_CCo,3827,35.80,0.190,0,0,1246,380.21
$SM_GC,1.09,6.35,0.28,35.80,0.042,0.072,0.190,180,2287,1246,-7.91,-0.74,380.21,0,0,0,0,0,0,14.91,14.93,14.59
$IRIDIUM_FIX,2234.68,-15800.20,111021,230334
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.66
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.24,187.202
$10V_AH,12.25,0.000
$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,15.900,47.500,338.050,35.800,0.000,31.325,50.363,114.244,0.000,0.000,17.761,1059.950,1385.315,400.642,1198.462,176.105,0.000,886.875,0.000,995.529,0.000,0.554,0.000
$DEVICE_MAMPS,429.165,71.910,1071.000,189.720,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.236,302.604,560.252,518.629,599.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339112
$DATA_FILE_SIZE,37381,408
$CAP_FILE_SIZE,67186,0
$CFSIZE,1023623168,946044928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$INTR,0,534.64,0x236098,0,24
$CURRENT,0.080,213.31,1
$GPS,121021,001334,2244.909,-15800.261,7,0.8,18,9.8,0.0,266.2,10,9.8