version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 859
start: 10 12 121 0 19 58
data:
$ID,626
$MISSION,3
$DIVE,859
$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,43
$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
$GPS1,121021,001334,2244.9092,-15800.2607,7,0.8,18,9.8,0.0,266.2,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.5
$GPS2,121021,001904,2244.8936,-15800.2900,7,0.9,17,9.8,0.8,320.8,9,10.0
$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,46.3,533,-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,-116.8,123,2297,1283,1191,0.0,0.0,0,73,0.00,0.00,-54.95,0.000,16386,0.000,0.000,123,2295,2988,2965,3011,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.58,-116.8,123,2297,2965,3012,3.5,-6.7,8,100,8.50,2.33,-4.75,0.000,19204,0.432,0.074,2546,3666,3277,3257,3298,0,0,0,0,0,0,14.09,13.86,14.40
$GC,131,-0.58,-116.8,2545,3666,3257,3298,20.4,-21.6,16,139,0.05,2.40,0.00,0.000,3078,0.345,0.053,2564,2261,3279,3262,3296,0,0,0,0,0,0,14.59,14.79,14.82
$GC,392,-0.58,-116.8,2564,2257,3264,3293,64.1,-15.6,46,396,0.00,2.40,0.00,0.000,260,0.000,0.065,2555,3668,3278,3265,3292,0,0,0,0,0,0,15.23,14.83,15.23
$GC,513,-0.58,-116.8,2555,3668,3264,3294,78.0,-10.7,57,522,0.00,2.33,0.00,0.000,3078,0.000,0.050,2555,2264,3278,3266,3291,0,0,0,0,0,0,14.60,14.59,14.62
$GC,763,-0.58,-116.8,2555,2263,3266,3291,112.2,-12.1,82,768,0.00,2.35,0.00,0.000,2564,0.000,0.057,2555,852,3278,3267,3290,0,0,0,0,0,0,15.26,14.88,15.26
$GC,776,-0.58,-116.8,2555,851,3267,3291,114.0,-12.2,83,786,0.03,2.33,0.00,0.000,3078,0.420,0.054,2555,2251,3278,3267,3290,0,0,0,0,0,0,14.48,14.76,14.61
$GC,1026,-0.58,-116.8,2554,2251,3268,3290,142.9,-11.4,108,1031,0.00,2.40,0.00,0.000,2308,0.000,0.066,2545,3682,3278,3267,3290,0,0,0,0,0,0,15.28,14.88,15.28
$GC,1080,-0.58,-116.8,2545,3682,3267,3291,147.9,-9.0,113,1089,0.03,2.33,0.00,0.000,3078,0.339,0.044,2557,2250,3279,3267,3291,0,0,0,0,0,0,14.53,14.75,14.62
$GC,1330,-0.58,-116.8,2556,2248,3267,3290,172.5,-9.7,138,1334,0.00,2.33,0.00,0.000,2564,0.000,0.059,2557,860,3278,3267,3290,0,0,0,0,0,0,15.29,14.89,15.29
$GC,1448,-0.58,-116.8,2557,860,3268,3290,183.5,-9.5,149,1455,0.00,2.38,0.00,0.000,3078,0.000,0.057,2548,2270,3279,3268,3290,0,0,0,0,0,0,15.03,14.89,15.05
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$GC,1598,-0.13,0.0,2548,2098,3268,3289,200.2,-11.3,164,1696,0.40,0.00,95.10,1.073,10246,0.236,0.000,2700,2094,2798,2865,2732,0,0,0,0,0,0,14.43,14.59,13.88
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1700,0.58,116.8,2700,2094,2865,2732,204.8,0.0,174,1807,0.52,2.33,98.00,1.063,11012,0.130,0.053,2937,746,2321,2404,2238,0,0,0,0,0,0,14.57,14.55,13.84
$GC,1828,0.67,259.1,2937,746,2396,2239,206.8,2.0,187,1949,0.00,2.35,115.05,1.064,11270,0.000,0.051,2937,2128,1743,1824,1662,0,0,0,0,0,0,14.77,14.66,13.86
$GC,2200,0.67,259.1,2937,2128,1822,1655,157.9,13.1,224,2209,0.00,2.33,0.00,0.000,2308,0.000,0.062,2937,3530,1738,1821,1655,0,0,0,0,0,0,15.18,14.72,15.18
$GC,2256,0.67,259.1,2937,3530,1821,1655,150.8,13.6,229,2263,0.00,2.28,0.00,0.000,3078,0.000,0.046,2948,2150,1738,1822,1655,0,0,0,0,0,0,15.00,14.87,15.01
$GC,2505,0.67,259.1,2948,2150,1822,1656,121.2,11.1,254,2515,0.00,2.40,0.00,0.000,2564,0.000,0.063,2959,723,1738,1821,1655,0,0,0,0,0,0,15.23,14.62,15.23
$GC,2582,0.67,259.1,2958,723,1819,1654,112.8,10.7,261,2589,0.00,2.35,0.00,0.000,3078,0.000,0.057,2959,2123,1736,1819,1654,0,0,0,0,0,0,15.02,14.90,15.04
$GC,2831,0.67,259.1,2959,2123,1819,1654,85.4,11.2,286,2841,0.00,2.35,0.00,0.000,2308,0.000,0.064,2959,3531,1736,1819,1654,0,0,0,0,0,0,15.25,14.57,15.26
$GC,2897,0.67,259.1,2958,3532,1819,1654,77.5,12.2,292,2905,0.00,2.40,0.00,0.000,5126,0.000,0.047,2970,2109,1736,1819,1654,0,0,0,0,0,0,15.00,14.85,15.02
$GC,3148,0.67,267.3,2970,2109,1819,1654,53.8,9.6,317,3161,0.00,2.40,7.70,0.855,12804,0.000,0.062,2980,710,1708,1794,1622,0,0,0,0,0,0,15.24,14.83,14.04
$GC,3218,0.67,267.3,2980,710,1790,1622,46.6,10.6,323,3226,0.05,2.42,0.00,0.000,5126,0.363,0.056,2962,2126,1705,1789,1622,0,0,0,0,0,0,14.64,14.85,14.88
$GC,3475,0.68,284.9,2962,2128,1790,1621,22.1,9.1,355,3490,0.00,2.38,7.93,0.786,10500,0.000,0.062,2962,3535,1635,1724,1546,0,0,0,0,0,0,15.23,14.50,14.03
$GC,3542,0.68,284.9,2962,3536,1724,1546,14.5,11.5,366,3550,0.00,2.40,0.00,0.000,5126,0.000,0.046,2971,2129,1635,1724,1546,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3643,begin surface coast
$FINISH,0.3,1.023200
$STATE,3670,end surface coast,CONTROL_FINISHED_OK
$STATE,3671,begin surface
$SM_CCo,3688,40.20,0.188,0,0,1247,380.21
$SM_GC,1.02,6.38,0.25,40.20,0.044,0.072,0.188,148,2289,1247,-7.91,-0.82,380.21,0,0,0,0,0,0,14.99,14.94,14.61
$IRIDIUM_FIX,2237.01,-15800.20,121021,001507
$TT8_MAMPS,0.02247,0.286118
$HUMID,53.18
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,13.84,187.360
$10V_AH,12.65,0.000
$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,15.950,52.400,323.775,40.200,0.000,31.686,47.686,119.175,0.500,0.000,18.480,1012.592,1350.519,402.127,1160.740,171.095,0.000,857.513,0.000,955.593,0.000,0.554,0.000
$DEVICE_MAMPS,432.225,74.205,1073.295,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,257.130,281.340,534.392,496.010,592.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,37455,389
$CAP_FILE_SIZE,63502,0
$CFSIZE,1023623168,945995776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,213.66,1
$GPS,121021,012325,2244.885,-15800.281,10,0.9,39,9.8,0.0,99.2,9,6.6