version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 861
start: 10 12 121 2 46 28
data:
$ID,626
$MISSION,3
$DIVE,861
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,121021,024001,2244.8022,-15800.3652,8,0.9,40,9.8,0.7,102.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.8
$GPS2,121021,024538,2244.7820,-15800.4189,7,0.8,16,9.8,0.0,213.2,9,9.3
$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,33.2,822,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,123,2288,1301,1188,0.0,0.0,0,80,0.00,0.00,-61.00,0.000,16386,0.000,0.000,123,2288,3215,3176,3255,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,123,2288,3179,3253,3.8,-7.5,9,100,8.57,2.33,-0.95,0.000,18692,0.436,0.070,2554,3670,3279,3250,3309,0,0,0,0,0,0,14.10,13.29,14.42
$GC,152,-0.55,-116.8,2554,3670,3261,3300,26.3,-14.5,20,160,0.05,2.40,0.00,0.000,3078,0.360,0.050,2572,2256,3279,3261,3298,0,0,0,0,0,0,14.59,14.80,14.81
$GC,409,-0.55,-116.8,2572,2253,3266,3295,67.1,-14.9,47,413,0.00,2.40,0.00,0.000,260,0.000,0.064,2564,3663,3280,3266,3295,0,0,0,0,0,0,15.23,14.85,15.24
$GC,534,-0.55,-116.8,2563,3664,3265,3296,81.0,-10.1,59,539,0.00,2.30,0.00,0.000,3078,0.000,0.047,2564,2265,3280,3266,3295,0,0,0,0,0,0,15.02,14.90,15.04
$GC,787,-0.55,-116.8,2563,2264,3266,3295,115.9,-14.1,84,797,0.00,2.35,0.00,0.000,2308,0.000,0.066,2553,3650,3280,3267,3294,0,0,0,0,0,0,15.27,14.68,15.28
$GC,922,-0.55,-116.8,2553,3650,3267,3295,131.8,-11.2,97,928,0.05,2.28,0.00,0.000,3078,0.348,0.046,2573,2264,3280,3267,3294,0,0,0,0,0,0,14.69,14.92,14.90
$GC,1178,-0.55,-116.8,2573,2260,3268,3295,157.9,-10.2,122,1186,0.00,2.33,0.00,0.000,516,0.000,0.057,2573,852,3281,3268,3294,0,0,0,0,0,0,15.26,14.71,15.27
$GC,1280,-0.55,-116.8,2573,851,3268,3294,168.7,-10.2,132,1290,0.00,2.35,0.00,0.000,3078,0.000,0.059,2564,2247,3280,3269,3292,0,0,0,0,0,0,14.71,14.73,14.71
$GC,1533,-0.55,-116.8,2564,2247,3269,3292,199.2,-11.7,157,1537,0.00,2.35,0.00,0.000,2564,0.000,0.057,2564,856,3280,3269,3291,0,0,0,0,0,0,15.27,14.89,15.27
$STATE,1542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1551,-0.13,0.0,2555,2136,3269,3291,201.0,-11.7,158,1655,0.38,0.00,94.70,1.076,10246,0.230,0.000,2699,2137,2799,2865,2733,0,0,0,0,0,0,14.45,14.59,13.88
$STATE,1656,end apogee,CONTROL_FINISHED_OK
$STATE,1657,begin climb
$GC,1659,0.55,116.8,2699,2137,2864,2732,207.7,0.0,169,1766,0.50,2.40,97.70,1.066,10500,0.128,0.061,2917,3549,2322,2406,2238,0,0,0,0,0,0,14.51,14.32,13.81
$GC,2172,0.59,184.6,2916,3549,2406,2239,183.5,6.6,219,2239,0.00,2.38,55.40,1.048,11270,0.000,0.044,2928,2117,2045,2131,1960,0,0,0,0,0,0,14.99,14.85,14.01
$GC,2481,0.60,199.1,2927,2116,2131,1954,157.0,9.4,250,2499,0.00,2.40,12.32,0.976,10756,0.000,0.057,2938,712,1986,2069,1904,0,0,0,0,0,0,15.20,14.83,14.09
$GC,2700,0.62,238.0,2938,711,2058,1904,138.6,8.1,271,2740,0.00,2.38,31.92,1.004,11270,0.000,0.053,2938,2129,1827,1907,1747,0,0,0,0,0,0,14.80,14.73,14.09
$GC,2980,0.62,238.0,2938,2129,1906,1742,109.9,11.1,299,2989,0.00,2.35,0.00,0.000,2308,0.000,0.065,2939,3533,1824,1907,1741,0,0,0,0,0,0,15.21,14.69,15.20
$GC,3013,0.62,238.0,2938,3533,1907,1742,105.9,11.7,302,3023,0.00,2.33,0.00,0.000,1030,0.000,0.050,2949,2123,1824,1906,1743,0,0,0,0,0,0,14.82,14.83,14.82
$GC,3268,0.63,248.1,2949,2123,1907,1742,79.9,9.6,327,3289,0.00,2.35,9.18,0.893,8708,0.000,0.061,2960,723,1785,1868,1703,0,0,0,0,0,0,15.23,14.62,14.10
$GC,3368,0.65,286.4,2960,723,1864,1702,70.5,8.1,336,3406,0.00,2.40,31.23,0.936,9222,0.000,0.057,2960,2127,1630,1719,1542,0,0,0,0,0,0,14.97,14.85,14.12
$GC,3646,0.65,286.4,2960,2127,1719,1538,45.2,10.5,364,3657,0.00,2.35,0.00,0.000,260,0.000,0.063,2960,3529,1628,1719,1537,0,0,0,0,0,0,15.20,14.54,15.21
$GC,3681,0.65,286.4,2960,3529,1719,1537,41.0,11.8,367,3691,0.00,2.30,0.00,0.000,5126,0.000,0.046,2971,2130,1628,1719,1538,0,0,0,0,0,0,14.62,14.57,14.65
$GC,3942,0.67,321.7,2970,2128,1719,1537,15.0,8.3,407,3965,0.00,2.42,14.93,0.249,12548,0.000,0.062,2971,3536,1487,1577,1398,0,0,0,0,0,0,15.21,14.45,14.29
$GC,3979,0.67,321.7,2971,3536,1576,1398,11.1,10.4,412,3988,0.03,2.42,0.00,0.000,5126,0.390,0.050,2971,2128,1487,1577,1398,0,0,0,0,0,0,14.47,14.70,14.59
$STATE,4041,end climb,SURFACE_DEPTH_REACHED
$STATE,4041,begin surface coast
$FINISH,0.4,1.023191
$STATE,4065,end surface coast,CONTROL_FINISHED_OK
$STATE,4065,begin surface
$SM_CCo,4084,24.67,0.188,0,0,1248,380.21
$SM_GC,1.41,6.60,0.25,24.67,0.074,0.076,0.188,139,2282,1248,-7.96,-0.90,380.21,0,0,0,0,0,0,14.96,14.91,14.59
$IRIDIUM_FIX,2234.68,-15757.16,121021,024134
$TT8_MAMPS,0.023219,0.342293
$HUMID,53.22
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.29,187.701
$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,16.175,52.000,347.375,24.675,0.000,23.664,42.812,139.831,0.000,0.000,18.218,1115.696,1480.021,401.583,1303.436,177.645,0.000,933.088,0.000,1094.257,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,76.500,1075.590,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.427,307.365,584.007,523.689,606.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339156
$DATA_FILE_SIZE,40711,427
$CAP_FILE_SIZE,68399,0
$CFSIZE,1023623168,945848320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151,229.28,1
$GPS,121021,035559,2244.750,-15800.583,8,0.9,23,9.8,0.0,85.4,9,9.7