version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 863
start: 10 12 121 5 11 14
data:
$ID,626
$MISSION,3
$DIVE,863
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,121021,050456,2244.9250,-15800.6123,8,0.9,17,9.8,0.7,301.2,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.9
$GPS2,121021,051023,2244.9324,-15800.6396,7,0.9,17,9.8,0.5,96.1,9,10.0
$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,66.7,1100,-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,14,begin dive
$GC,17,-0.55,-116.8,123,2289,1084,965,0.0,0.0,0,87,0.00,0.00,-68.25,0.000,16386,0.000,0.000,123,2290,3230,3190,3270,0,0,0,0,0,0,15.18,28.83,15.19
$GC,91,-0.55,-116.8,123,2290,3194,3268,4.2,-9.0,10,107,8.62,2.35,-0.70,0.000,18692,0.436,0.071,2558,3681,3279,3250,3308,0,0,0,0,0,0,14.08,13.23,14.40
$GC,116,-0.55,-116.8,2558,3682,3254,3305,16.5,-37.7,13,124,0.00,2.40,0.00,0.000,3078,0.000,0.054,2558,2272,3280,3258,3302,0,0,0,0,0,0,14.93,14.78,14.95
$GC,377,-0.55,-116.8,2558,2269,3263,3296,67.4,-21.4,45,386,0.00,2.38,0.00,0.000,2308,0.000,0.066,2548,3664,3279,3263,3296,0,0,0,0,0,0,15.23,14.50,15.23
$GC,392,-0.55,-116.8,2548,3664,3263,3296,69.6,-21.4,46,401,0.08,2.38,0.00,0.000,3078,0.329,0.044,2573,2238,3280,3264,3296,0,0,0,0,0,0,14.57,14.83,14.83
$GC,643,-0.55,-116.8,2574,2234,3265,3295,113.3,-15.8,71,652,0.00,2.40,0.00,0.000,260,0.000,0.066,2565,3662,3280,3265,3295,0,0,0,0,0,0,15.24,14.67,15.25
$GC,688,-0.55,-116.8,2564,3661,3266,3295,119.4,-13.2,75,696,0.00,2.28,0.00,0.000,3078,0.000,0.043,2564,2263,3280,3266,3294,0,0,0,0,0,0,14.82,14.77,14.83
$GC,937,-0.55,-116.8,2564,2263,3266,3295,153.3,-14.4,100,946,0.00,2.38,0.00,0.000,2308,0.000,0.068,2554,3662,3280,3266,3295,0,0,0,0,0,0,15.28,14.68,15.28
$GC,993,-0.55,-116.8,2554,3662,3266,3295,160.1,-12.3,105,1001,0.03,2.33,0.00,0.000,3078,0.203,0.038,2582,2253,3281,3267,3295,0,0,0,0,0,0,14.59,14.83,14.84
$GC,1242,-0.55,-116.8,2581,2252,3267,3295,180.5,-6.2,130,1252,0.00,2.30,0.00,0.000,4868,0.000,0.056,2581,870,3280,3267,3294,0,0,0,0,0,0,15.28,14.73,15.28
$GC,1258,-0.55,-116.8,2581,870,3267,3294,181.2,-6.1,131,1265,0.00,2.35,0.00,0.000,1030,0.000,0.057,2572,2260,3279,3268,3291,0,0,0,0,0,0,15.01,14.89,15.03
$GC,1507,-0.55,-116.8,2572,2260,3268,3291,199.9,-9.1,156,1518,0.00,2.35,0.00,0.000,260,0.000,0.068,2561,3665,3279,3268,3291,0,0,0,0,0,0,15.28,14.52,15.28
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1530,-0.13,0.0,2561,2123,3268,3290,200.8,-8.8,157,1629,0.38,0.00,95.15,1.070,10246,0.203,0.000,2709,2120,2798,2865,2732,0,0,0,0,0,0,14.50,14.59,13.86
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1630,begin climb
$GC,1633,0.55,116.8,2709,2120,2864,2732,207.4,0.0,167,1739,0.47,2.40,98.07,1.063,10756,0.090,0.051,2946,723,2321,2405,2238,0,0,0,0,0,0,14.63,14.55,13.84
$GC,2253,0.61,213.3,2946,722,2391,2234,182.5,5.1,228,2341,0.00,2.40,77.38,1.051,9222,0.000,0.051,2946,2138,1928,2006,1850,0,0,0,0,0,0,14.98,14.86,13.97
$GC,2581,0.61,224.2,2946,2138,2006,1843,151.7,9.5,261,2601,0.00,2.40,9.60,0.946,8708,0.000,0.061,2957,724,1883,1962,1804,0,0,0,0,0,0,15.19,14.59,14.07
$GC,2906,0.63,251.2,2957,724,1954,1804,122.5,8.7,292,2938,0.00,2.35,22.42,0.986,13318,0.000,0.057,2957,2120,1775,1857,1693,0,0,0,0,0,0,14.65,14.60,14.10
$GC,3178,0.63,251.2,2957,2120,1857,1688,96.3,10.1,319,3187,0.00,2.38,0.00,0.000,4612,0.000,0.063,2968,727,1772,1856,1688,0,0,0,0,0,0,15.23,14.70,15.23
$GC,3426,0.66,295.7,2967,727,1851,1689,76.6,7.8,342,3474,0.00,2.40,36.22,0.936,13318,0.000,0.057,2967,2126,1592,1682,1502,0,0,0,0,0,0,15.00,14.84,14.14
$GC,3715,0.68,339.8,2967,2127,1682,1498,55.2,7.8,371,3757,0.00,2.40,35.38,0.903,8452,0.000,0.066,2968,3530,1411,1505,1318,0,0,0,0,0,0,15.21,14.76,14.14
$GC,3863,0.68,339.8,2968,3530,1505,1318,41.1,10.6,385,3872,0.00,2.33,0.00,0.000,5126,0.000,0.050,2979,2135,1411,1505,1318,0,0,0,0,0,0,14.65,14.62,14.68
$GC,4125,0.68,339.8,2979,2134,1505,1317,12.1,14.2,424,4133,0.00,2.47,0.00,0.000,4612,0.000,0.066,2990,709,1411,1505,1317,0,0,0,0,0,0,15.19,14.80,15.19
$STATE,4189,end climb,SURFACE_DEPTH_REACHED
$STATE,4189,begin surface coast
$FINISH,0.4,1.023180
$STATE,4210,end surface coast,CONTROL_FINISHED_OK
$STATE,4210,begin surface
$SM_CCo,4230,16.67,0.192,0,0,1246,380.21
$SM_GC,0.91,6.32,2.67,16.67,0.027,0.051,0.192,136,2264,1246,-7.91,-0.65,380.21,0,0,0,0,0,0,15.00,14.80,14.62
$IRIDIUM_FIX,2234.68,-15800.20,121021,050631
$TT8_MAMPS,0.023219,0.313831
$HUMID,52.87
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.23,188.054
$10V_AH,12.60,0.000
$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,15.900,52.625,374.225,16.675,0.000,26.630,43.629,125.485,0.500,0.000,18.893,1138.641,1527.733,413.853,1351.510,177.295,0.000,979.681,0.000,1149.138,0.000,0.555,0.000
$DEVICE_MAMPS,436.050,71.145,1070.235,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.872,317.395,595.867,518.733,607.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,40763,439
$CAP_FILE_SIZE,67194,0
$CFSIZE,1023623168,945717248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100,265.55,1
$GPS,121021,062319,2244.812,-15800.734,9,0.8,39,9.8,0.4,38.8,10,6.7