version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 864
start: 10 12 121 6 30 25
data:
$ID,626
$MISSION,3
$DIVE,864
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,121021,062319,2244.8123,-15800.7344,9,0.8,39,9.8,0.4,38.8,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.0
$GPS2,121021,062935,2244.8213,-15800.7686,8,0.8,17,9.8,0.0,307.7,10,9.3
$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,70.3,1353,-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,-116.8,123,2270,1282,1197,0.0,0.0,0,73,0.00,0.00,-53.85,0.000,16386,0.000,0.000,123,2271,2953,2931,2976,0,0,0,0,0,0,15.18,28.83,15.19
$GC,77,-0.55,-116.8,123,2271,2932,2974,3.4,-7.3,8,100,8.48,2.42,-5.57,0.000,18692,0.427,0.078,2553,3685,3279,3261,3297,0,0,0,0,0,0,14.08,13.25,14.38
$GC,114,-0.55,-116.8,2551,3685,3262,3297,16.4,-33.6,13,124,0.05,2.47,0.00,0.000,3078,0.311,0.057,2570,2264,3278,3262,3295,0,0,0,0,0,0,14.42,14.67,14.58
$GC,373,-0.55,-116.8,2570,2260,3267,3293,64.1,-17.8,45,378,0.00,2.42,0.00,0.000,2308,0.000,0.061,2561,3696,3279,3267,3292,0,0,0,0,0,0,15.23,14.85,15.23
$GC,386,-0.55,-116.8,2560,3696,3266,3293,66.9,-18.4,46,396,0.00,2.35,0.00,0.000,3078,0.000,0.044,2561,2260,3279,3266,3293,0,0,0,0,0,0,14.60,14.56,14.62
$GC,639,-0.55,-116.8,2560,2257,3267,3292,111.0,-16.6,71,644,0.00,2.42,0.00,0.000,2308,0.000,0.065,2550,3683,3279,3267,3291,0,0,0,0,0,0,15.25,14.85,15.25
$GC,715,-0.55,-116.8,2550,3685,3266,3293,120.2,-10.5,78,723,0.08,2.38,0.00,0.000,3078,0.282,0.039,2582,2240,3280,3267,3293,0,0,0,0,0,0,14.66,14.86,14.88
$GC,966,-0.55,-116.8,2582,2239,3268,3291,142.9,-8.8,103,971,0.00,2.47,0.00,0.000,4356,0.000,0.070,2573,3689,3279,3268,3291,0,0,0,0,0,0,15.26,14.86,15.28
$GC,1050,-0.55,-116.8,2573,3689,3267,3291,151.3,-9.7,111,1055,0.00,2.30,0.00,0.000,1030,0.000,0.036,2573,2259,3279,3268,3291,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1306,-0.55,-116.8,2573,2255,3268,3290,176.7,-9.4,136,1315,0.00,2.28,0.00,0.000,516,0.000,0.052,2573,866,3279,3268,3290,0,0,0,0,0,0,15.26,14.74,15.27
$GC,1379,-0.55,-116.8,2572,866,3269,3290,183.1,-8.0,143,1383,0.00,2.38,0.00,0.000,3078,0.000,0.054,2562,2282,3280,3271,3290,0,0,0,0,0,0,15.04,14.92,15.06
$STATE,1598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1599,begin apogee
$GC,1608,-0.13,0.0,2562,2074,3271,3289,200.2,-7.8,165,1712,0.35,0.08,95.40,1.059,10246,0.216,0.083,2700,2154,2798,2863,2733,0,0,0,0,0,0,14.33,14.38,13.85
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1716,0.55,116.8,2700,2154,2863,2732,204.6,0.0,176,1821,0.52,0.00,97.68,1.062,10502,0.104,0.000,2941,2155,2322,2406,2238,0,0,0,0,0,0,14.62,14.29,13.81
$GC,2063,0.62,241.6,2941,2154,2404,2234,199.2,3.7,211,2170,0.00,0.00,101.10,1.065,10246,0.000,0.000,2941,2155,1813,1891,1735,0,0,0,0,0,0,15.18,14.37,13.90
$GC,2412,0.62,241.6,2941,2155,1891,1728,161.9,11.9,246,2422,0.00,2.28,0.00,0.000,2308,0.000,0.066,2941,3507,1809,1891,1728,0,0,0,0,0,0,15.19,14.59,15.19
$GC,2553,0.62,241.6,2941,3507,1891,1728,144.2,12.4,259,2560,0.00,2.20,0.00,0.000,1030,0.000,0.046,2951,2167,1808,1889,1728,0,0,0,0,0,0,15.00,14.91,15.02
$GC,2801,0.65,287.9,2951,2166,1891,1727,121.4,7.7,284,2849,0.00,2.47,37.88,0.996,10756,0.000,0.063,2963,730,1623,1711,1536,0,0,0,0,0,0,15.24,14.66,14.12
$GC,2886,0.67,317.4,2962,730,1706,1537,114.5,8.6,292,2916,0.00,2.38,24.42,0.966,9222,0.000,0.056,2963,2118,1505,1594,1417,0,0,0,0,0,0,14.90,14.78,14.07
$GC,3160,0.69,352.7,2962,2119,1593,1411,90.0,8.3,319,3198,0.00,2.45,28.62,0.949,10756,0.000,0.066,2973,723,1361,1453,1269,0,0,0,0,0,0,15.20,14.73,14.11
$GC,3285,0.69,352.7,2973,723,1447,1269,78.2,10.3,331,3296,0.00,2.38,0.00,0.000,1030,0.000,0.056,2973,2122,1357,1447,1267,0,0,0,0,0,0,14.65,14.60,14.68
$GC,3538,0.71,383.6,2973,2122,1447,1265,55.4,8.5,356,3569,0.00,2.45,24.92,0.911,10756,0.000,0.067,2983,726,1234,1331,1137,0,0,0,0,0,0,15.21,14.79,14.14
$GC,3610,0.74,427.0,2983,725,1327,1138,49.7,7.9,363,3652,0.00,2.38,34.65,0.897,9222,0.000,0.060,2983,2129,1056,1157,956,0,0,0,0,0,0,14.66,14.59,14.07
$GC,3897,0.79,517.6,2983,2130,1157,952,29.2,5.4,393,3963,0.00,2.47,57.05,0.876,10756,0.000,0.067,2994,723,686,803,569,0,0,0,0,0,0,15.19,14.45,14.04
$GC,4025,0.79,517.6,2994,723,793,569,21.5,10.1,413,4032,0.00,2.45,0.00,0.000,3078,0.000,0.057,2994,2137,681,793,569,0,0,0,0,0,0,14.88,14.75,14.90
$STATE,4218,end climb,SURFACE_DEPTH_REACHED
$STATE,4218,begin surface coast
$FINISH,0.3,1.001771
$STATE,4241,end surface coast,CONTROL_FINISHED_OK
$STATE,4241,begin surface
$SM_CCo,4319,0.00,0.000,0,0,680,520.03
$SM_GC,1.16,6.45,0.20,0.00,0.048,0.071,0.000,185,2311,680,-7.89,-0.79,520.03,0,0,0,0,0,0,14.88,14.95,14.95
$IRIDIUM_FIX,2234.68,-15847.51,121021,062508
$TT8_MAMPS,0.023219,0.340046
$HUMID,53.70
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.25,188.264
$10V_AH,12.43,0.000
$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,15.925,48.325,501.725,0.000,0.000,32.921,69.236,133.131,0.250,0.000,18.838,1124.380,1605.610,491.721,1322.182,180.296,0.000,1023.023,0.000,1073.105,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,82.620,1064.880,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,297.394,324.227,616.883,562.616,664.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,43804,452
$CAP_FILE_SIZE,66992,0
$CFSIZE,1023623168,945651712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,308.03,1
$GPS,121021,074316,2245.058,-15800.682,8,0.9,17,9.8,0.0,257.9,9,9.8