version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 869
start: 10 12 121 13 21 27
data:
$ID,626
$MISSION,3
$DIVE,869
$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,45
$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
$GPS1,121021,131455,2245.1270,-15801.2305,8,0.9,46,9.8,0.6,20.5,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.6
$GPS2,121021,132037,2245.1074,-15801.2715,7,0.9,19,9.8,0.9,129.2,9,9.9
$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,54.0,2181,-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,13,begin dive
$GC,16,-0.55,-116.8,123,2289,1265,1149,0.0,0.0,0,75,0.00,0.00,-56.62,0.000,16386,0.000,0.000,122,2289,2991,2963,3020,0,0,0,0,0,0,15.18,28.83,15.18
$GC,79,-0.55,-116.8,123,2289,2967,3019,3.0,-4.2,8,102,8.50,2.33,-4.85,0.000,18692,0.429,0.073,2554,3670,3276,3255,3298,0,0,0,0,0,0,14.12,13.88,14.41
$GC,137,-0.55,-116.8,2553,3670,3257,3296,19.9,-16.0,17,147,0.05,2.42,0.00,0.000,3078,0.269,0.047,2575,2250,3277,3261,3293,0,0,0,0,0,0,14.45,14.69,14.60
$GC,399,-0.55,-116.8,2574,2245,3263,3290,74.3,-20.9,48,408,0.00,2.35,0.00,0.000,260,0.000,0.063,2566,3653,3277,3264,3290,0,0,0,0,0,0,15.23,14.50,15.23
$GC,441,-0.55,-116.8,2565,3653,3263,3290,82.3,-18.6,52,451,0.00,2.28,0.00,0.000,3078,0.000,0.044,2566,2261,3277,3264,3290,0,0,0,0,0,0,14.97,14.91,14.97
$GC,692,-0.55,-116.8,2565,2258,3264,3290,118.5,-11.8,77,697,0.00,2.38,0.00,0.000,2308,0.000,0.066,2555,3656,3277,3264,3290,0,0,0,0,0,0,15.26,14.85,15.27
$GC,737,-0.55,-116.8,2555,3656,3264,3290,122.8,-9.7,81,742,0.05,2.25,0.00,0.000,3078,0.349,0.039,2576,2264,3276,3264,3289,0,0,0,0,0,0,14.68,14.94,14.90
$GC,993,-0.55,-116.8,2576,2260,3266,3289,144.6,-9.3,106,1002,0.00,2.30,0.00,0.000,516,0.000,0.056,2576,862,3278,3267,3289,0,0,0,0,0,0,15.26,14.66,15.27
$GC,1067,-0.55,-116.8,2576,862,3267,3289,150.6,-7.7,113,1073,0.00,2.33,0.00,0.000,3078,0.000,0.057,2567,2249,3277,3267,3288,0,0,0,0,0,0,15.02,14.89,15.04
$GC,1324,-0.55,-116.8,2567,2250,3267,3288,173.4,-8.9,138,1334,0.00,2.33,0.00,0.000,2564,0.000,0.054,2567,865,3278,3268,3288,0,0,0,0,0,0,15.27,14.59,15.27
$GC,1368,-0.55,-116.8,2567,865,3267,3289,177.5,-8.9,142,1377,0.05,2.35,0.00,0.000,3078,0.281,0.059,2577,2262,3278,3268,3288,0,0,0,0,0,0,14.45,14.71,14.60
$GC,1619,-0.55,-116.8,2577,2263,3267,3288,194.3,-5.4,167,1624,0.00,2.38,0.00,0.000,260,0.000,0.067,2568,3674,3277,3267,3288,0,0,0,0,0,0,15.27,14.86,15.28
$GC,1656,-0.55,-116.8,2567,3674,3268,3288,196.2,-5.3,170,1662,0.00,2.30,0.00,0.000,3078,0.000,0.041,2567,2257,3277,3267,3288,0,0,0,0,0,0,15.05,14.95,15.07
$STATE,1719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1720,begin apogee
$GC,1727,-0.13,0.0,2566,2080,3267,3287,200.1,-5.7,177,1826,0.35,0.10,94.45,1.073,10246,0.203,0.129,2706,2156,2799,2864,2734,0,0,0,0,0,0,14.35,14.60,13.88
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1830,0.55,116.8,2706,2155,2864,2734,203.4,0.0,187,1935,0.47,2.30,98.03,1.064,10500,0.104,0.062,2926,3513,2321,2405,2238,0,0,0,0,0,0,14.62,14.55,13.84
$GC,2445,0.62,236.9,2926,3512,2405,2239,182.8,3.9,248,2548,0.00,2.20,96.45,1.063,11270,0.000,0.043,2937,2168,1831,1910,1753,0,0,0,0,0,0,15.02,14.90,13.92
$GC,2798,0.62,239.4,2936,2168,1910,1745,154.2,10.0,283,2806,0.00,2.28,0.00,0.000,2308,0.000,0.065,2937,3508,1827,1910,1745,0,0,0,0,0,0,15.19,14.70,15.19
$GC,3317,0.63,257.1,2936,3508,1910,1744,97.6,9.2,334,3340,0.00,2.30,16.35,0.952,11270,0.000,0.050,2947,2127,1750,1836,1664,0,0,0,0,0,0,15.03,14.90,14.15
$GC,3589,0.68,336.1,2947,2127,1836,1661,76.0,6.0,361,3659,0.00,2.42,62.67,0.945,10500,0.000,0.066,2947,3510,1427,1518,1337,0,0,0,0,0,0,15.24,14.71,14.06
$GC,3697,0.70,363.8,2947,3510,1517,1336,68.6,8.7,371,3728,0.00,2.38,22.98,0.909,11270,0.000,0.057,2958,2127,1314,1408,1220,0,0,0,0,0,0,14.86,14.72,14.02
$GC,3978,0.73,407.3,2957,2127,1407,1215,45.6,7.9,399,4017,0.00,2.47,34.12,0.892,10756,0.000,0.067,2969,709,1136,1237,1036,0,0,0,0,0,0,15.19,14.77,14.12
$GC,4108,0.76,460.0,2969,709,1230,1037,35.8,7.4,411,4156,0.00,2.40,40.80,0.877,11270,0.000,0.060,2969,2104,922,1031,813,0,0,0,0,0,0,14.91,14.76,14.07
$GC,4411,0.81,541.2,2969,2106,1031,809,12.6,5.9,460,4456,0.08,2.45,33.03,0.223,10500,0.176,0.064,3107,3536,596,703,490,0,0,0,0,0,0,14.85,14.53,14.55
$STATE,4467,end climb,SURFACE_DEPTH_REACHED
$STATE,4467,begin surface coast
$FINISH,1.1,1.023185
$STATE,4476,end surface coast,CONTROL_FINISHED_OK
$STATE,4476,begin surface
$SM_CCo,4557,0.00,0.000,0,0,594,540.88
$SM_GC,1.13,6.68,2.10,0.00,0.040,0.034,0.000,159,2262,594,-7.89,1.10,540.88,0,0,0,0,0,0,14.92,14.86,14.96
$IRIDIUM_FIX,2234.68,-15802.37,121021,131632
$TT8_MAMPS,0.023219,0.316827
$HUMID,53.07
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.84,189.226
$10V_AH,11.47,0.000
$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,16.225,51.550,498.875,0.000,0.000,30.170,48.857,129.639,0.250,0.000,20.353,1208.523,1625.700,451.258,1455.680,186.973,0.000,1076.814,0.000,1239.696,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,128.520,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,309.486,337.305,638.939,561.309,650.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339084
$DATA_FILE_SIZE,43781,469
$CAP_FILE_SIZE,72539,0
$CFSIZE,1023623168,945324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113,206.80,1
$GPS,121021,143831,2245.031,-15801.313,8,0.9,32,9.8,1.0,98.3,9,5.8