version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 872
start: 10 12 121 17 23 27
data:
$ID,626
$MISSION,3
$DIVE,872
$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,73
$R_STBD_OVSHOOT,26
$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
$GPS1,121021,171655,2245.3347,-15801.4688,9,0.8,39,9.8,0.4,332.1,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.0
$GPS2,121021,172237,2245.3606,-15801.5068,8,0.8,15,9.8,1.0,102.2,10,9.8
$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,98.7,2659,-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,-116.8,122,2211,1283,1197,0.0,0.0,0,75,0.00,0.00,-56.00,0.000,16386,0.000,0.000,122,2210,3023,2997,3049,0,0,0,0,0,0,15.17,28.83,15.19
$GC,79,-0.55,-116.8,122,2210,2998,3050,3.5,-6.4,8,102,8.48,2.22,-4.18,0.000,18948,0.422,0.066,2578,891,3278,3259,3298,0,0,0,0,0,0,14.08,13.24,14.38
$GC,153,-0.55,-116.8,2577,891,3266,3294,24.8,-17.2,20,160,0.00,2.40,0.00,0.000,3078,0.000,0.057,2569,2277,3279,3267,3292,0,0,0,0,0,0,14.92,14.76,14.95
$GC,410,-0.55,-116.8,2569,2277,3268,3290,69.9,-17.5,48,419,0.00,2.35,0.00,0.000,2564,0.000,0.057,2569,894,3278,3267,3290,0,0,0,0,0,0,15.23,14.53,15.23
$GC,493,-0.55,-116.8,2569,894,3267,3290,83.7,-15.4,56,503,0.00,2.33,0.00,0.000,3078,0.000,0.059,2559,2266,3278,3267,3290,0,0,0,0,0,0,14.90,14.85,14.91
$GC,744,-0.55,-116.8,2559,2266,3267,3290,121.6,-12.8,81,749,0.00,2.38,0.00,0.000,2308,0.000,0.067,2549,3678,3278,3267,3290,0,0,0,0,0,0,15.26,14.87,15.27
$GC,760,-0.55,-116.8,2548,3679,3267,3289,123.3,-12.3,82,768,0.03,2.33,0.00,0.000,3078,0.184,0.047,2577,2298,3278,3267,3290,0,0,0,0,0,0,14.60,14.81,14.85
$GC,1012,-0.55,-116.8,2577,2294,3268,3289,149.2,-10.4,107,1016,0.00,2.38,0.00,0.000,516,0.000,0.055,2577,858,3278,3267,3290,0,0,0,0,0,0,15.26,14.89,15.26
$GC,1108,-0.55,-116.8,2577,858,3268,3290,158.5,-9.0,116,1115,0.00,2.38,0.00,0.000,3078,0.000,0.057,2568,2267,3279,3269,3289,0,0,0,0,0,0,15.02,14.88,15.04
$GC,1358,-0.55,-116.8,2568,2267,3269,3289,184.4,-10.0,141,1363,0.00,2.38,0.00,0.000,2564,0.000,0.054,2568,862,3279,3269,3289,0,0,0,0,0,0,15.28,14.90,15.28
$GC,1462,-0.55,-116.8,2568,861,3269,3289,195.3,-10.0,151,1468,0.03,2.38,0.00,0.000,3078,0.532,0.057,2568,2265,3279,3269,3289,0,0,0,0,0,0,14.72,14.88,14.90
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1521,-0.13,0.0,2568,2092,3269,3289,200.6,-9.9,156,1620,0.35,0.08,94.57,1.065,10246,0.220,0.148,2705,2147,2798,2865,2732,0,0,0,0,0,0,14.33,14.58,13.88
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1624,0.55,116.8,2706,2147,2865,2732,205.1,0.0,166,1729,0.47,2.42,97.53,1.058,10756,0.123,0.053,2928,754,2322,2406,2238,0,0,0,0,0,0,14.59,14.56,13.85
$GC,1833,0.57,160.6,2928,753,2393,2237,201.5,7.8,187,1874,0.00,2.28,36.35,1.040,11270,0.000,0.054,2928,2107,2144,2231,2057,0,0,0,0,0,0,14.71,14.66,13.96
$GC,2117,0.58,171.0,2928,2107,2230,2051,173.4,9.6,215,2137,0.00,2.42,9.60,0.945,10500,0.000,0.061,2928,3541,2101,2191,2012,0,0,0,0,0,0,15.19,14.69,14.04
$GC,2173,0.58,171.0,2928,3541,2190,2011,168.0,10.3,220,2180,0.00,2.28,0.00,0.000,1030,0.000,0.044,2938,2156,2101,2190,2012,0,0,0,0,0,0,14.97,14.87,14.98
$GC,2424,0.60,199.5,2938,2156,2191,2011,145.8,8.6,245,2450,0.00,0.00,24.38,0.993,8198,0.000,0.000,2939,2156,1985,2071,1899,0,0,0,0,0,0,15.22,14.78,14.09
$GC,2693,0.64,272.6,2938,2155,2069,1895,124.3,6.3,272,2762,0.00,2.50,58.62,0.991,10756,0.000,0.060,2950,720,1686,1775,1597,0,0,0,0,0,0,15.22,14.69,14.04
$GC,2819,0.64,272.6,2950,720,1769,1596,112.1,12.5,284,2830,0.00,2.38,0.00,0.000,3078,0.000,0.057,2950,2118,1682,1769,1595,0,0,0,0,0,0,14.57,14.51,14.59
$GC,3072,0.66,302.9,2950,2118,1768,1592,85.1,8.5,309,3101,0.00,2.40,24.17,0.932,10500,0.000,0.067,2950,3547,1563,1656,1470,0,0,0,0,0,0,15.21,14.81,14.12
$GC,3171,0.67,307.9,2950,3547,1655,1470,76.1,9.8,318,3182,0.00,2.42,5.90,0.796,9222,0.000,0.050,2961,2129,1543,1638,1449,0,0,0,0,0,0,14.83,14.77,14.05
$GC,3432,0.67,316.2,2960,2129,1638,1445,51.6,9.7,344,3445,0.00,2.42,7.78,0.827,10756,0.000,0.062,2972,710,1508,1603,1413,0,0,0,0,0,0,15.22,14.84,14.13
$GC,3487,0.67,316.2,2971,710,1598,1414,45.6,11.2,349,3495,0.00,2.45,0.00,0.000,5126,0.000,0.058,2972,2133,1506,1598,1414,0,0,0,0,0,0,14.97,14.83,15.00
$GC,3743,0.67,316.2,2971,2132,1597,1412,13.5,12.6,386,3752,0.00,2.42,0.00,0.000,4356,0.000,0.066,2972,3543,1505,1598,1413,0,0,0,0,0,0,15.21,14.81,15.21
$GC,3771,0.67,316.2,2971,3543,1598,1412,9.8,13.8,390,3781,0.05,2.40,0.00,0.000,5126,0.367,0.050,2963,2124,1505,1597,1413,0,0,0,0,0,0,14.62,14.83,14.85
$STATE,3826,end climb,SURFACE_DEPTH_REACHED
$STATE,3826,begin surface coast
$FINISH,0.4,1.023197
$STATE,3853,end surface coast,CONTROL_FINISHED_OK
$STATE,3853,begin surface
$SM_CCo,3871,26.60,0.185,0,0,1247,380.21
$SM_GC,1.40,6.30,0.25,26.60,0.031,0.067,0.185,166,2294,1247,-7.93,-0.93,380.21,0,0,0,0,0,0,14.95,14.96,14.61
$IRIDIUM_FIX,2234.68,-15802.37,121021,171829
$TT8_MAMPS,0.023219,0.316078
$HUMID,53.78
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.24,189.745
$10V_AH,12.62,0.000
$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,15.700,52.950,358.900,26.600,0.000,24.424,44.537,141.673,0.500,0.000,16.355,1050.908,1451.970,400.165,1190.801,179.747,0.000,889.595,0.000,978.349,0.000,0.555,0.000
$DEVICE_MAMPS,531.675,147.645,1064.880,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.742,294.580,549.475,488.380,564.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339060
$DATA_FILE_SIZE,37413,404
$CAP_FILE_SIZE,67038,0
$CFSIZE,1023623168,945127424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122,316.85,1
$GPS,121021,182923,2245.538,-15801.320,8,1.0,19,9.8,0.0,70.1,8,9.5