version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 886
start: 10 13 121 11 11 19
data:
$ID,626
$MISSION,3
$DIVE,886
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,131021,110449,2244.7617,-15800.9053,8,0.8,40,9.8,0.6,291.1,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.2
$GPS2,131021,111029,2244.7649,-15800.9316,7,0.8,16,9.8,0.7,38.4,9,9.7
$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,84.1,1650,-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,-116.8,122,2289,903,772,0.0,0.0,0,89,0.00,0.00,-70.10,0.000,16386,0.000,0.000,122,2289,3121,3087,3155,0,0,0,0,0,0,15.17,28.83,15.17
$GC,93,-0.55,-116.8,122,2288,3088,3155,3.7,-6.6,10,116,8.55,2.42,-2.58,0.000,18948,0.431,0.070,2578,854,3279,3257,3301,0,0,0,0,0,0,14.07,13.28,14.38
$GC,124,-0.55,-116.8,2577,855,3262,3298,16.5,-36.2,14,132,0.00,2.42,0.00,0.000,3078,0.000,0.061,2569,2252,3280,3264,3296,0,0,0,0,0,0,14.93,14.77,14.95
$GC,384,-0.55,-116.8,2568,2252,3268,3294,59.1,-15.9,47,394,0.00,2.38,0.00,0.000,2308,0.000,0.064,2558,3673,3280,3267,3294,0,0,0,0,0,0,15.23,14.51,15.23
$GC,473,-0.55,-116.8,2557,3673,3267,3294,71.7,-12.8,55,483,0.05,2.38,0.00,0.000,3078,0.352,0.044,2577,2238,3280,3267,3293,0,0,0,0,0,0,14.62,14.85,14.85
$GC,724,-0.55,-116.8,2575,2237,3267,3292,99.7,-10.2,80,733,0.00,2.45,0.00,0.000,260,0.000,0.070,2568,3673,3280,3267,3293,0,0,0,0,0,0,15.25,14.50,15.26
$GC,829,-0.55,-116.8,2567,3672,3267,3293,109.8,-9.1,90,838,0.00,2.28,0.00,0.000,3078,0.000,0.040,2568,2267,3279,3267,3292,0,0,0,0,0,0,14.66,14.62,14.68
$GC,1083,-0.55,-116.8,2567,2265,3267,3292,135.7,-9.6,115,1092,0.00,2.40,0.00,0.000,2308,0.000,0.072,2556,3674,3279,3267,3292,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1160,-0.55,-116.8,2557,3672,3267,3293,143.1,-8.8,122,1168,0.05,2.38,0.00,0.000,3078,0.324,0.038,2580,2251,3280,3268,3292,0,0,0,0,0,0,14.67,14.83,14.88
$GC,1409,-0.55,-116.8,2579,2252,3267,3291,163.9,-8.5,147,1420,0.00,2.30,0.00,0.000,4612,0.000,0.054,2580,872,3280,3269,3291,0,0,0,0,0,0,15.28,14.58,15.28
$GC,1515,-0.55,-116.8,2580,872,3269,3290,172.8,-8.3,157,1524,0.00,2.33,0.00,0.000,1030,0.000,0.055,2571,2266,3280,3270,3290,0,0,0,0,0,0,14.78,14.76,14.81
$GC,1767,-0.55,-116.8,2571,2266,3269,3289,192.5,-8.1,182,1775,0.00,2.35,0.00,0.000,2564,0.000,0.052,2572,864,3279,3269,3290,0,0,0,0,0,0,15.27,14.71,15.27
$GC,1800,-0.55,-116.8,2571,864,3270,3289,195.3,-8.3,185,1809,0.00,2.35,0.00,0.000,3078,0.000,0.057,2561,2265,3279,3270,3289,0,0,0,0,0,0,14.75,14.69,14.78
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1867,begin apogee
$GC,1874,-0.13,0.0,2562,2094,3270,3289,200.4,-7.0,192,1973,0.38,0.00,94.90,1.081,10246,0.214,0.000,2706,2091,2799,2864,2734,0,0,0,0,0,0,14.30,14.59,13.88
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1977,0.55,116.8,2706,2091,2864,2733,203.6,0.0,202,2082,0.50,2.30,97.85,1.073,10756,0.101,0.052,2949,752,2320,2402,2239,0,0,0,0,0,0,14.62,14.56,13.83
$GC,2419,0.61,216.6,2949,750,2389,2235,192.3,5.0,246,2507,0.00,2.30,79.85,1.075,13318,0.000,0.054,2949,2129,1915,1996,1835,0,0,0,0,0,0,14.70,14.71,13.94
$GC,2748,0.61,216.6,2949,2130,1995,1827,157.7,10.8,279,2758,0.00,2.33,0.00,0.000,4612,0.000,0.056,2959,754,1910,1992,1828,0,0,0,0,0,0,15.19,14.59,15.19
$GC,2764,0.61,216.6,2959,754,1990,1828,156.7,11.1,280,2771,0.05,2.33,0.00,0.000,5126,0.381,0.056,2942,2131,1908,1990,1827,0,0,0,0,0,0,14.60,14.85,14.88
$GC,3013,0.61,222.6,2942,2133,1990,1827,130.8,9.8,305,3024,0.00,2.38,5.32,0.848,10756,0.000,0.055,2952,749,1890,1972,1809,0,0,0,0,0,0,15.23,14.84,14.02
$GC,3079,0.61,222.6,2952,748,1969,1810,124.0,10.3,311,3088,0.00,2.28,0.00,0.000,5126,0.000,0.051,2952,2119,1888,1968,1809,0,0,0,0,0,0,14.82,14.83,14.83
$GC,3331,0.63,243.3,2951,2119,1968,1809,100.4,9.0,336,3358,0.00,2.38,17.92,0.965,8452,0.000,0.062,2952,3540,1806,1888,1725,0,0,0,0,0,0,15.23,14.62,14.12
$GC,3405,0.63,243.3,2952,3541,1888,1725,92.8,10.9,343,3412,0.00,2.25,0.00,0.000,5126,0.000,0.044,2962,2165,1806,1888,1725,0,0,0,0,0,0,15.00,14.89,15.02
$GC,3658,0.67,308.0,2962,2163,1888,1722,69.9,6.8,368,3715,0.00,2.50,51.90,0.947,8708,0.000,0.059,2973,715,1542,1635,1450,0,0,0,0,0,0,15.21,14.74,14.08
$GC,3816,0.70,360.4,2973,714,1626,1449,58.5,7.4,383,3865,0.00,2.42,41.58,0.916,9222,0.000,0.056,2973,2126,1327,1420,1234,0,0,0,0,0,0,14.89,14.78,14.04
$GC,4106,0.73,413.2,2973,2126,1420,1229,32.2,7.4,412,4156,0.00,2.45,40.75,0.884,10756,0.000,0.063,2984,727,1113,1210,1016,0,0,0,0,0,0,15.18,14.64,14.11
$GC,4192,0.76,456.8,2983,726,1207,1016,25.6,7.9,424,4221,0.00,2.42,19.25,0.840,11270,0.000,0.057,2984,2126,934,1034,835,0,0,0,0,0,0,14.88,14.74,14.02
$STATE,4436,end climb,SURFACE_DEPTH_REACHED
$STATE,4436,begin surface coast
$FINISH,0.6,1.023189
$STATE,4455,end surface coast,CONTROL_FINISHED_OK
$STATE,4456,begin surface
$SM_CCo,4534,0.00,0.000,0,0,930,458.70
$SM_GC,1.15,6.50,0.22,0.00,0.050,0.068,0.000,144,2337,930,-7.95,-0.79,458.70,0,0,0,0,0,0,14.95,14.94,14.98
$IRIDIUM_FIX,2234.68,-15802.37,131021,110626
$TT8_MAMPS,0.023219,0.343042
$HUMID,53.58
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.28,192.247
$10V_AH,12.37,0.000
$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,16.075,57.175,449.325,0.000,0.000,27.225,42.899,130.094,0.000,0.000,17.336,1187.918,1670.110,461.125,1391.038,192.100,0.000,1059.156,0.000,1177.468,0.000,0.554,0.000
$DEVICE_MAMPS,430.695,71.910,1080.945,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,310.260,341.656,636.375,577.097,670.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,43908,471
$CAP_FILE_SIZE,71890,0
$CFSIZE,1023623168,944209920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,246.22,1
$GPS,131021,122749,2244.706,-15800.703,8,0.9,21,9.8,0.0,308.4,9,9.7