version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 918
start: 10 15 121 5 11 29
data:
$ID,626
$MISSION,3
$DIVE,918
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,151021,050501,2244.4326,-15801.4551,10,0.9,37,9.8,1.0,282.7,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.4
$GPS2,151021,051040,2244.4194,-15801.5020,8,0.8,15,9.8,0.6,99.4,10,10.0
$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,38.3,2782,-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,-116.8,123,2294,965,832,0.0,0.0,0,87,0.00,0.00,-67.75,0.000,16386,0.000,0.000,123,2294,3102,3070,3135,0,0,0,0,0,0,15.17,28.83,15.19
$GC,91,-0.55,-116.8,123,2294,3070,3135,3.9,-8.4,10,114,8.52,2.45,-2.80,0.000,18948,0.430,0.066,2578,844,3280,3258,3302,0,0,0,0,0,0,14.07,13.27,14.38
$GC,128,-0.55,-116.8,2577,845,3266,3296,19.0,-38.5,15,136,0.00,2.47,0.00,0.000,3078,0.000,0.056,2568,2251,3281,3268,3294,0,0,0,0,0,0,14.72,14.66,14.76
$GC,385,-0.55,-116.8,2568,2251,3267,3293,63.8,-16.3,45,394,0.00,2.42,0.00,0.000,2308,0.000,0.079,2557,3667,3280,3267,3293,0,0,0,0,0,0,15.23,14.45,15.23
$GC,430,-0.55,-116.8,2557,3667,3267,3294,70.8,-15.4,49,440,0.03,2.30,0.00,0.000,3078,0.365,0.044,2568,2255,3280,3267,3293,0,0,0,0,0,0,14.46,14.78,14.52
$GC,681,-0.55,-116.8,2567,2252,3267,3293,102.5,-11.6,74,691,0.00,2.45,0.00,0.000,2308,0.000,0.073,2557,3675,3280,3268,3293,0,0,0,0,0,0,15.26,14.46,15.26
$GC,704,-0.55,-116.8,2558,3674,3268,3294,105.3,-11.3,76,715,0.00,2.28,0.00,0.000,3078,0.000,0.042,2558,2270,3280,3268,3292,0,0,0,0,0,0,14.70,14.69,14.71
$GC,956,-0.55,-116.8,2558,2269,3266,3293,132.9,-10.9,101,965,0.00,2.35,0.00,0.000,2564,0.000,0.058,2558,859,3280,3268,3292,0,0,0,0,0,0,15.26,14.71,15.27
$GC,1015,-0.55,-116.8,2558,859,3269,3292,139.0,-10.9,106,1024,0.08,2.40,0.00,0.000,3078,0.317,0.051,2576,2269,3280,3270,3290,0,0,0,0,0,0,14.59,14.83,14.84
$GC,1263,-0.55,-116.8,2576,2271,3270,3290,166.5,-12.0,131,1272,0.00,2.35,0.00,0.000,260,0.000,0.077,2566,3665,3280,3271,3290,0,0,0,0,0,0,15.27,14.64,15.28
$GC,1337,-0.55,-116.8,2566,3665,3270,3290,174.4,-10.1,138,1347,0.00,2.28,0.00,0.000,3078,0.000,0.036,2566,2247,3281,3272,3290,0,0,0,0,0,0,14.97,14.95,14.97
$GC,1591,-0.55,-116.8,2565,2247,3271,3289,193.4,-4.9,163,1599,0.00,2.42,0.00,0.000,2308,0.000,0.070,2555,3676,3280,3270,3290,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1614,-0.55,-116.8,2554,3676,3271,3289,194.7,-4.8,165,1625,0.03,2.25,0.00,0.000,3078,0.263,0.036,2573,2254,3280,3271,3289,0,0,0,0,0,0,14.40,14.63,14.48
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1739,-0.13,0.0,2573,2091,3271,3289,200.4,-5.5,177,1836,0.32,0.00,94.35,1.088,10246,0.184,0.000,2708,2087,2798,2865,2731,0,0,0,0,0,0,14.38,14.59,13.85
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1840,0.55,116.8,2708,2087,2865,2731,206.7,0.0,187,1946,0.47,2.53,97.45,1.077,10500,0.115,0.061,2923,3541,2321,2405,2238,0,0,0,0,0,0,14.57,14.56,13.83
$GC,2273,0.61,212.4,2923,3541,2405,2238,198.2,5.2,230,2355,0.00,2.22,76.85,1.081,11270,0.000,0.040,2934,2167,1932,2012,1852,0,0,0,0,0,0,14.81,14.76,13.93
$GC,2605,0.64,265.8,2933,2165,2012,1844,168.5,7.3,263,2655,0.00,2.50,43.22,1.047,10756,0.000,0.059,2945,719,1713,1800,1627,0,0,0,0,0,0,15.19,14.73,14.02
$GC,2844,0.64,269.6,2945,717,1790,1626,148.5,9.9,286,2852,0.00,2.42,0.00,0.000,3078,0.000,0.061,2946,2122,1708,1790,1626,0,0,0,0,0,0,14.94,14.78,14.96
$GC,3094,0.64,269.6,2945,2122,1790,1624,122.5,11.0,311,3103,0.00,2.38,0.00,0.000,2308,0.000,0.073,2946,3530,1706,1790,1623,0,0,0,0,0,0,15.21,14.66,15.22
$GC,3189,0.64,269.6,2945,3530,1790,1624,110.7,11.7,320,3200,0.00,2.33,0.00,0.000,1030,0.000,0.052,2957,2124,1707,1789,1625,0,0,0,0,0,0,14.69,14.67,14.70
$GC,3444,0.66,306.5,2956,2123,1789,1624,88.3,8.2,345,3483,0.00,2.45,32.50,0.967,10500,0.000,0.073,2957,3529,1548,1641,1456,0,0,0,0,0,0,15.24,14.78,14.09
$GC,3631,0.66,306.5,2956,3528,1641,1456,69.7,10.1,363,3641,0.00,2.35,0.00,0.000,5126,0.000,0.057,2967,2129,1548,1641,1456,0,0,0,0,0,0,14.58,14.52,14.61
$GC,3882,0.69,345.4,2967,2129,1641,1453,50.3,8.1,388,3918,0.00,0.00,31.73,0.916,8710,0.000,0.000,2967,2129,1388,1485,1291,0,0,0,0,0,0,15.21,14.76,14.12
$GC,4164,0.70,359.6,2967,2130,1486,1288,25.4,9.4,421,4173,0.00,0.00,5.97,0.762,10502,0.000,0.000,2967,2129,1330,1428,1233,0,0,0,0,0,0,15.19,14.77,14.08
$STATE,4406,end climb,SURFACE_DEPTH_REACHED
$STATE,4407,begin surface coast
$FINISH,0.5,1.023238
$STATE,4452,end surface coast,CONTROL_FINISHED_OK
$STATE,4452,begin surface
$SM_CCo,4471,8.40,0.208,0,0,1248,380.21
$SM_GC,1.79,6.50,0.25,8.40,0.060,0.090,0.208,139,2275,1248,-7.94,-0.88,380.21,0,0,0,0,0,0,14.96,14.88,14.56
$IRIDIUM_FIX,2234.68,-15802.37,151021,050640
$TT8_MAMPS,0.02247,0.345289
$HUMID,54.33
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.40
$XPDR_PINGS,3
$24V_AH,13.27,198.052
$10V_AH,12.08,0.000
$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,15.950,48.025,382.075,8.400,0.000,26.650,43.802,129.398,0.750,0.000,16.169,1210.773,1641.139,414.291,1388.065,195.307,0.000,988.523,0.000,1184.065,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,89.505,1087.830,208.080,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,312.994,340.636,649.446,579.397,676.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,43987,473
$CAP_FILE_SIZE,71353,0
$CFSIZE,1023623168,942112768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.121,219.34,1
$GPS,151021,062707,2244.283,-15801.592,8,0.9,20,9.8,0.0,306.5,8,8.9