version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 921
start: 10 15 121 9 13 54
data:
$ID,626
$MISSION,3
$DIVE,921
$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,97
$R_STBD_OVSHOOT,35
$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
$GPS1,151021,090300,2244.0293,-15802.3838,7,0.9,18,9.8,0.7,126.0,8,9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.6
$GPS2,151021,091301,2244.0378,-15802.4932,8,0.9,24,9.8,0.5,275.8,8,9.8
$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,59.4,4616,-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,-116.8,120,2244,1100,985,0.0,0.0,0,83,0.00,0.00,-63.85,0.000,16386,0.000,0.000,120,2245,3088,3058,3118,0,0,0,0,0,0,15.17,28.83,15.19
$GC,87,-0.55,-116.8,120,2244,3059,3119,3.3,-5.5,9,110,8.50,2.42,-3.15,0.000,19204,0.427,0.073,2556,3672,3279,3257,3302,0,0,0,0,0,0,14.05,13.24,14.35
$GC,118,-0.55,-116.8,2556,3673,3261,3301,16.8,-36.1,13,126,0.03,2.30,0.00,0.000,3078,0.381,0.047,2566,2325,3280,3262,3298,0,0,0,0,0,0,14.52,14.72,14.63
$GC,381,-0.55,-116.8,2567,2319,3266,3295,61.9,-16.8,44,390,0.00,2.28,0.00,0.000,2308,0.000,0.069,2557,3659,3280,3266,3295,0,0,0,0,0,0,15.23,14.50,15.23
$GC,426,-0.55,-116.8,2557,3659,3266,3295,69.6,-16.7,48,435,0.00,2.17,0.00,0.000,3078,0.000,0.042,2557,2321,3280,3267,3294,0,0,0,0,0,0,14.65,14.62,14.66
$GC,675,-0.55,-116.8,2557,2319,3267,3294,104.8,-12.0,73,686,0.05,2.30,0.00,0.000,2308,0.416,0.070,2566,3668,3281,3268,3294,0,0,0,0,0,0,14.71,14.62,14.88
$GC,710,-0.55,-116.8,2565,3668,3267,3294,108.5,-10.8,76,719,0.00,2.17,0.00,0.000,3078,0.000,0.041,2565,2329,3280,3267,3294,0,0,0,0,0,0,14.66,14.63,14.69
$GC,961,-0.55,-116.8,2565,2328,3268,3294,139.2,-11.8,101,971,0.00,2.28,0.00,0.000,2308,0.000,0.071,2555,3666,3280,3267,3294,0,0,0,0,0,0,15.27,14.68,15.26
$GC,987,-0.55,-116.8,2555,3666,3267,3294,142.1,-11.7,103,996,0.05,2.17,0.00,0.000,3078,0.343,0.039,2577,2315,3280,3267,3293,0,0,0,0,0,0,14.68,14.93,14.89
$GC,1235,-0.55,-116.8,2577,2314,3268,3293,166.1,-8.7,128,1244,0.00,2.30,0.00,0.000,260,0.000,0.073,2568,3668,3280,3268,3293,0,0,0,0,0,0,15.26,14.66,15.27
$GC,1261,-0.55,-116.8,2568,3667,3267,3294,168.0,-8.5,130,1268,0.00,2.25,0.00,0.000,3078,0.000,0.035,2568,2269,3280,3268,3293,0,0,0,0,0,0,15.04,14.94,15.06
$GC,1512,-0.55,-116.8,2567,2266,3268,3292,186.9,-7.3,155,1521,0.00,2.40,0.00,0.000,2308,0.000,0.074,2557,3668,3280,3268,3292,0,0,0,0,0,0,15.27,14.63,15.27
$GC,1548,-0.55,-116.8,2556,3668,3268,3291,189.7,-7.4,158,1556,0.05,2.28,0.00,0.000,3078,0.273,0.037,2586,2256,3280,3269,3291,0,0,0,0,0,0,14.78,14.94,14.93
$STATE,1683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1683,begin apogee
$GC,1691,-0.13,0.0,2586,2097,3268,3290,200.3,-7.4,172,1793,0.28,0.00,94.62,1.082,10246,0.145,0.000,2715,2093,2799,2867,2732,0,0,0,0,0,0,14.63,14.58,13.84
$STATE,1794,end apogee,CONTROL_FINISHED_OK
$STATE,1794,begin climb
$GC,1797,0.55,116.8,2715,2093,2867,2732,208.8,0.0,183,1904,0.45,0.00,98.05,1.075,11014,0.081,0.000,2943,2093,2322,2406,2238,0,0,0,0,0,0,14.64,14.52,13.82
$GC,2145,0.59,191.4,2943,2093,2406,2232,203.8,6.2,218,2215,0.00,0.00,61.15,1.069,8198,0.000,0.000,2943,2093,2017,2102,1933,0,0,0,0,0,0,15.17,14.62,13.94
$GC,2456,0.59,193.0,2943,2093,2100,1928,173.9,10.0,249,2465,0.00,2.22,0.00,0.000,516,0.000,0.061,2954,766,2012,2097,1927,0,0,0,0,0,0,15.19,14.56,15.19
$GC,2675,0.61,224.1,2953,766,2090,1927,151.9,8.5,270,2712,0.00,2.38,26.08,1.021,13318,0.000,0.059,2953,2144,1885,1967,1803,0,0,0,0,0,0,14.97,14.81,14.07
$GC,2953,0.63,250.6,2953,2144,1967,1798,127.1,8.7,298,2984,0.00,2.38,22.08,0.998,8452,0.000,0.066,2954,3537,1777,1862,1693,0,0,0,0,0,0,15.22,14.50,14.00
$GC,3343,0.64,270.0,2953,3538,1862,1693,88.8,9.1,335,3370,0.00,2.30,17.30,0.943,13318,0.000,0.052,2964,2162,1696,1787,1606,0,0,0,0,0,0,15.01,14.88,14.07
$GC,3612,0.69,346.4,2963,2162,1787,1603,70.6,6.2,362,3682,0.00,2.55,59.83,0.944,10756,0.000,0.069,2974,722,1384,1477,1292,0,0,0,0,0,0,15.23,14.66,14.04
$GC,3741,0.70,370.6,2974,721,1471,1292,60.4,8.9,374,3772,0.00,2.38,19.33,0.897,9222,0.000,0.058,2975,2112,1287,1383,1192,0,0,0,0,0,0,14.54,14.49,13.97
$GC,4012,0.70,370.6,2975,2112,1383,1188,34.7,10.7,401,4021,0.00,2.40,0.00,0.000,260,0.000,0.068,2975,3542,1284,1382,1187,0,0,0,0,0,0,15.19,14.50,15.19
$GC,4057,0.70,370.6,2974,3542,1383,1187,29.7,11.0,405,4065,0.00,2.40,0.00,0.000,5126,0.000,0.051,2985,2129,1285,1382,1188,0,0,0,0,0,0,14.95,14.80,14.97
$GC,4323,0.70,370.6,2985,2127,1382,1188,4.1,11.1,454,4331,0.00,2.47,0.00,0.000,4612,0.000,0.067,2997,711,1285,1382,1188,0,0,0,0,0,0,15.19,14.76,15.20
$STATE,4337,end climb,SURFACE_DEPTH_REACHED
$STATE,4337,begin surface coast
$FINISH,0.3,1.023194
$STATE,4358,end surface coast,CONTROL_FINISHED_OK
$STATE,4358,begin surface
$SM_CCo,4379,3.60,0.225,0,0,1246,380.21
$SM_GC,1.95,6.47,2.67,3.60,0.054,0.052,0.225,165,2267,1246,-7.90,-0.82,380.21,0,0,0,0,0,0,14.98,14.85,14.57
$IRIDIUM_FIX,2234.68,-15802.37,151021,090847
$TT8_MAMPS,0.023219,0.31458
$HUMID,53.93
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.24,198.622
$10V_AH,12.40,0.000
$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,15.875,51.650,398.425,3.600,0.000,87.937,97.881,139.152,0.500,0.000,25.185,1164.399,1734.015,456.087,1469.149,194.252,0.000,1001.760,0.000,1116.117,0.000,0.553,0.000
$DEVICE_MAMPS,426.870,74.970,1082.475,224.910,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.625,330.256,625.013,558.481,651.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,44100,460
$CAP_FILE_SIZE,70475,0
$CFSIZE,1023623168,941916160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,255.02,1
$GPS,151021,102819,2244.058,-15802.634,10,0.8,43,9.8,0.8,223.3,10,7.8