version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 929
start: 10 15 121 19 56 37
data:
$ID,626
$MISSION,3
$DIVE,929
$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,28
$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
$GPS1,151021,194713,2243.2288,-15803.7988,8,1.0,17,9.8,0.0,177.0,8,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.5
$GPS2,151021,195547,2243.2002,-15803.8770,7,1.0,18,9.8,0.9,230.6,8,9.9
$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,56.0,7414,-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,-116.8,123,2282,1285,1191,0.0,0.0,0,80,0.00,0.00,-61.72,0.000,16386,0.000,0.000,123,2282,3226,3187,3265,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,123,2282,3187,3265,3.8,-7.0,9,100,8.55,2.35,-0.77,0.000,18692,0.429,0.064,2557,3692,3280,3248,3312,0,0,0,0,0,0,14.05,13.27,14.37
$GC,146,-0.55,-116.8,2556,3692,3258,3303,24.4,-12.9,19,155,0.05,2.42,0.00,0.000,3078,0.350,0.047,2576,2256,3279,3262,3297,0,0,0,0,0,0,14.58,14.80,14.81
$GC,406,-0.55,-116.8,2575,2254,3266,3295,61.5,-15.9,48,415,0.00,2.42,0.00,0.000,260,0.000,0.070,2568,3671,3280,3266,3295,0,0,0,0,0,0,15.23,14.42,15.23
$GC,509,-0.55,-116.8,2567,3672,3266,3296,74.7,-12.5,57,518,0.00,2.38,0.00,0.000,3078,0.000,0.047,2567,2257,3280,3266,3295,0,0,0,0,0,0,14.97,14.82,14.99
$GC,758,-0.55,-116.8,2567,2256,3267,3296,106.5,-11.8,82,767,0.00,2.35,0.00,0.000,2564,0.000,0.057,2567,862,3281,3268,3294,0,0,0,0,0,0,15.26,14.52,15.26
$GC,854,-0.55,-116.8,2565,862,3267,3294,116.4,-9.8,91,862,0.05,2.40,0.00,0.000,3078,0.373,0.058,2575,2274,3280,3269,3292,0,0,0,0,0,0,14.62,14.85,14.86
$GC,1105,-0.55,-116.8,2574,2275,3269,3292,140.4,-9.4,116,1114,0.00,2.35,0.00,0.000,516,0.000,0.053,2575,858,3281,3270,3293,0,0,0,0,0,0,15.26,14.50,15.26
$GC,1140,-0.55,-116.8,2575,858,3270,3293,143.7,-9.2,119,1148,0.00,2.40,0.00,0.000,3078,0.000,0.059,2565,2273,3280,3270,3291,0,0,0,0,0,0,15.01,14.85,15.03
$GC,1390,-0.55,-116.8,2565,2274,3270,3291,169.8,-11.4,144,1400,0.00,2.38,0.00,0.000,2564,0.000,0.055,2565,863,3280,3270,3291,0,0,0,0,0,0,15.26,14.50,15.27
$GC,1467,-0.55,-116.8,2565,863,3270,3291,177.7,-9.8,151,1476,0.05,2.38,0.00,0.000,3078,0.369,0.059,2573,2266,3281,3271,3291,0,0,0,0,0,0,14.63,14.86,14.87
$GC,1719,-0.55,-116.8,2573,2267,3270,3290,199.3,-8.7,176,1728,0.00,2.35,0.00,0.000,516,0.000,0.054,2573,854,3280,3270,3291,0,0,0,0,0,0,15.26,14.66,15.27
$STATE,1730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1740,-0.13,0.0,2565,2131,3270,3290,200.5,-8.7,177,1838,0.35,0.00,94.97,1.079,10246,0.213,0.000,2701,2132,2798,2864,2733,0,0,0,0,0,0,14.28,14.59,13.85
$STATE,1839,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1842,0.55,116.8,2701,2133,2863,2733,205.6,0.0,187,1948,0.50,2.45,97.43,1.069,10500,0.126,0.066,2920,3547,2322,2405,2239,0,0,0,0,0,0,14.57,14.56,13.82
$GC,2031,0.59,181.6,2919,3547,2405,2241,204.8,6.8,206,2090,0.00,2.35,53.45,1.060,11270,0.000,0.044,2931,2121,2057,2143,1972,0,0,0,0,0,0,14.68,14.64,13.90
$GC,2331,0.59,192.8,2931,2121,2141,1967,177.0,9.5,236,2351,0.00,2.45,10.02,0.962,10500,0.000,0.068,2931,3535,2011,2096,1927,0,0,0,0,0,0,15.19,14.67,14.03
$GC,2407,0.59,192.8,2931,3535,2097,1927,169.4,10.3,243,2415,0.00,2.38,0.00,0.000,1030,0.000,0.050,2942,2126,2011,2096,1927,0,0,0,0,0,0,14.94,14.82,14.96
$GC,2657,0.60,196.4,2941,2125,2096,1925,143.8,9.9,268,2669,0.00,2.45,4.22,0.792,8708,0.000,0.061,2953,709,1996,2081,1912,0,0,0,0,0,0,15.22,14.80,13.97
$GC,2748,0.61,218.3,2953,709,2073,1913,135.8,9.0,276,2776,0.00,2.45,18.58,0.985,13318,0.000,0.058,2953,2126,1908,1988,1829,0,0,0,0,0,0,15.00,14.85,14.09
$GC,3016,0.63,258.2,2953,2126,1988,1826,114.0,8.0,303,3056,0.00,2.45,32.75,0.984,8452,0.000,0.070,2954,3542,1745,1830,1660,0,0,0,0,0,0,15.22,14.79,14.08
$GC,3115,0.64,265.1,2953,3542,1830,1661,105.2,9.7,312,3132,0.00,2.40,7.35,0.868,13318,0.000,0.050,2964,2127,1718,1804,1632,0,0,0,0,0,0,14.92,14.78,13.98
$GC,3372,0.64,265.1,2963,2127,1804,1627,78.9,11.0,338,3382,0.00,2.38,0.00,0.000,4612,0.000,0.064,2975,723,1714,1802,1627,0,0,0,0,0,0,15.23,14.57,15.23
$GC,3464,0.64,272.7,2975,723,1799,1627,69.6,9.7,346,3483,0.05,2.42,7.05,0.841,13318,0.360,0.057,2956,2132,1686,1775,1598,0,0,0,0,0,0,14.62,14.82,13.97
$GC,3723,0.67,316.9,2955,2132,1775,1596,49.0,7.8,372,3765,0.00,2.40,35.28,0.912,10500,0.000,0.067,2955,3533,1507,1597,1417,0,0,0,0,0,0,15.23,14.79,14.12
$GC,3806,0.68,333.9,2955,3533,1597,1417,41.8,9.2,380,3826,0.00,2.33,15.02,0.866,11270,0.000,0.049,2965,2131,1436,1528,1344,0,0,0,0,0,0,14.64,14.61,14.07
$GC,4076,0.69,344.9,2964,2131,1527,1340,17.0,9.5,418,4092,0.00,2.38,4.45,0.287,10756,0.000,0.065,2975,719,1390,1483,1297,0,0,0,0,0,0,15.18,14.69,14.45
$GC,4164,0.69,344.9,2975,719,1480,1297,7.4,11.3,433,4172,0.00,2.45,0.00,0.000,5126,0.000,0.058,2976,2129,1388,1479,1297,0,0,0,0,0,0,14.94,14.78,14.96
$STATE,4207,end climb,SURFACE_DEPTH_REACHED
$STATE,4207,begin surface coast
$FINISH,0.4,1.023182
$STATE,4241,end surface coast,CONTROL_FINISHED_OK
$STATE,4241,begin surface
$SM_CCo,4259,14.52,0.201,0,0,1247,380.21
$SM_GC,0.90,6.38,0.22,14.52,0.038,0.090,0.201,148,2277,1247,-7.94,-0.82,380.21,0,0,0,0,0,0,14.92,14.88,14.57
$IRIDIUM_FIX,2234.68,-15807.58,151021,195141
$TT8_MAMPS,0.02247,0.355775
$HUMID,53.46
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.27,200.114
$10V_AH,12.45,0.000
$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,15.975,62.325,380.575,14.525,0.000,63.351,100.973,140.598,0.500,0.000,19.133,1142.399,1633.150,427.008,1419.451,198.046,0.000,974.494,0.000,1100.662,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,89.505,1078.650,201.195,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.243,321.418,611.201,558.326,651.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,40724,446
$CAP_FILE_SIZE,74081,0
$CFSIZE,1023623168,941391872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.157,275.19,1
$GPS,151021,210901,2243.368,-15804.073,8,1.0,30,9.8,1.0,294.9,9,8.3