version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 930
start: 10 15 121 21 19 1
data:
$ID,626
$MISSION,3
$DIVE,930
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,151021,210901,2243.3684,-15804.0732,8,1.0,30,9.8,1.0,294.9,9,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.0
$GPS2,151021,211809,2243.3555,-15804.1484,7,1.0,20,9.8,0.0,168.4,9,9.2
$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,76.2,7712,-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,-116.8,123,2288,1290,1191,0.0,0.0,0,82,0.00,0.00,-62.58,0.000,16390,0.000,0.000,124,2289,3279,3241,3317,0,0,0,0,0,0,15.17,12.94,15.12
$GC,86,-0.55,-116.8,123,2289,3241,3317,4.4,-9.6,9,99,8.55,0.00,0.00,0.000,2054,0.431,0.000,2561,2289,3279,3247,3312,0,0,0,0,0,0,14.05,14.52,14.35
$GC,352,-0.55,-116.8,2561,2289,3262,3297,62.5,-16.7,41,362,0.00,2.42,0.00,0.000,2564,0.000,0.057,2562,850,3279,3263,3296,0,0,0,0,0,0,15.23,14.46,15.23
$GC,447,-0.55,-116.8,2561,850,3266,3295,77.6,-13.8,50,453,0.05,2.40,0.00,0.000,3078,0.383,0.059,2570,2263,3281,3267,3295,0,0,0,0,0,0,14.60,14.85,14.84
$GC,704,-0.55,-116.8,2570,2264,3267,3294,108.9,-11.9,75,713,0.00,2.38,0.00,0.000,2564,0.000,0.055,2570,851,3280,3267,3294,0,0,0,0,0,0,15.26,14.68,15.26
$GC,790,-0.55,-116.8,2570,851,3267,3295,117.7,-9.9,83,796,0.00,2.40,0.00,0.000,3078,0.000,0.059,2561,2269,3280,3267,3293,0,0,0,0,0,0,15.01,14.86,15.03
$GC,1037,-0.55,-116.8,2560,2269,3268,3293,146.3,-11.5,108,1041,0.00,2.40,0.00,0.000,2564,0.000,0.054,2561,849,3280,3268,3293,0,0,0,0,0,0,15.28,14.88,15.28
$GC,1084,-0.55,-116.8,2560,847,3268,3294,151.1,-10.9,112,1091,0.08,2.40,0.00,0.000,3078,0.323,0.059,2577,2267,3280,3268,3293,0,0,0,0,0,0,14.60,14.85,14.85
$GC,1335,-0.55,-116.8,2577,2267,3268,3293,174.9,-10.0,137,1343,0.00,2.38,0.00,0.000,516,0.000,0.054,2577,844,3280,3267,3293,0,0,0,0,0,0,15.27,14.67,15.27
$GC,1401,-0.55,-116.8,2577,844,3268,3293,180.9,-8.5,143,1408,0.00,2.40,0.00,0.000,3078,0.000,0.059,2567,2264,3280,3268,3292,0,0,0,0,0,0,15.02,14.87,15.04
$STATE,1615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1615,begin apogee
$GC,1623,-0.13,0.0,2567,2070,3268,3291,200.3,-8.9,165,1722,0.35,0.12,94.75,1.081,10246,0.214,0.109,2703,2158,2798,2865,2732,0,0,0,0,0,0,14.29,14.58,13.84
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1726,0.55,116.8,2704,2158,2865,2733,204.5,0.0,175,1831,0.50,2.30,98.25,1.066,11012,0.130,0.067,2919,3514,2322,2406,2238,0,0,0,0,0,0,14.57,14.56,13.83
$GC,1929,0.59,178.2,2920,3513,2405,2241,202.5,6.9,195,1985,0.00,2.38,50.45,1.061,11270,0.000,0.045,2932,2105,2072,2158,1986,0,0,0,0,0,0,14.88,14.74,13.90
$GC,2226,0.59,181.2,2931,2106,2157,1980,172.6,9.9,225,2230,0.00,2.42,0.00,0.000,2308,0.000,0.068,2932,3517,2068,2157,1980,0,0,0,0,0,0,15.19,14.81,15.19
$GC,2281,0.59,181.2,2931,3516,2157,1980,167.2,10.1,230,2288,0.00,2.33,0.00,0.000,5126,0.000,0.049,2942,2118,2068,2157,1980,0,0,0,0,0,0,14.99,14.88,15.01
$GC,2532,0.60,196.5,2942,2118,2157,1979,143.6,9.3,255,2554,0.00,2.40,15.60,0.988,8708,0.000,0.064,2954,717,1996,2081,1911,0,0,0,0,0,0,15.23,14.84,14.09
$GC,2587,0.60,206.4,2953,716,2074,1911,138.4,9.6,260,2604,0.00,2.40,8.98,0.931,13318,0.000,0.059,2954,2109,1957,2037,1877,0,0,0,0,0,0,14.97,14.82,14.05
$GC,2843,0.62,240.2,2953,2109,2037,1874,116.0,8.4,286,2877,0.00,2.42,28.45,0.985,12548,0.000,0.069,2954,3543,1817,1899,1735,0,0,0,0,0,0,15.23,14.57,14.06
$GC,2980,0.64,273.7,2953,3543,1899,1735,104.5,8.4,299,3017,0.00,2.38,27.95,0.963,13318,0.000,0.050,2964,2127,1682,1769,1595,0,0,0,0,0,0,14.97,14.83,14.02
$GC,3257,0.64,273.7,2964,2127,1769,1588,76.6,10.4,327,3262,0.00,2.40,0.00,0.000,4612,0.000,0.064,2976,717,1679,1770,1588,0,0,0,0,0,0,15.21,14.83,15.21
$GC,3284,0.64,273.7,2976,717,1766,1588,74.1,10.5,329,3292,0.05,2.47,0.00,0.000,5126,0.271,0.058,2955,2132,1676,1766,1587,0,0,0,0,0,0,14.52,14.76,14.66
$GC,3535,0.64,273.7,2955,2134,1767,1587,48.4,10.2,354,3544,0.00,2.35,0.00,0.000,260,0.000,0.067,2954,3529,1676,1766,1586,0,0,0,0,0,0,15.23,14.51,15.23
$GC,3589,0.64,273.7,2955,3529,1766,1586,42.4,10.3,359,3594,0.00,2.35,0.00,0.000,5126,0.000,0.048,2964,2118,1676,1766,1586,0,0,0,0,0,0,15.02,14.88,15.03
$GC,3845,0.65,287.6,2964,2117,1766,1587,20.5,9.4,394,3861,0.00,2.40,5.72,0.730,12804,0.000,0.065,2975,719,1624,1715,1534,0,0,0,0,0,0,15.22,14.66,14.06
$GC,3890,0.66,306.0,2975,719,1712,1533,16.3,9.1,401,3906,0.00,2.42,7.90,0.272,13318,0.000,0.058,2975,2123,1548,1639,1458,0,0,0,0,0,0,14.97,14.82,14.53
$STATE,4017,end climb,SURFACE_DEPTH_REACHED
$STATE,4017,begin surface coast
$FINISH,0.3,1.007787
$STATE,4045,end surface coast,CONTROL_FINISHED_OK
$STATE,4045,begin surface
$SM_CCo,4064,31.10,0.190,0,0,1246,380.21
$SM_GC,1.26,6.50,0.25,31.10,0.055,0.093,0.190,120,2285,1246,-7.96,-0.59,380.21,0,0,0,0,0,0,14.97,14.88,14.57
$IRIDIUM_FIX,2234.68,-15802.37,151021,211330
$TT8_MAMPS,0.02247,0.340795
$HUMID,53.50
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,12.94,200.283
$10V_AH,12.44,0.000
$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,16.075,53.225,338.050,31.100,0.000,61.268,112.374,151.142,0.250,0.000,21.813,1113.308,1596.267,400.117,1372.206,195.875,0.000,890.193,0.000,1022.362,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,108.630,1080.945,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,283.375,308.965,581.194,521.456,603.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,40581,428
$CAP_FILE_SIZE,67979,0
$CFSIZE,1023623168,941326336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.140,306.70,1
$GPS,151021,222817,2243.700,-15804.082,7,1.1,21,9.8,0.8,74.2,8,9.7