version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 937
start: 10 16 121 6 16 25
data:
$ID,626
$MISSION,3
$DIVE,937
$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,78
$R_STBD_OVSHOOT,54
$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
$GPS1,161021,060949,2243.6423,-15803.7324,5,0.9,15,9.8,0.0,164.8,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.3
$GPS2,161021,061533,2243.5962,-15803.7734,6,0.9,17,9.8,0.0,240.8,9,9.8
$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,29.5,6950,-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,-116.8,123,2215,1297,1171,0.0,0.0,0,80,0.00,0.00,-61.47,0.000,16386,0.000,0.000,123,2215,3226,3187,3266,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,123,2215,3188,3266,4.0,-8.1,9,100,8.55,2.42,-0.77,0.000,18692,0.429,0.060,2553,3666,3279,3248,3311,0,0,0,0,0,0,14.06,13.26,14.36
$GC,109,-0.55,-116.8,2553,3666,3254,3307,16.2,-37.4,12,117,0.03,2.35,0.00,0.000,3078,0.230,0.054,2577,2311,3281,3260,3302,0,0,0,0,0,0,14.50,14.73,14.77
$GC,371,-0.55,-116.8,2577,2307,3265,3296,55.0,-12.8,44,380,0.00,2.42,0.00,0.000,516,0.000,0.060,2577,860,3281,3267,3295,0,0,0,0,0,0,15.23,14.46,15.23
$GC,405,-0.55,-116.8,2577,860,3266,3295,59.6,-13.0,47,415,0.00,2.33,0.00,0.000,3078,0.000,0.058,2568,2238,3280,3267,3294,0,0,0,0,0,0,14.55,14.50,14.58
$GC,657,-0.55,-116.8,2568,2238,3267,3293,92.8,-14.2,72,666,0.00,2.42,0.00,0.000,2308,0.000,0.068,2557,3676,3281,3268,3294,0,0,0,0,0,0,15.24,14.47,15.24
$GC,713,-0.55,-116.8,2556,3677,3267,3294,100.2,-12.6,77,722,0.05,2.33,0.00,0.000,3078,0.349,0.037,2578,2240,3280,3267,3294,0,0,0,0,0,0,14.66,14.92,14.88
$GC,964,-0.55,-116.8,2577,2239,3267,3294,127.1,-10.9,102,973,0.00,2.42,0.00,0.000,260,0.000,0.069,2568,3676,3281,3268,3294,0,0,0,0,0,0,15.26,14.47,15.26
$GC,1018,-0.55,-116.8,2568,3676,3268,3294,133.3,-10.9,107,1028,0.00,2.25,0.00,0.000,3078,0.000,0.034,2568,2261,3281,3268,3294,0,0,0,0,0,0,14.81,14.78,14.83
$GC,1270,-0.55,-116.8,2568,2260,3268,3294,159.5,-9.9,132,1280,0.00,2.42,0.00,0.000,2308,0.000,0.069,2557,3675,3280,3267,3294,0,0,0,0,0,0,15.26,14.54,15.26
$GC,1294,-0.55,-116.8,2556,3675,3268,3294,161.9,-9.3,134,1303,0.00,2.28,0.00,0.000,3078,0.000,0.037,2557,2271,3281,3268,3294,0,0,0,0,0,0,14.97,14.94,14.98
$GC,1546,-0.55,-116.8,2557,2270,3268,3294,186.4,-10.0,159,1557,0.05,2.40,0.00,0.000,2308,0.390,0.066,2565,3676,3280,3268,3293,0,0,0,0,0,0,14.74,14.47,14.89
$GC,1582,-0.55,-116.8,2565,3676,3268,3294,190.1,-10.1,162,1590,0.00,2.35,0.00,0.000,3078,0.000,0.037,2565,2267,3280,3268,3293,0,0,0,0,0,0,14.99,14.81,15.01
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1696,-0.13,0.0,2565,2086,3268,3292,200.4,-9.3,173,1800,0.35,0.10,94.88,1.082,10246,0.217,0.125,2701,2172,2798,2864,2733,0,0,0,0,0,0,14.43,14.58,13.83
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,0.55,116.8,2701,2172,2864,2733,207.1,0.0,184,1911,0.52,2.33,97.62,1.073,11012,0.103,0.063,2945,3504,2321,2404,2238,0,0,0,0,0,0,14.62,14.56,13.83
$GC,1970,0.60,201.1,2944,3505,2404,2239,209.7,5.8,200,2050,0.00,2.25,68.25,1.075,13318,0.000,0.041,2956,2153,1978,2056,1900,0,0,0,0,0,0,14.85,14.75,13.83
$GC,2290,0.60,201.1,2955,2154,2055,1895,173.9,12.0,232,2298,0.00,2.40,0.00,0.000,4612,0.000,0.060,2967,728,1973,2053,1894,0,0,0,0,0,0,15.18,14.67,15.18
$GC,2812,0.64,263.4,2967,728,2045,1894,120.1,6.9,283,2871,0.00,2.28,49.10,0.999,13318,0.000,0.054,2967,2085,1726,1811,1641,0,0,0,0,0,0,14.78,14.73,13.97
$GC,3112,0.64,269.9,2967,2085,1812,1636,92.2,9.8,313,3125,0.00,2.35,6.68,0.861,12804,0.000,0.060,2977,733,1698,1787,1610,0,0,0,0,0,0,15.20,14.82,14.04
$GC,3498,0.67,314.7,2977,733,1782,1608,62.6,7.8,349,3540,0.00,2.35,35.97,0.923,13318,0.000,0.057,2977,2116,1515,1605,1425,0,0,0,0,0,0,14.65,14.62,14.09
$GC,3790,0.67,320.3,2977,2116,1605,1419,36.6,9.8,378,3801,0.00,2.45,5.53,0.773,12548,0.000,0.066,2977,3542,1491,1584,1399,0,0,0,0,0,0,15.21,14.82,14.07
$GC,3906,0.67,320.3,2978,3542,1584,1399,24.0,11.2,393,3914,0.08,2.40,0.00,0.000,5126,0.300,0.050,2960,2134,1491,1583,1399,0,0,0,0,0,0,14.61,14.81,14.84
$STATE,4134,end climb,SURFACE_DEPTH_REACHED
$STATE,4134,begin surface coast
$FINISH,0.2,1.023193
$STATE,4156,end surface coast,CONTROL_FINISHED_OK
$STATE,4156,begin surface
$SM_CCo,4175,25.17,0.194,0,0,1248,380.21
$SM_GC,1.30,6.40,0.25,25.17,0.046,0.080,0.194,148,2289,1248,-7.96,-0.68,380.21,0,0,0,0,0,0,14.94,14.90,14.57
$IRIDIUM_FIX,2237.01,-15802.37,161021,061129
$TT8_MAMPS,0.023219,0.34454
$HUMID,53.62
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,13.26,201.558
$10V_AH,12.68,0.000
$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,16.025,47.800,358.025,25.175,0.000,27.198,43.908,131.854,0.250,0.000,18.561,1145.754,1472.441,406.940,1360.192,192.150,0.000,956.295,0.000,1149.296,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,180.540,1081.710,194.310,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.492,315.975,599.421,556.451,649.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,40623,439
$CAP_FILE_SIZE,69579,0
$CFSIZE,1023623168,940867584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.200,221.80,1
$GPS,161021,072731,2243.128,-15804.044,6,0.9,27,9.8,0.6,285.0,9,7.9