version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 938
start: 10 16 121 7 34 9
data:
$ID,626
$MISSION,3
$DIVE,938
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,161021,072731,2243.1277,-15804.0439,6,0.9,27,9.8,0.6,285.0,9,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,161021,073319,2243.0740,-15804.1094,6,0.9,15,9.8,0.6,32.9,9,9.8
$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,34.6,7874,-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,-116.8,123,2297,1285,1195,0.0,0.0,0,80,0.00,0.00,-61.12,0.000,16386,0.000,0.000,123,2298,3222,3180,3265,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,123,2298,3185,3263,4.1,-9.0,9,100,8.57,2.30,-0.82,0.000,18692,0.432,0.060,2556,3685,3280,3248,3312,0,0,0,0,0,0,14.07,13.28,14.38
$GC,120,-0.55,-116.8,2555,3686,3255,3306,18.7,-38.3,14,128,0.05,2.42,0.00,0.000,3078,0.337,0.054,2575,2272,3280,3261,3299,0,0,0,0,0,0,14.59,14.77,14.81
$GC,383,-0.55,-116.8,2575,2267,3266,3295,58.7,-16.5,46,393,0.00,2.35,0.00,0.000,260,0.000,0.067,2567,3649,3280,3266,3295,0,0,0,0,0,0,15.22,14.47,15.23
$GC,409,-0.55,-116.8,2567,3649,3265,3296,62.5,-16.0,48,419,0.00,2.30,0.00,0.000,3078,0.000,0.045,2567,2256,3280,3266,3295,0,0,0,0,0,0,14.56,14.54,14.60
$GC,661,-0.55,-116.8,2566,2254,3267,3295,94.0,-10.8,73,670,0.00,2.40,0.00,0.000,2308,0.000,0.070,2556,3652,3281,3267,3295,0,0,0,0,0,0,15.23,14.62,15.24
$GC,694,-0.55,-116.8,2556,3652,3267,3296,97.9,-10.5,76,706,0.03,2.28,0.00,0.000,3078,0.352,0.043,2568,2252,3281,3267,3295,0,0,0,0,0,0,14.39,14.65,14.50
$GC,949,-0.55,-116.8,2567,2251,3267,3295,125.9,-11.3,101,958,0.00,2.40,0.00,0.000,2308,0.000,0.072,2558,3653,3281,3267,3295,0,0,0,0,0,0,15.26,14.63,15.26
$GC,973,-0.55,-116.8,2558,3654,3267,3295,128.9,-11.0,103,981,0.00,2.25,0.00,0.000,3078,0.000,0.040,2558,2268,3281,3267,3295,0,0,0,0,0,0,14.80,14.77,14.82
$GC,1223,-0.55,-116.8,2558,2266,3267,3295,158.0,-11.6,128,1232,0.00,2.35,0.00,0.000,2564,0.000,0.054,2559,854,3281,3268,3295,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1258,-0.55,-116.8,2558,854,3268,3294,161.8,-11.0,131,1266,0.08,2.35,0.00,0.000,3078,0.334,0.053,2575,2254,3281,3269,3293,0,0,0,0,0,0,14.58,14.88,14.85
$GC,1506,-0.55,-116.8,2575,2254,3269,3293,185.4,-9.3,156,1517,0.00,2.40,0.00,0.000,260,0.000,0.073,2565,3671,3281,3269,3293,0,0,0,0,0,0,15.27,14.52,15.28
$GC,1554,-0.55,-116.8,2565,3671,3269,3293,189.4,-8.8,160,1561,0.00,2.30,0.00,0.000,3078,0.000,0.039,2565,2262,3280,3269,3292,0,0,0,0,0,0,15.03,14.93,15.05
$STATE,1679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1679,begin apogee
$GC,1687,-0.13,0.0,2565,2078,3269,3291,200.6,-8.3,173,1792,0.35,0.10,95.18,1.077,10246,0.191,0.123,2707,2166,2799,2864,2734,0,0,0,0,0,0,14.50,14.58,13.84
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1796,0.55,116.8,2707,2166,2864,2733,207.3,0.0,184,1901,0.50,2.33,97.53,1.069,10500,0.082,0.060,2952,3504,2321,2402,2240,0,0,0,0,0,0,14.64,14.56,13.83
$GC,2267,0.63,254.0,2952,3504,2402,2242,194.6,3.0,230,2386,0.00,2.17,109.43,1.077,13318,0.000,0.040,2962,2168,1763,1841,1685,0,0,0,0,0,0,14.80,14.75,13.88
$GC,2627,0.63,254.0,2962,2170,1841,1677,156.1,12.1,266,2636,0.00,2.42,0.00,0.000,4612,0.000,0.056,2974,722,1758,1839,1677,0,0,0,0,0,0,15.18,14.69,15.19
$GC,3150,0.66,294.7,2973,722,1834,1676,97.3,8.0,317,3189,0.00,2.30,32.62,0.977,13318,0.000,0.056,2974,2090,1596,1685,1508,0,0,0,0,0,0,14.76,14.71,14.09
$GC,3430,0.69,353.4,2974,2090,1685,1503,74.5,7.1,345,3483,0.00,2.38,46.83,0.952,8708,0.000,0.061,2984,711,1358,1448,1268,0,0,0,0,0,0,15.20,14.73,14.05
$GC,3570,0.70,370.4,2984,710,1442,1268,63.1,9.2,358,3591,0.00,2.45,14.68,0.896,13318,0.000,0.056,2984,2130,1287,1380,1195,0,0,0,0,0,0,14.90,14.76,14.04
$GC,3841,0.71,384.8,2984,2129,1379,1191,40.4,9.4,385,3862,0.00,2.42,12.18,0.864,12548,0.000,0.064,2984,3535,1229,1327,1132,0,0,0,0,0,0,15.20,14.52,14.05
$GC,3898,0.71,384.8,2983,3535,1326,1132,34.2,11.4,390,3908,0.05,2.33,0.00,0.000,5126,0.266,0.047,2974,2131,1229,1326,1132,0,0,0,0,0,0,14.33,14.57,14.49
$GC,4162,0.71,384.8,2974,2129,1326,1132,8.9,11.8,436,4171,0.00,2.45,0.00,0.000,2564,0.000,0.063,2983,720,1228,1326,1131,0,0,0,0,0,0,15.19,14.78,15.19
$STATE,4222,end climb,SURFACE_DEPTH_REACHED
$STATE,4222,begin surface coast
$FINISH,1.0,1.023187
$STATE,4234,end surface coast,CONTROL_FINISHED_OK
$STATE,4234,begin surface
$SM_CCo,4316,0.00,0.000,0,0,1224,386.59
$SM_GC,1.19,6.53,2.70,0.00,0.061,0.070,0.000,170,2265,1224,-7.91,-0.74,386.59,0,0,0,0,0,0,14.92,14.80,14.98
$IRIDIUM_FIX,2234.68,-15802.37,161021,072909
$TT8_MAMPS,0.02247,0.290612
$HUMID,54.05
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.28,201.746
$10V_AH,12.70,0.000
$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,16.150,52.350,408.425,0.000,0.000,24.058,47.339,138.841,0.500,0.000,16.576,1154.787,1542.411,418.555,1383.827,192.065,0.000,990.440,0.000,1166.290,0.000,0.554,0.000
$DEVICE_MAMPS,432.225,123.165,1077.120,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,296.052,321.001,610.392,553.359,647.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,43972,448
$CAP_FILE_SIZE,69232,0
$CFSIZE,1023623168,940802048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.223,226.10,1
$GPS,161021,084719,2242.683,-15804.423,5,0.8,38,9.8,0.7,151.1,9,5.0