version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 940
start: 10 16 121 10 15 46
data:
$ID,626
$MISSION,3
$DIVE,940
$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,61
$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
$GPS1,161021,100901,2242.5813,-15804.9258,5,0.8,30,9.8,0.3,205.1,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.3
$GPS2,161021,101455,2242.5742,-15804.9854,6,0.8,18,9.8,0.0,251.3,9,9.4
$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,67.3,9627,-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,-116.8,122,2229,1105,969,0.0,0.0,0,80,0.00,0.00,-61.60,0.000,16386,0.000,0.000,123,2224,2999,2970,3028,0,0,0,0,0,0,15.17,28.83,15.19
$GC,84,-0.55,-116.8,123,2224,2972,3027,3.1,-5.9,9,107,8.52,2.50,-4.70,0.000,18692,0.426,0.077,2555,3676,3279,3260,3299,0,0,0,0,0,0,14.05,13.22,14.35
$GC,116,-0.55,-116.8,2555,3676,3260,3299,15.2,-32.6,13,124,0.05,2.38,0.00,0.000,3078,0.354,0.047,2574,2296,3279,3263,3295,0,0,0,0,0,0,14.58,14.74,14.81
$GC,378,-0.55,-116.8,2573,2291,3267,3292,54.0,-16.7,47,387,0.00,2.38,0.00,0.000,516,0.000,0.054,2573,858,3279,3266,3292,0,0,0,0,0,0,15.22,14.47,15.23
$GC,404,-0.55,-116.8,2573,858,3268,3292,58.6,-18.2,49,411,0.00,2.42,0.00,0.000,3078,0.000,0.056,2565,2269,3280,3269,3291,0,0,0,0,0,0,14.96,14.81,14.98
$GC,652,-0.55,-116.8,2564,2269,3268,3291,98.0,-12.6,74,662,0.00,2.35,0.00,0.000,2308,0.000,0.067,2554,3667,3279,3268,3291,0,0,0,0,0,0,15.26,14.47,15.26
$GC,696,-0.55,-116.8,2554,3666,3268,3291,102.8,-10.8,78,708,0.05,2.30,0.00,0.000,3078,0.271,0.037,2575,2233,3279,3268,3291,0,0,0,0,0,0,14.42,14.90,14.52
$GC,950,-0.55,-116.8,2574,2233,3269,3291,130.3,-11.1,103,959,0.00,2.45,0.00,0.000,260,0.000,0.070,2565,3670,3279,3268,3291,0,0,0,0,0,0,15.26,14.64,15.26
$GC,1004,-0.55,-116.8,2565,3671,3268,3291,136.5,-10.8,108,1016,0.00,2.22,0.00,0.000,3078,0.000,0.033,2565,2273,3279,3269,3290,0,0,0,0,0,0,14.72,14.71,14.73
$GC,1260,-0.55,-116.8,2565,2273,3269,3291,163.0,-10.4,133,1268,0.00,2.40,0.00,0.000,2308,0.000,0.073,2554,3672,3280,3269,3291,0,0,0,0,0,0,15.26,14.65,15.26
$GC,1284,-0.55,-116.8,2554,3672,3269,3290,165.7,-10.1,135,1293,0.05,2.35,0.00,0.000,3078,0.343,0.037,2575,2267,3279,3269,3290,0,0,0,0,0,0,14.64,14.82,14.86
$GC,1535,-0.55,-116.8,2574,2265,3269,3290,189.6,-9.7,160,1545,0.00,2.38,0.00,0.000,260,0.000,0.073,2565,3667,3279,3269,3290,0,0,0,0,0,0,15.26,14.65,15.27
$GC,1573,-0.55,-116.8,2564,3668,3269,3290,193.2,-9.7,163,1580,0.00,2.28,0.00,0.000,3078,0.000,0.034,2564,2257,3279,3269,3290,0,0,0,0,0,0,15.04,14.95,15.06
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1655,-0.13,0.0,2565,2079,3269,3290,200.8,-9.2,171,1755,0.35,0.10,94.72,1.072,10246,0.201,0.119,2703,2168,2799,2867,2731,0,0,0,0,0,0,14.31,14.59,13.85
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1759,0.55,116.8,2703,2169,2867,2731,207.2,0.0,181,1864,0.52,2.38,97.55,1.067,11012,0.106,0.050,2951,768,2321,2405,2238,0,0,0,0,0,0,14.59,14.56,13.83
$GC,1941,0.59,187.3,2951,768,2393,2237,208.7,6.5,199,2009,0.00,2.20,57.47,1.059,13318,0.000,0.049,2951,2083,2034,2120,1949,0,0,0,0,0,0,14.69,14.64,13.90
$GC,2250,0.61,215.2,2950,2083,2118,1945,178.9,8.7,230,2280,0.00,2.50,23.12,1.027,12548,0.000,0.065,2951,3538,1920,2001,1840,0,0,0,0,0,0,15.19,14.78,14.04
$GC,2388,0.61,215.2,2951,3538,2001,1840,165.5,10.3,243,2396,0.05,2.33,0.00,0.000,5126,0.325,0.049,2935,2181,1920,2001,1840,0,0,0,0,0,0,14.52,14.76,14.80
$GC,2638,0.64,265.0,2934,2178,2001,1836,144.3,7.5,268,2686,0.00,2.35,40.88,1.020,10500,0.000,0.064,2934,3543,1718,1806,1631,0,0,0,0,0,0,15.23,14.52,14.02
$GC,3201,0.66,304.9,2934,3544,1806,1631,96.2,8.0,323,3240,0.00,2.25,32.58,0.965,11270,0.000,0.050,2943,2180,1555,1648,1463,0,0,0,0,0,0,14.80,14.75,14.08
$GC,3490,0.71,377.8,2943,2180,1648,1457,75.8,6.3,352,3554,0.05,2.42,57.42,0.939,10756,0.260,0.064,3082,769,1257,1347,1167,0,0,0,0,0,0,14.86,14.50,14.02
$GC,3705,0.71,377.8,3082,768,1340,1163,46.3,13.7,373,3715,0.30,2.30,0.00,0.000,5126,0.221,0.057,2974,2127,1251,1340,1162,0,0,0,0,0,0,14.30,14.51,14.42
$GC,3961,0.72,399.4,2974,2128,1339,1160,23.5,9.0,404,3976,0.00,2.38,9.00,0.794,10500,0.000,0.062,2974,3538,1169,1269,1069,0,0,0,0,0,0,15.19,14.61,14.12
$GC,4017,0.74,424.0,2974,3538,1269,1069,18.2,8.8,413,4034,0.00,2.33,10.48,0.264,9222,0.000,0.047,2982,2184,1069,1169,969,0,0,0,0,0,0,14.82,14.77,14.51
$STATE,4186,end climb,SURFACE_DEPTH_REACHED
$STATE,4186,begin surface coast
$FINISH,0.2,1.023150
$STATE,4213,end surface coast,CONTROL_FINISHED_OK
$STATE,4213,begin surface
$SM_CCo,4292,0.00,0.000,0,0,1066,425.59
$SM_GC,1.06,6.40,0.15,0.00,0.041,0.098,0.000,170,2285,1066,-7.91,-0.88,425.59,0,0,0,0,0,0,14.92,14.90,14.97
$IRIDIUM_FIX,2232.34,-15807.58,161021,101055
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.97
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.22,202.129
$10V_AH,11.32,0.000
$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,16.350,52.375,423.225,0.000,0.000,32.895,51.629,132.664,0.000,0.000,19.087,1150.881,1539.555,420.988,1363.557,199.463,0.000,993.411,0.000,1141.758,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,118.575,1071.765,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.378,322.725,611.617,548.783,635.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339056
$DATA_FILE_SIZE,44010,448
$CAP_FILE_SIZE,71892,0
$CFSIZE,1023623168,940670976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.126,288.43,1
$GPS,161021,112811,2242.696,-15805.335,6,0.9,17,9.8,0.0,266.8,9,9.9