version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 945
start: 10 16 121 16 56 8
data:
$ID,626
$MISSION,3
$DIVE,945
$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,66
$R_STBD_OVSHOOT,49
$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
$GPS1,161021,165001,2241.9211,-15805.8242,5,0.9,25,9.8,1.4,222.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.2
$GPS2,161021,165516,2241.8699,-15805.8760,6,0.9,13,9.8,0.6,223.9,9,9.6
$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,25.3,11589,-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,14,begin dive
$GC,17,-0.55,-116.8,124,2225,1102,969,0.0,0.0,0,82,0.00,0.00,-63.12,0.000,16386,0.000,0.000,123,2225,3026,2996,3056,0,0,0,0,0,0,15.18,28.83,15.19
$GC,86,-0.55,-116.8,123,2224,2996,3056,3.0,-5.4,9,110,8.55,2.47,-4.25,0.000,18692,0.430,0.074,2556,3661,3279,3257,3302,0,0,0,0,0,0,14.05,13.21,14.36
$GC,161,-0.55,-116.8,2556,3661,3261,3299,23.5,-14.4,21,169,0.03,2.33,0.00,0.000,3078,0.351,0.044,2569,2292,3280,3265,3296,0,0,0,0,0,0,14.52,14.73,14.83
$GC,416,-0.55,-116.8,2569,2287,3266,3295,61.7,-16.9,50,427,0.00,2.38,0.00,0.000,2564,0.000,0.058,2568,871,3280,3267,3294,0,0,0,0,0,0,15.23,14.57,15.24
$GC,517,-0.55,-116.8,2569,871,3267,3294,75.4,-11.9,59,524,0.00,2.38,0.00,0.000,3078,0.000,0.057,2560,2254,3279,3267,3292,0,0,0,0,0,0,14.96,14.79,14.98
$GC,765,-0.55,-116.8,2560,2254,3268,3292,103.8,-10.7,84,775,0.00,2.35,0.00,0.000,2564,0.000,0.052,2561,864,3280,3268,3293,0,0,0,0,0,0,15.26,14.52,15.27
$GC,831,-0.55,-116.8,2560,864,3268,3293,109.9,-8.8,90,843,0.05,2.35,0.00,0.000,3078,0.301,0.057,2568,2262,3280,3269,3291,0,0,0,0,0,0,14.23,14.50,14.39
$GC,1085,-0.55,-116.8,2568,2262,3269,3291,134.1,-10.6,115,1093,0.00,2.38,0.00,0.000,2308,0.000,0.072,2559,3669,3280,3269,3291,0,0,0,0,0,0,15.26,14.65,15.26
$GC,1193,-0.55,-116.8,2558,3669,3269,3291,144.7,-9.7,125,1201,0.00,2.28,0.00,0.000,3078,0.000,0.041,2558,2266,3280,3269,3291,0,0,0,0,0,0,14.79,14.76,14.82
$GC,1444,-0.55,-116.8,2558,2263,3269,3290,171.3,-9.4,150,1454,0.00,2.40,0.00,0.000,2308,0.000,0.069,2548,3674,3280,3269,3291,0,0,0,0,0,0,15.27,14.47,15.26
$GC,1471,-0.55,-116.8,2548,3675,3269,3291,173.6,-9.1,152,1479,0.08,2.33,0.00,0.000,3078,0.284,0.043,2579,2252,3280,3270,3290,0,0,0,0,0,0,14.66,14.92,14.88
$GC,1719,-0.55,-116.8,2578,2250,3269,3290,190.6,-6.9,177,1729,0.00,2.30,0.00,0.000,516,0.000,0.056,2579,861,3279,3269,3290,0,0,0,0,0,0,15.27,14.71,15.28
$GC,1814,-0.55,-116.8,2578,861,3269,3290,198.4,-8.2,186,1825,0.00,2.35,0.00,0.000,3078,0.000,0.057,2570,2257,3279,3270,3289,0,0,0,0,0,0,14.54,14.50,14.57
$STATE,1831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1831,begin apogee
$GC,1839,-0.13,0.0,2570,2091,3270,3290,200.1,-8.5,188,1938,0.35,0.05,95.18,1.080,10246,0.210,0.194,2707,2145,2798,2865,2732,0,0,0,0,0,0,14.45,14.55,13.83
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1942,0.55,116.8,2708,2145,2865,2732,205.6,0.0,198,2048,0.50,2.40,97.75,1.069,10756,0.093,0.053,2955,753,2322,2406,2239,0,0,0,0,0,0,14.62,14.33,13.81
$GC,2258,0.58,165.4,2955,753,2392,2236,198.1,7.6,229,2305,0.08,2.30,40.05,1.060,13318,0.336,0.051,2930,2120,2122,2211,2034,0,0,0,0,0,0,14.55,14.83,13.97
$GC,2545,0.58,171.8,2930,2121,2211,2030,170.4,9.8,258,2559,0.00,2.40,6.28,0.901,10500,0.000,0.063,2930,3536,2098,2189,2008,0,0,0,0,0,0,15.20,14.82,14.00
$GC,2660,0.59,180.6,2930,3536,2189,2008,159.1,9.6,269,2680,0.00,2.25,9.00,0.949,9222,0.000,0.043,2939,2162,2061,2152,1971,0,0,0,0,0,0,14.99,14.90,13.98
$GC,2919,0.61,216.2,2939,2162,2152,1967,136.9,8.3,295,2958,0.00,2.47,29.10,1.013,10756,0.000,0.060,2951,729,1915,1999,1831,0,0,0,0,0,0,15.23,14.66,14.07
$GC,3035,0.62,229.2,2951,728,1990,1831,126.3,9.4,306,3054,0.00,2.35,11.10,0.941,13318,0.000,0.056,2951,2115,1863,1946,1781,0,0,0,0,0,0,14.59,14.52,14.04
$GC,3293,0.62,229.2,2951,2115,1946,1778,100.1,11.1,332,3302,0.00,2.42,0.00,0.000,4356,0.000,0.072,2951,3539,1861,1946,1777,0,0,0,0,0,0,15.21,14.50,15.22
$GC,3430,0.62,229.2,2950,3539,1946,1777,84.6,11.0,345,3434,0.00,2.35,0.00,0.000,5126,0.000,0.050,2961,2131,1861,1946,1777,0,0,0,0,0,0,15.01,14.88,15.03
$GC,3686,0.66,298.3,2961,2131,1946,1776,61.3,6.5,370,3752,0.00,2.42,54.88,0.935,8708,0.000,0.062,2970,712,1580,1671,1489,0,0,0,0,0,0,15.23,14.51,14.03
$GC,3858,0.68,327.4,2972,710,1668,1488,48.1,8.6,387,3889,0.00,2.45,23.20,0.896,13318,0.000,0.057,2972,2134,1462,1555,1370,0,0,0,0,0,0,14.92,14.78,14.07
$GC,4135,0.68,330.5,2972,2135,1555,1365,21.4,9.9,421,4143,0.00,2.45,0.00,0.000,4356,0.000,0.070,2972,3546,1460,1555,1365,0,0,0,0,0,0,15.18,14.76,15.18
$GC,4180,0.69,340.7,2972,3546,1556,1365,17.1,9.6,428,4195,0.00,2.42,5.53,0.273,13318,0.000,0.050,2983,2125,1408,1502,1315,0,0,0,0,0,0,14.94,14.80,14.22
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FINISH,0.2,1.023340
$STATE,4359,end surface coast,CONTROL_FINISHED_OK
$STATE,4359,begin surface
$SM_CCo,4378,16.52,0.191,0,0,1247,380.21
$SM_GC,1.06,6.57,0.25,16.52,0.063,0.069,0.191,134,2305,1247,-7.96,-0.93,380.21,0,0,0,0,0,0,14.94,14.93,14.57
$IRIDIUM_FIX,2232.34,-15805.41,161021,165134
$TT8_MAMPS,0.021721,0.31458
$HUMID,54.44
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,13.21,203.107
$10V_AH,12.19,0.000
$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,16.200,57.525,372.050,16.525,0.000,24.420,48.399,116.984,0.500,0.000,14.164,1187.885,1583.655,417.887,1352.663,203.861,0.000,998.071,0.000,1164.247,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,193.545,1080.180,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.007,333.219,632.642,573.663,662.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339084
$DATA_FILE_SIZE,44046,460
$CAP_FILE_SIZE,74766,0
$CFSIZE,1023623168,940343296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.225,226.22,1
$GPS,161021,181031,2241.618,-15806.247,6,0.8,29,9.8,0.0,239.7,10,6.1