version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 948
start: 10 16 121 20 53 4
data:
$ID,626
$MISSION,3
$DIVE,948
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,161021,204431,2241.5127,-15807.1221,6,0.9,37,9.8,0.4,90.0,10,6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.3
$GPS2,161021,205213,2241.5273,-15807.1982,6,0.9,15,9.8,0.0,79.6,10,9.3
$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,64.6,13874,-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,-116.8,123,2299,1290,1191,0.0,0.0,0,73,0.00,0.00,-54.17,0.000,16386,0.000,0.000,123,2299,2948,2928,2968,0,0,0,0,0,0,15.17,28.83,15.18
$GC,77,-0.55,-116.8,123,2299,2927,2969,3.1,-6.1,8,100,8.62,2.28,-5.82,0.000,18692,0.435,0.073,2554,3656,3280,3261,3299,0,0,0,0,0,0,14.05,13.83,14.36
$GC,147,-0.55,-116.8,2554,3656,3261,3298,19.6,-12.7,19,155,0.05,2.40,0.00,0.000,3078,0.353,0.044,2573,2237,3280,3266,3295,0,0,0,0,0,0,14.55,14.78,14.79
$GC,408,-0.55,-116.8,2573,2235,3267,3294,62.7,-16.8,50,413,0.00,2.30,0.00,0.000,516,0.000,0.057,2573,858,3280,3267,3294,0,0,0,0,0,0,15.23,14.83,15.23
$GC,513,-0.55,-116.8,2572,858,3269,3293,78.1,-13.1,60,518,0.00,2.35,0.00,0.000,3078,0.000,0.057,2564,2245,3280,3270,3290,0,0,0,0,0,0,14.99,14.85,15.01
$GC,769,-0.55,-116.8,2564,2245,3270,3291,110.0,-11.4,85,778,0.00,2.35,0.00,0.000,2564,0.000,0.055,2564,855,3281,3271,3291,0,0,0,0,0,0,15.25,14.67,15.25
$GC,825,-0.55,-116.8,2563,854,3271,3291,116.4,-11.6,90,833,0.05,2.42,0.00,0.000,3078,0.374,0.057,2571,2265,3280,3271,3290,0,0,0,0,0,0,14.58,14.81,14.83
$GC,1076,-0.55,-116.8,2571,2266,3272,3290,143.7,-11.3,115,1085,0.00,2.38,0.00,0.000,2564,0.000,0.052,2572,853,3281,3272,3291,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1109,-0.55,-116.8,2571,853,3271,3291,147.8,-11.1,118,1114,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2274,3281,3272,3291,0,0,0,0,0,0,15.01,14.86,15.03
$GC,1364,-0.55,-116.8,2562,2275,3272,3291,172.8,-9.5,143,1373,0.00,2.38,0.00,0.000,2564,0.000,0.053,2562,865,3281,3272,3291,0,0,0,0,0,0,15.26,14.67,15.26
$GC,1427,-0.55,-116.8,2561,864,3272,3291,178.5,-8.8,149,1436,0.05,2.35,0.00,0.000,3078,0.299,0.058,2570,2264,3281,3272,3290,0,0,0,0,0,0,14.38,14.66,14.53
$GC,1681,-0.55,-116.8,2570,2265,3272,3290,199.0,-8.5,174,1685,0.00,2.40,0.00,0.000,2564,0.000,0.053,2570,854,3281,3272,3290,0,0,0,0,0,0,15.27,14.87,15.27
$STATE,1691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1691,begin apogee
$GC,1701,-0.13,0.0,2562,2138,3272,3290,200.4,-8.5,175,1803,0.35,0.00,95.07,1.081,10246,0.217,0.000,2701,2138,2798,2864,2733,0,0,0,0,0,0,14.41,14.32,13.78
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1807,0.55,116.8,2701,2138,2864,2733,205.3,0.0,186,1913,0.50,0.00,98.03,1.066,10502,0.116,0.000,2921,2138,2322,2405,2239,0,0,0,0,0,0,14.40,14.28,13.79
$GC,2154,0.59,188.1,2921,2138,2402,2234,194.2,6.4,221,2223,0.00,2.42,58.17,1.059,10500,0.000,0.068,2921,3532,2031,2115,1947,0,0,0,0,0,0,15.18,14.66,13.94
$GC,2300,0.59,188.1,2921,3531,2115,1948,181.1,11.2,235,2306,0.00,2.38,0.00,0.000,3078,0.000,0.049,2932,2122,2031,2115,1948,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2551,0.60,204.0,2932,2122,2115,1942,156.4,9.3,260,2570,0.00,2.45,13.65,0.983,10756,0.000,0.062,2944,707,1966,2047,1885,0,0,0,0,0,0,15.20,14.83,14.05
$GC,2627,0.60,205.3,2943,707,2039,1886,149.2,10.0,267,2634,0.00,2.42,0.00,0.000,1030,0.000,0.057,2942,2126,1962,2039,1886,0,0,0,0,0,0,14.95,14.83,14.98
$GC,2876,0.64,260.0,2943,2126,2039,1884,127.7,7.3,292,2927,0.00,2.42,45.30,1.007,10500,0.000,0.071,2944,3542,1738,1824,1653,0,0,0,0,0,0,15.23,14.52,14.01
$GC,2979,0.64,273.3,2943,3542,1823,1653,119.2,9.4,302,2998,0.00,2.40,12.52,0.933,9222,0.000,0.053,2954,2120,1683,1771,1596,0,0,0,0,0,0,14.56,14.50,14.00
$GC,3237,0.64,273.8,2954,2120,1771,1590,94.7,10.1,328,3246,0.00,2.38,0.00,0.000,516,0.000,0.064,2965,719,1680,1770,1590,0,0,0,0,0,0,15.20,14.47,15.21
$GC,3311,0.65,277.7,2965,719,1768,1590,87.3,9.9,335,3322,0.00,2.40,4.00,0.742,13318,0.000,0.056,2965,2132,1666,1758,1575,0,0,0,0,0,0,14.99,14.85,13.95
$GC,3565,0.68,329.6,2965,2132,1758,1575,65.7,7.4,360,3612,0.00,2.45,41.90,0.931,8452,0.000,0.068,2965,3544,1454,1547,1362,0,0,0,0,0,0,15.23,14.76,14.07
$GC,3649,0.68,329.6,2965,3544,1547,1363,57.6,10.2,368,3656,0.00,2.42,0.00,0.000,5126,0.000,0.049,2975,2120,1455,1546,1364,0,0,0,0,0,0,14.90,14.78,14.91
$GC,3899,0.68,329.6,2975,2119,1547,1361,31.0,10.6,393,3904,0.00,2.40,0.00,0.000,4612,0.000,0.065,2986,719,1454,1547,1361,0,0,0,0,0,0,15.18,14.81,15.19
$GC,3951,0.68,329.6,2986,719,1544,1360,25.4,11.1,401,3959,0.05,2.45,0.00,0.000,5126,0.350,0.055,2968,2136,1451,1544,1359,0,0,0,0,0,0,14.59,14.80,14.83
$STATE,4167,end climb,SURFACE_DEPTH_REACHED
$STATE,4167,begin surface coast
$FINISH,0.3,0.999113
$STATE,4202,end surface coast,CONTROL_FINISHED_OK
$STATE,4202,begin surface
$SM_CCo,4220,21.10,0.195,0,0,1249,380.21
$SM_GC,1.30,6.40,0.20,21.10,0.047,0.099,0.195,178,2265,1249,-7.91,-1.05,380.21,0,0,0,0,0,0,14.88,14.87,14.54
$IRIDIUM_FIX,2232.34,-15807.58,161021,204755
$TT8_MAMPS,0.023219,0.342293
$HUMID,54.13
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,13.78,203.627
$10V_AH,12.46,0.000
$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,16.075,57.400,368.650,21.100,0.000,62.258,50.596,146.503,0.500,0.000,16.387,1149.841,1646.451,410.676,1317.082,211.530,0.000,921.988,0.000,1062.413,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,99.450,1080.945,195.075,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.984,324.468,617.395,552.952,635.159,0.000,0.000,0.000,0.000,0.000
$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,40551,447
$CAP_FILE_SIZE,72562,0
$CFSIZE,1023623168,940146688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.165,278.95,1
$GPS,161021,220444,2241.732,-15807.272,6,1.2,20,9.8,1.4,280.7,8,9.7