version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 950
start: 10 16 121 23 31 12
data:
$ID,626
$MISSION,3
$DIVE,950
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,161021,232420,2242.1016,-15807.3389,6,1.0,21,9.8,0.0,257.1,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.1
$GPS2,161021,233022,2242.1458,-15807.3730,6,0.9,22,9.8,0.0,332.1,8,10.0
$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,95.6,13657,-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,-116.8,123,2279,1252,1136,0.0,0.0,0,74,0.00,0.00,-55.65,0.000,16386,0.000,0.000,123,2279,2948,2926,2970,0,0,0,0,0,0,15.17,28.83,15.18
$GC,78,-0.55,-116.8,122,2279,2927,2970,3.2,-6.5,8,101,8.52,2.42,-5.70,0.000,18948,0.428,0.070,2564,845,3278,3261,3296,0,0,0,0,0,0,14.05,13.81,14.35
$GC,110,-0.55,-116.8,2564,844,3266,3295,14.3,-30.7,12,118,0.05,2.45,0.00,0.000,3078,0.425,0.054,2571,2263,3279,3267,3292,0,0,0,0,0,0,14.50,14.77,14.77
$GC,370,-0.55,-116.8,2570,2264,3268,3291,56.1,-16.0,45,380,0.00,2.40,0.00,0.000,2564,0.000,0.056,2571,851,3279,3267,3291,0,0,0,0,0,0,15.21,14.46,15.21
$GC,436,-0.55,-116.8,2570,850,3268,3291,66.3,-13.7,51,447,0.00,2.38,0.00,0.000,3078,0.000,0.058,2562,2259,3278,3267,3290,0,0,0,0,0,0,14.53,14.47,14.56
$GC,688,-0.55,-116.8,2562,2259,3267,3290,103.8,-12.6,76,698,0.00,2.38,0.00,0.000,2564,0.000,0.054,2562,849,3279,3268,3290,0,0,0,0,0,0,15.24,14.60,15.24
$GC,722,-0.55,-116.8,2561,848,3268,3289,108.0,-11.8,79,733,0.05,2.38,0.00,0.000,3078,0.303,0.058,2570,2262,3279,3268,3290,0,0,0,0,0,0,14.38,14.66,14.54
$GC,974,-0.55,-116.8,2569,2262,3268,3290,132.1,-9.6,104,984,0.00,2.38,0.00,0.000,2564,0.000,0.054,2571,850,3279,3268,3290,0,0,0,0,0,0,15.26,14.59,15.26
$GC,1011,-0.55,-116.8,2570,850,3268,3290,135.8,-10.0,107,1019,0.00,2.40,0.00,0.000,3078,0.000,0.059,2561,2267,3279,3269,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1261,-0.55,-116.8,2561,2267,3269,3290,159.6,-9.1,132,1271,0.00,2.38,0.00,0.000,2564,0.000,0.054,2561,859,3279,3269,3290,0,0,0,0,0,0,15.26,14.49,15.26
$GC,1315,-0.55,-116.8,2561,859,3269,3290,164.9,-9.1,137,1326,0.05,2.38,0.00,0.000,3078,0.301,0.057,2570,2271,3279,3269,3289,0,0,0,0,0,0,14.38,14.65,14.54
$GC,1566,-0.55,-116.8,2570,2270,3269,3289,185.2,-8.3,162,1576,0.00,2.40,0.00,0.000,2564,0.000,0.053,2570,849,3279,3269,3290,0,0,0,0,0,0,15.28,14.47,15.28
$GC,1613,-0.55,-116.8,2570,849,3270,3289,189.0,-8.7,166,1620,0.00,2.40,0.00,0.000,3078,0.000,0.057,2561,2268,3279,3270,3289,0,0,0,0,0,0,15.00,14.85,15.02
$STATE,1737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1737,begin apogee
$GC,1745,-0.13,0.0,2561,2074,3270,3289,200.8,-9.4,179,1844,0.38,0.10,94.68,1.078,10246,0.221,0.127,2706,2152,2798,2865,2732,0,0,0,0,0,0,14.40,14.58,13.83
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1848,0.55,116.8,2706,2152,2865,2732,206.2,0.0,189,1950,0.52,0.00,98.40,1.077,10758,0.115,0.000,2938,2152,2321,2407,2236,0,0,0,0,0,0,14.58,14.51,13.80
$GC,2190,0.58,168.8,2938,2151,2404,2231,194.4,7.4,224,2241,0.00,2.30,42.90,1.067,8452,0.000,0.060,2938,3513,2109,2198,2021,0,0,0,0,0,0,15.17,14.43,13.92
$GC,2355,0.58,168.8,2938,3513,2198,2021,177.2,11.6,240,2359,0.00,2.33,0.00,0.000,5126,0.000,0.046,2949,2118,2109,2197,2021,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2612,0.58,177.3,2948,2117,2197,2017,152.0,9.7,265,2626,0.00,0.00,8.12,0.940,12294,0.000,0.000,2949,2117,2075,2166,1985,0,0,0,0,0,0,15.21,14.52,13.99
$GC,2872,0.60,208.6,2949,2117,2166,1981,127.3,8.5,291,2908,0.00,2.35,25.73,1.011,12548,0.000,0.061,2949,3507,1947,2031,1863,0,0,0,0,0,0,15.23,14.58,14.06
$GC,2977,0.61,220.4,2948,3508,2031,1863,117.9,9.5,301,2994,0.00,2.30,10.75,0.943,13318,0.000,0.045,2959,2123,1900,1983,1817,0,0,0,0,0,0,14.95,14.85,14.04
$GC,3234,0.63,247.0,2959,2122,1982,1812,98.1,8.7,327,3262,0.00,2.42,22.20,0.966,12804,0.000,0.057,2971,713,1790,1875,1705,0,0,0,0,0,0,15.22,14.81,14.09
$GC,3277,0.64,273.5,2970,712,1870,1705,94.3,8.7,331,3305,0.00,2.35,22.17,0.951,13318,0.000,0.052,2971,2105,1683,1771,1595,0,0,0,0,0,0,14.95,14.83,14.04
$GC,3547,0.65,280.8,2970,2105,1771,1588,66.8,9.7,358,3561,0.00,2.42,6.80,0.841,12548,0.000,0.060,2971,3537,1653,1746,1561,0,0,0,0,0,0,15.20,14.81,14.04
$GC,3634,0.65,280.8,2970,3537,1746,1561,58.2,10.4,366,3642,0.08,2.38,0.00,0.000,5126,0.324,0.045,2954,2124,1654,1747,1561,0,0,0,0,0,0,14.58,14.82,14.83
$GC,3885,0.67,316.6,2954,2123,1747,1560,36.9,8.3,391,3923,0.00,2.38,29.12,0.892,10756,0.000,0.058,2964,721,1506,1599,1414,0,0,0,0,0,0,15.22,14.58,14.11
$GC,3986,0.68,328.4,2963,722,1594,1414,28.0,9.5,402,4002,0.00,2.42,4.68,0.730,9222,0.000,0.050,2964,2133,1463,1555,1371,0,0,0,0,0,0,14.91,14.79,13.93
$STATE,4255,end climb,SURFACE_DEPTH_REACHED
$STATE,4255,begin surface coast
$FINISH,0.5,1.023355
$STATE,4287,end surface coast,CONTROL_FINISHED_OK
$STATE,4287,begin surface
$SM_CCo,4305,22.23,0.194,0,0,1248,380.21
$SM_GC,1.35,6.40,0.20,22.23,0.044,0.079,0.194,148,2286,1248,-7.95,-1.05,380.21,0,0,0,0,0,0,14.91,14.93,14.56
$IRIDIUM_FIX,2232.34,-15807.58,161021,232558
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.38
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.80,203.988
$10V_AH,12.63,0.000
$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,16.050,52.925,365.550,22.225,0.000,24.944,52.362,142.415,0.250,0.000,23.580,1160.269,1619.767,420.773,1313.322,207.710,0.000,946.832,0.000,1094.931,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,126.990,1077.885,194.310,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.146,329.823,632.549,572.983,668.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,40704,457
$CAP_FILE_SIZE,72763,0
$CFSIZE,1023623168,940015616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.123,326.51,1
$GPS,171021,004503,2242.361,-15807.121,23,0.9,63,9.8,0.5,245.8,7,4.2