version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 952
start: 10 17 121 2 10 15
data:
$ID,626
$MISSION,3
$DIVE,952
$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,58
$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
$GPS1,171021,020321,2242.5339,-15806.8770,6,0.9,14,9.8,0.6,229.3,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.4
$GPS2,171021,020925,2242.5308,-15806.8877,6,0.9,16,9.8,0.5,143.6,8,9.3
$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,78.3,12621,-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,-116.8,122,2304,1289,1193,0.0,0.0,0,73,0.00,0.00,-53.35,0.000,16386,0.000,0.000,123,2305,2917,2898,2937,0,0,0,0,0,0,15.16,28.83,15.18
$GC,77,-0.55,-116.8,122,2304,2899,2937,3.2,-6.3,8,100,8.52,2.45,-6.28,0.000,19204,0.427,0.072,2572,856,3278,3261,3296,0,0,0,0,0,0,14.03,13.83,14.35
$GC,108,-0.55,-116.8,2571,855,3266,3294,14.2,-30.3,12,116,0.00,2.40,0.00,0.000,3078,0.000,0.053,2563,2244,3279,3267,3291,0,0,0,0,0,0,14.92,14.76,14.94
$GC,366,-0.55,-116.8,2562,2244,3267,3290,59.0,-16.2,44,375,0.00,2.35,0.00,0.000,2564,0.000,0.056,2563,857,3278,3267,3290,0,0,0,0,0,0,15.21,14.51,15.21
$GC,434,-0.55,-116.8,2563,857,3268,3290,69.1,-14.4,50,442,0.05,2.42,0.00,0.000,3078,0.389,0.057,2569,2266,3279,3268,3290,0,0,0,0,0,0,14.56,14.79,14.81
$GC,683,-0.55,-116.8,2569,2268,3268,3290,104.5,-11.5,75,688,0.00,2.40,0.00,0.000,2564,0.000,0.053,2570,849,3279,3268,3290,0,0,0,0,0,0,15.24,14.86,15.25
$GC,736,-0.55,-116.8,2570,848,3268,3290,110.5,-10.5,80,747,0.00,2.40,0.00,0.000,3078,0.000,0.057,2561,2267,3279,3269,3289,0,0,0,0,0,0,14.60,14.55,14.62
$GC,989,-0.55,-116.8,2560,2267,3269,3289,136.8,-10.4,105,994,0.00,2.40,0.00,0.000,2564,0.000,0.056,2560,855,3279,3269,3289,0,0,0,0,0,0,15.26,14.86,15.25
$GC,1063,-0.55,-116.8,2560,854,3270,3290,144.4,-8.9,112,1073,0.00,2.38,0.00,0.000,3078,0.000,0.057,2550,2261,3279,3270,3289,0,0,0,0,0,0,14.55,14.52,14.57
$GC,1317,-0.55,-116.8,2550,2261,3271,3289,171.0,-11.2,137,1322,0.08,2.38,0.00,0.000,2564,0.353,0.054,2584,858,3279,3270,3289,0,0,0,0,0,0,14.61,14.84,14.73
$GC,1353,-0.55,-116.8,2584,856,3271,3289,174.8,-10.5,140,1360,0.00,2.40,0.00,0.000,1030,0.000,0.058,2574,2273,3279,3270,3289,0,0,0,0,0,0,14.99,14.86,15.02
$GC,1605,-0.55,-116.8,2574,2273,3270,3289,196.7,-8.1,165,1609,0.00,2.38,0.00,0.000,516,0.000,0.054,2574,857,3280,3271,3289,0,0,0,0,0,0,15.26,14.87,15.27
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1655,-0.13,0.0,2565,2133,3271,3289,200.6,-8.4,169,1757,0.35,0.00,94.30,1.075,10246,0.218,0.000,2701,2133,2800,2868,2733,0,0,0,0,0,0,14.42,14.32,13.80
$STATE,1758,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1761,0.55,116.8,2701,2132,2868,2732,205.1,0.0,180,1867,0.52,0.00,98.12,1.059,11014,0.103,0.000,2940,2133,2322,2408,2236,0,0,0,0,0,0,14.60,14.28,13.80
$GC,2108,0.60,206.3,2939,2133,2406,2231,194.5,5.5,215,2187,0.00,0.00,72.65,1.063,10246,0.000,0.000,2940,2133,1957,2038,1877,0,0,0,0,0,0,15.18,14.35,13.88
$GC,2429,0.60,206.3,2940,2133,2036,1872,163.7,11.0,247,2433,0.00,2.38,0.00,0.000,260,0.000,0.063,2940,3543,1954,2036,1872,0,0,0,0,0,0,15.18,14.83,15.19
$GC,2516,0.60,206.3,2940,3543,2036,1872,154.0,11.5,255,2523,0.00,2.38,0.00,0.000,5126,0.000,0.043,2951,2124,1954,2036,1872,0,0,0,0,0,0,14.97,14.83,14.99
$GC,2764,0.60,206.3,2950,2123,2036,1870,125.5,10.7,280,2775,0.00,2.38,0.00,0.000,4612,0.000,0.059,2962,714,1951,2031,1871,0,0,0,0,0,0,15.23,14.52,15.23
$GC,2792,0.60,206.6,2961,713,2029,1871,122.9,10.1,282,2800,0.05,2.40,0.00,0.000,5126,0.369,0.056,2943,2126,1949,2029,1870,0,0,0,0,0,0,14.60,14.83,14.88
$GC,3042,0.62,241.8,2943,2128,2028,1870,101.0,8.3,307,3079,0.00,2.42,28.50,0.965,10500,0.000,0.065,2943,3543,1812,1896,1729,0,0,0,0,0,0,15.25,14.49,14.02
$GC,3136,0.64,261.2,2943,3543,1896,1729,93.0,9.1,316,3164,0.00,2.40,17.00,0.933,9222,0.000,0.045,2953,2119,1733,1821,1646,0,0,0,0,0,0,14.92,14.81,13.98
$GC,3404,0.67,316.3,2953,2120,1821,1642,72.3,7.3,343,3455,0.00,2.42,44.33,0.939,10756,0.000,0.063,2963,721,1508,1600,1416,0,0,0,0,0,0,15.21,14.73,14.04
$GC,3486,0.69,349.0,2964,720,1595,1416,65.8,8.4,351,3518,0.00,2.40,26.20,0.910,11270,0.000,0.055,2964,2125,1377,1472,1282,0,0,0,0,0,0,14.88,14.76,13.99
$GC,3768,0.70,364.8,2964,2125,1472,1276,38.7,9.3,379,3787,0.00,0.00,13.77,0.861,10246,0.000,0.000,2964,2125,1309,1406,1213,0,0,0,0,0,0,15.19,14.76,14.11
$GC,4040,0.74,424.8,2963,2125,1408,1209,15.5,7.0,421,4076,0.00,2.50,25.67,0.249,10756,0.000,0.065,2974,719,1064,1162,967,0,0,0,0,0,0,15.19,14.52,14.50
$GC,4103,0.74,436.0,2974,719,1157,968,10.4,9.5,430,4119,0.00,2.47,4.43,0.236,11270,0.000,0.056,2974,2125,1019,1121,918,0,0,0,0,0,0,14.80,14.73,14.28
$STATE,4190,end climb,SURFACE_DEPTH_REACHED
$STATE,4190,begin surface coast
$FINISH,0.3,1.015590
$STATE,4225,end surface coast,CONTROL_FINISHED_OK
$STATE,4225,begin surface
$SM_CCo,4304,0.00,0.000,0,0,1017,437.61
$SM_GC,1.23,6.32,0.22,0.00,0.033,0.075,0.000,182,2287,1017,-7.90,-0.85,437.61,0,0,0,0,0,0,14.90,14.92,14.96
$IRIDIUM_FIX,2232.34,-15805.41,171021,020515
$TT8_MAMPS,0.02247,0.342293
$HUMID,53.34
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.80,204.350
$10V_AH,12.40,0.000
$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,15.900,52.925,424.975,0.000,0.000,32.898,47.913,147.880,0.250,0.000,17.847,1132.390,1632.440,436.548,1288.404,206.249,0.000,963.131,0.000,1064.835,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,74.970,1074.825,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,297.549,324.892,615.921,563.794,665.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,40580,451
$CAP_FILE_SIZE,69071,0
$CFSIZE,1023623168,939884544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,300.15,1
$GPS,171021,032301,2242.636,-15806.516,6,0.8,26,9.8,0.7,296.0,10,7.7