version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 953
start: 10 17 121 3 30 8
data:
$ID,626
$MISSION,3
$DIVE,953
$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,48
$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
$GPS1,171021,032301,2242.6360,-15806.5156,6,0.8,26,9.8,0.7,296.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.3
$GPS2,171021,032917,2242.6094,-15806.5332,6,0.8,19,9.8,0.5,132.0,10,9.5
$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,63.8,12004,-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,-116.8,124,2298,1078,948,0.0,0.0,0,87,0.00,0.00,-68.40,0.000,16386,0.000,0.000,124,2298,3251,3214,3289,0,0,0,0,0,0,15.18,28.83,15.18
$GC,91,-0.55,-116.8,124,2298,3216,3290,4.5,-9.5,10,107,8.62,2.30,-0.32,0.000,18692,0.434,0.068,2555,3667,3278,3248,3309,0,0,0,0,0,0,14.08,13.25,14.39
$GC,117,-0.55,-116.8,2555,3668,3252,3306,17.8,-41.5,13,125,0.05,2.40,0.00,0.000,3078,0.407,0.055,2570,2270,3279,3257,3302,0,0,0,0,0,0,14.52,14.77,14.78
$GC,372,-0.55,-116.8,2570,2265,3263,3295,61.9,-15.8,43,382,0.00,2.38,0.00,0.000,2564,0.000,0.058,2571,852,3279,3265,3294,0,0,0,0,0,0,15.23,14.55,15.23
$GC,464,-0.55,-116.8,2570,852,3266,3295,74.7,-13.1,51,472,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2246,3279,3267,3292,0,0,0,0,0,0,14.95,14.80,14.97
$GC,711,-0.55,-116.8,2561,2247,3267,3293,106.7,-11.3,76,720,0.00,2.38,0.00,0.000,2564,0.000,0.054,2562,847,3280,3267,3293,0,0,0,0,0,0,15.26,14.49,15.27
$GC,767,-0.55,-116.8,2561,847,3267,3293,112.9,-11.6,81,775,0.05,2.40,0.00,0.000,3078,0.372,0.057,2569,2268,3279,3267,3291,0,0,0,0,0,0,14.62,14.86,14.86
$GC,1019,-0.55,-116.8,2569,2268,3268,3291,140.6,-10.9,106,1028,0.00,2.38,0.00,0.000,2564,0.000,0.053,2569,853,3279,3268,3291,0,0,0,0,0,0,15.26,14.48,15.26
$GC,1066,-0.55,-116.8,2569,854,3268,3292,145.8,-11.0,110,1073,0.00,2.42,0.00,0.000,3078,0.000,0.057,2561,2265,3279,3267,3291,0,0,0,0,0,0,14.97,14.81,15.00
$GC,1316,-0.55,-116.8,2560,2265,3268,3291,172.2,-9.8,135,1326,0.00,2.38,0.00,0.000,2564,0.000,0.053,2561,852,3279,3268,3291,0,0,0,0,0,0,15.26,14.47,15.26
$GC,1343,-0.55,-116.8,2560,852,3268,3292,175.0,-9.7,137,1351,0.08,2.40,0.00,0.000,3078,0.314,0.058,2578,2266,3279,3268,3291,0,0,0,0,0,0,14.60,14.86,14.85
$GC,1593,-0.55,-116.8,2578,2267,3268,3290,195.0,-8.2,162,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2267,3279,3268,3290,0,0,0,0,0,0,15.26,15.28,15.27
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1667,-0.13,0.0,2578,2069,3268,3290,200.7,-8.2,169,1770,0.30,0.08,95.12,1.076,10246,0.194,0.074,2702,2156,2798,2866,2731,0,0,0,0,0,0,14.48,14.33,13.79
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1774,0.55,116.8,2702,2156,2865,2732,207.1,0.0,180,1880,0.50,2.50,97.68,1.071,10756,0.093,0.043,2947,699,2320,2402,2239,0,0,0,0,0,0,14.61,14.55,13.82
$GC,2397,0.62,241.4,2947,699,2390,2236,187.6,3.7,241,2506,0.00,2.33,99.65,1.070,9222,0.000,0.047,2948,2102,1813,1893,1734,0,0,0,0,0,0,14.78,14.76,13.89
$GC,2747,0.63,257.7,2947,2102,1893,1727,157.2,9.3,276,2767,0.00,2.38,14.10,0.990,10756,0.000,0.058,2958,709,1747,1832,1662,0,0,0,0,0,0,15.19,14.81,14.04
$GC,3280,0.65,276.1,2958,708,1822,1660,106.7,9.2,328,3302,0.00,2.40,15.75,0.952,9222,0.000,0.054,2958,2124,1672,1760,1584,0,0,0,0,0,0,14.64,14.59,14.09
$GC,3552,0.68,334.8,2958,2124,1760,1580,82.4,7.1,355,3610,0.00,2.40,47.40,0.954,10500,0.000,0.069,2958,3533,1432,1525,1339,0,0,0,0,0,0,15.23,14.54,14.04
$GC,3639,0.69,344.9,2958,3533,1525,1339,75.1,9.6,363,3656,0.00,2.40,9.48,0.877,9222,0.000,0.050,2968,2121,1391,1486,1297,0,0,0,0,0,0,14.87,14.76,14.02
$GC,3895,0.69,344.9,2968,2119,1485,1292,49.7,10.5,389,3900,0.00,2.38,0.00,0.000,516,0.000,0.063,2979,712,1388,1485,1292,0,0,0,0,0,0,15.19,14.81,15.19
$GC,4025,0.70,360.8,2979,711,1480,1292,37.3,9.3,401,4046,0.00,2.45,12.90,0.858,13318,0.000,0.057,2979,2131,1327,1423,1232,0,0,0,0,0,0,14.95,14.81,14.11
$GC,4305,0.74,422.3,2979,2131,1423,1229,4.2,6.9,447,4320,0.00,0.00,12.75,0.202,10754,0.000,0.000,2979,2131,1203,1300,1107,0,0,0,0,0,0,15.19,28.83,15.19
$STATE,4321,end climb,SURFACE_DEPTH_REACHED
$STATE,4321,begin surface coast
$FINISH,0.4,1.023237
$STATE,4355,end surface coast,CONTROL_FINISHED_OK
$STATE,4356,begin surface
$SM_CCo,4434,0.00,0.000,0,0,1199,392.72
$SM_GC,1.14,6.47,0.22,0.00,0.051,0.088,0.000,153,2287,1199,-7.93,-0.74,392.72,0,0,0,0,0,0,14.98,14.88,15.01
$IRIDIUM_FIX,2232.34,-15827.54,171021,020524
$TT8_MAMPS,0.02247,0.345289
$HUMID,53.89
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.25,204.534
$10V_AH,12.53,0.000
$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,16.075,43.600,404.825,0.000,0.000,32.950,51.866,147.159,0.500,0.000,21.025,1182.780,1614.199,412.499,1430.674,199.072,0.000,988.219,0.000,1188.564,0.000,0.554,0.000
$DEVICE_MAMPS,433.755,87.975,1075.590,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,300.780,327.538,617.995,535.833,624.431,0.000,0.000,0.000,0.000,0.000
$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,43908,455
$CAP_FILE_SIZE,68416,0
$CFSIZE,1023623168,939819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,185.38,1
$GPS,171021,044455,2242.450,-15806.233,6,0.9,18,9.8,0.0,126.8,9,9.3