version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 956
start: 10 17 121 7 31 44
data:
$ID,626
$MISSION,3
$DIVE,956
$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
$GPS1,171021,072506,2241.7000,-15806.4414,7,0.8,17,9.8,0.5,181.6,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.5
$GPS2,171021,073054,2241.6460,-15806.4971,6,0.8,18,9.8,0.8,180.4,10,9.7
$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,18.9,12717,-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,-116.8,124,2302,1040,904,0.0,0.0,0,87,0.00,0.00,-68.68,0.000,16386,0.000,0.000,124,2302,3225,3188,3262,0,0,0,0,0,0,15.17,28.83,15.18
$GC,92,-0.55,-116.8,122,2302,3188,3262,4.4,-9.8,10,107,8.60,2.33,-0.80,0.000,18692,0.435,0.074,2554,3663,3280,3251,3310,0,0,0,0,0,0,14.09,13.26,14.41
$GC,144,-0.55,-116.8,2553,3663,3261,3301,23.1,-21.0,18,152,0.05,2.38,0.00,0.000,3078,0.366,0.036,2572,2256,3281,3264,3298,0,0,0,0,0,0,14.57,14.78,14.80
$GC,403,-0.55,-116.8,2572,2253,3267,3295,59.2,-14.0,47,413,0.00,2.38,0.00,0.000,260,0.000,0.066,2564,3648,3280,3267,3294,0,0,0,0,0,0,15.23,14.47,15.23
$GC,471,-0.55,-116.8,2563,3649,3267,3295,67.3,-10.6,53,482,0.00,2.25,0.00,0.000,3078,0.000,0.038,2564,2263,3281,3268,3295,0,0,0,0,0,0,14.61,14.57,14.63
$GC,723,-0.55,-116.8,2563,2262,3267,3295,98.5,-13.0,78,732,0.00,2.38,0.00,0.000,2308,0.000,0.069,2554,3646,3281,3267,3295,0,0,0,0,0,0,15.24,14.45,15.24
$GC,789,-0.55,-116.8,2553,3646,3267,3295,106.3,-11.3,84,797,0.03,2.33,0.00,0.000,3078,0.197,0.041,2580,2260,3281,3267,3295,0,0,0,0,0,0,14.55,14.79,14.81
$GC,1042,-0.55,-116.8,2580,2257,3267,3295,131.6,-8.8,109,1051,0.00,2.38,0.00,0.000,4356,0.000,0.070,2571,3647,3281,3267,3295,0,0,0,0,0,0,15.26,14.62,15.26
$GC,1086,-0.55,-116.8,2571,3647,3268,3295,135.7,-8.4,113,1097,0.00,2.25,0.00,0.000,3078,0.000,0.036,2571,2256,3281,3268,3294,0,0,0,0,0,0,14.98,14.92,14.99
$GC,1338,-0.55,-116.8,2570,2255,3268,3294,160.4,-11.6,138,1347,0.00,2.38,0.00,0.000,2308,0.000,0.068,2560,3646,3281,3268,3294,0,0,0,0,0,0,15.26,14.46,15.26
$GC,1395,-0.55,-116.8,2561,3646,3268,3295,166.6,-10.8,143,1404,0.00,2.22,0.00,0.000,3078,0.000,0.033,2561,2260,3281,3268,3294,0,0,0,0,0,0,15.04,14.94,15.06
$GC,1645,-0.55,-116.8,2560,2259,3268,3294,193.6,-10.2,168,1655,0.00,2.35,0.00,0.000,2308,0.000,0.067,2550,3649,3281,3268,3294,0,0,0,0,0,0,15.26,14.68,15.26
$GC,1669,-0.55,-116.8,2550,3649,3268,3294,196.1,-9.9,170,1679,0.08,2.22,0.00,0.000,3078,0.270,0.034,2586,2260,3280,3268,3293,0,0,0,0,0,0,14.57,14.94,14.62
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1724,-0.13,0.0,2586,2075,3268,3293,200.4,-8.0,175,1827,0.30,0.00,95.00,1.070,10246,0.210,0.000,2708,2073,2799,2866,2733,0,0,0,0,0,0,14.47,14.58,13.84
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1831,0.55,116.8,2708,2073,2865,2733,207.2,0.0,186,1938,0.45,2.50,98.15,1.063,10500,0.077,0.064,2939,3512,2322,2406,2239,0,0,0,0,0,0,14.65,14.32,13.79
$GC,2046,0.59,177.6,2938,3512,2405,2239,206.0,7.0,207,2105,0.00,2.17,50.55,1.052,13318,0.000,0.039,2949,2184,2073,2161,1985,0,0,0,0,0,0,14.62,14.59,13.91
$GC,2347,0.60,201.6,2948,2184,2160,1980,180.9,8.9,237,2376,0.00,2.42,19.90,1.021,12804,0.000,0.057,2960,777,1975,2058,1893,0,0,0,0,0,0,15.19,14.76,14.04
$GC,2391,0.62,226.5,2960,777,2054,1893,177.0,8.8,241,2421,0.00,2.22,21.25,1.011,13318,0.000,0.057,2960,2098,1874,1955,1794,0,0,0,0,0,0,14.76,14.71,14.00
$GC,2662,0.62,241.7,2959,2099,1955,1788,150.6,9.3,268,2680,0.00,2.47,13.38,0.973,12548,0.000,0.067,2960,3536,1812,1895,1730,0,0,0,0,0,0,15.20,14.81,14.04
$GC,3195,0.64,268.1,2958,3537,1894,1730,94.2,8.7,320,3225,0.03,2.22,22.48,0.950,13318,0.406,0.045,2961,2178,1705,1794,1617,0,0,0,0,0,0,14.33,14.59,14.09
$GC,3466,0.66,304.4,2961,2176,1793,1612,72.4,8.2,347,3505,0.00,2.40,29.52,0.933,8708,0.000,0.057,2971,787,1556,1647,1466,0,0,0,0,0,0,15.21,14.68,14.09
$GC,3658,0.68,332.9,2971,787,1642,1464,55.5,8.6,365,3687,0.00,2.35,23.45,0.900,13318,0.000,0.057,2971,2123,1440,1534,1346,0,0,0,0,0,0,14.93,14.73,14.09
$GC,3927,0.72,392.7,2971,2123,1534,1342,33.6,7.0,392,3982,0.00,2.42,46.10,0.885,10500,0.000,0.065,2971,3538,1196,1291,1101,0,0,0,0,0,0,15.21,14.59,14.08
$GC,4024,0.72,392.7,2970,3538,1291,1101,24.4,10.9,405,4032,0.00,2.35,0.00,0.000,1030,0.000,0.050,2981,2186,1196,1291,1102,0,0,0,0,0,0,14.76,14.70,14.86
$STATE,4262,end climb,SURFACE_DEPTH_REACHED
$STATE,4262,begin surface coast
$FINISH,0.2,1.010636
$STATE,4291,end surface coast,CONTROL_FINISHED_OK
$STATE,4291,begin surface
$SM_CCo,4369,0.00,0.000,0,0,1193,394.19
$SM_GC,1.42,6.45,0.15,0.00,0.045,0.087,0.000,141,2318,1193,-7.93,-0.85,394.19,0,0,0,0,0,0,14.95,14.92,14.99
$IRIDIUM_FIX,2232.34,-15807.58,171021,072647
$TT8_MAMPS,0.02247,0.341544
$HUMID,54.37
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.26,205.108
$10V_AH,12.42,0.000
$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,15.975,51.700,419.775,0.000,0.000,26.369,43.537,135.126,0.250,0.000,19.313,1160.849,1577.123,431.946,1373.634,200.298,0.000,1007.492,0.000,1163.955,0.000,0.554,0.000
$DEVICE_MAMPS,434.520,87.210,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,299.560,331.880,622.890,576.129,664.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,44139,454
$CAP_FILE_SIZE,70677,0
$CFSIZE,1023623168,939622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.242,231.61,1
$GPS,171021,084549,2241.265,-15807.082,6,0.8,40,9.8,0.6,260.1,10,6.6