version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 957
start: 10 17 121 8 52 19
data:
$ID,626
$MISSION,3
$DIVE,957
$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,98
$R_STBD_OVSHOOT,27
$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
$GPS1,171021,084549,2241.2646,-15807.0820,6,0.8,40,9.8,0.6,260.1,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.8
$GPS2,171021,085129,2241.2178,-15807.1406,6,0.8,14,9.8,0.0,250.0,10,9.6
$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,41.2,14063,-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,-116.8,111,2325,1255,1123,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,16386,0.000,0.000,111,2327,3174,3136,3213,0,0,0,0,0,0,15.16,28.83,15.18
$GC,84,-0.55,-116.8,111,2327,3136,3213,3.7,-7.0,9,100,8.60,2.28,-1.62,0.000,18692,0.431,0.066,2556,3694,3279,3249,3309,0,0,0,0,0,0,14.07,13.25,14.39
$GC,136,-0.55,-116.8,2556,3694,3261,3300,21.3,-16.7,17,144,0.03,2.30,0.00,0.000,3078,0.385,0.037,2567,2320,3279,3262,3297,0,0,0,0,0,0,14.52,14.73,14.62
$GC,397,-0.55,-116.8,2566,2316,3266,3295,62.9,-16.4,47,398,0.00,0.00,0.00,0.000,2054,0.000,0.000,2567,2316,3280,3266,3295,0,0,0,0,0,0,15.23,15.23,15.23
$GC,638,-0.55,-116.8,2567,2314,3267,3295,95.9,-11.7,71,642,0.00,2.33,0.00,0.000,2308,0.000,0.069,2558,3673,3280,3267,3293,0,0,0,0,0,0,15.26,14.82,15.26
$GC,692,-0.55,-116.8,2558,3673,3267,3295,101.8,-10.3,76,701,0.00,2.17,0.00,0.000,3078,0.000,0.039,2558,2325,3281,3267,3295,0,0,0,0,0,0,14.74,14.75,14.73
$GC,943,-0.55,-116.8,2558,2324,3267,3295,129.5,-10.4,101,948,0.00,2.33,0.00,0.000,2308,0.000,0.069,2549,3678,3281,3267,3295,0,0,0,0,0,0,15.26,14.83,15.27
$GC,971,-0.55,-116.8,2548,3678,3266,3295,132.0,-10.7,103,978,0.08,2.20,0.00,0.000,3078,0.298,0.035,2578,2304,3281,3267,3295,0,0,0,0,0,0,14.64,14.93,14.87
$GC,1217,-0.55,-116.8,2577,2302,3267,3294,158.4,-11.3,128,1225,0.00,2.35,0.00,0.000,516,0.000,0.054,2578,879,3281,3268,3294,0,0,0,0,0,0,15.26,14.68,15.27
$GC,1263,-0.55,-116.8,2577,879,3267,3294,163.4,-11.6,132,1271,0.00,2.40,0.00,0.000,3078,0.000,0.057,2569,2274,3279,3268,3291,0,0,0,0,0,0,14.97,14.81,14.99
$GC,1514,-0.55,-116.8,2568,2274,3268,3291,189.9,-8.2,157,1518,0.00,2.38,0.00,0.000,2308,0.000,0.070,2558,3676,3279,3268,3291,0,0,0,0,0,0,15.26,14.85,15.26
$GC,1641,-0.55,-116.8,2557,3676,3268,3292,197.6,-4.8,169,1645,0.00,2.28,0.00,0.000,3078,0.000,0.035,2558,2265,3279,3268,3291,0,0,0,0,0,0,15.04,14.95,15.06
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1698,-0.13,0.0,2558,2076,3269,3290,200.1,-4.5,174,1797,0.38,0.10,94.90,1.069,10246,0.185,0.123,2709,2159,2798,2865,2732,0,0,0,0,0,0,14.31,14.58,13.84
$STATE,1798,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1802,0.55,116.8,2709,2159,2865,2732,205.2,0.0,184,1906,0.47,2.28,97.47,1.071,10500,0.076,0.062,2955,3509,2322,2406,2238,0,0,0,0,0,0,14.65,14.55,13.81
$GC,2053,0.60,204.0,2955,3509,2406,2239,203.1,5.6,209,2134,0.08,2.17,70.85,1.066,13318,0.379,0.037,2942,2176,1965,2042,1888,0,0,0,0,0,0,14.48,14.85,13.89
$GC,2375,0.62,239.1,2941,2176,2041,1882,179.6,8.3,241,2412,0.00,2.40,28.62,1.038,10756,0.000,0.053,2951,773,1824,1904,1744,0,0,0,0,0,0,15.18,14.72,14.02
$GC,2730,0.66,292.8,2951,773,1894,1743,150.8,7.3,276,2780,0.00,2.22,44.28,1.028,11270,0.000,0.057,2951,2092,1604,1694,1514,0,0,0,0,0,0,14.64,14.58,14.01
$GC,3022,0.66,300.6,2951,2092,1694,1509,125.0,9.7,305,3035,0.00,2.42,7.45,0.903,10500,0.000,0.065,2951,3545,1572,1666,1479,0,0,0,0,0,0,15.19,14.81,14.02
$GC,3260,0.66,300.6,2951,3545,1666,1479,98.9,10.5,328,3267,0.00,2.33,0.00,0.000,1030,0.000,0.050,2961,2197,1573,1666,1480,0,0,0,0,0,0,14.83,14.76,14.95
$GC,3510,0.71,385.2,2961,2197,1666,1480,79.0,5.7,353,3587,0.00,2.45,67.30,0.949,10756,0.000,0.063,2973,770,1227,1323,1132,0,0,0,0,0,0,15.23,14.69,14.02
$GC,3663,0.75,449.0,2972,770,1317,1131,69.5,6.8,368,3722,0.00,2.30,49.90,0.922,11270,0.000,0.053,2973,2130,966,1071,862,0,0,0,0,0,0,14.57,14.50,13.95
$GC,3963,0.76,459.1,2972,2130,1072,858,42.7,9.6,398,3976,0.00,2.35,8.77,0.835,10500,0.000,0.060,2972,3538,926,1036,816,0,0,0,0,0,0,15.18,14.56,14.06
$GC,3998,0.76,470.3,2972,3538,1036,816,39.5,9.5,401,4015,0.00,2.30,10.00,0.825,11270,0.000,0.046,2980,2192,880,991,770,0,0,0,0,0,0,14.83,14.76,14.09
$GC,4268,0.76,470.3,2980,2192,990,768,12.7,11.2,443,4276,0.00,2.38,0.00,0.000,2308,0.000,0.065,2980,3532,879,990,768,0,0,0,0,0,0,15.17,14.71,15.18
$GC,4295,0.76,470.3,2979,3531,991,768,9.4,12.0,447,4303,0.00,2.33,0.00,0.000,3078,0.000,0.050,2989,2188,879,990,768,0,0,0,0,0,0,14.81,14.75,14.84
$STATE,4354,end climb,SURFACE_DEPTH_REACHED
$STATE,4354,begin surface coast
$FINISH,0.2,1.023237
$STATE,4381,end surface coast,CONTROL_FINISHED_OK
$STATE,4381,begin surface
$SM_CCo,4460,0.00,0.000,0,0,878,471.46
$SM_GC,1.16,6.53,0.15,0.00,0.060,0.081,0.000,177,2333,878,-7.91,-0.62,471.46,0,0,0,0,0,0,14.90,14.96,14.97
$IRIDIUM_FIX,2232.34,-15807.58,171021,084729
$TT8_MAMPS,0.02247,0.343042
$HUMID,54.09
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.25,205.314
$10V_AH,12.61,0.000
$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,16.150,51.350,479.550,0.000,0.000,26.162,46.310,134.322,0.250,0.000,15.343,1182.446,1600.054,437.692,1406.225,201.236,0.000,1031.451,0.000,1181.241,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,123.165,1071.000,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.954,376.110,624.238,558.632,653.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,44195,462
$CAP_FILE_SIZE,71770,0
$CFSIZE,1023623168,939556864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,6
$CURRENT,0.208,246.08,1
$GPS,171021,100735,2241.108,-15807.554,6,0.8,20,9.8,0.0,254.1,9,9.7