version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 958
start: 10 17 121 10 14 25
data:
$ID,626
$MISSION,3
$DIVE,958
$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,96
$R_STBD_OVSHOOT,28
$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
$GPS1,171021,100735,2241.1079,-15807.5537,6,0.8,20,9.8,0.0,254.1,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.7
$GPS2,171021,101335,2241.0840,-15807.6162,6,0.9,19,9.8,0.0,133.7,9,9.7
$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,55.8,14893,-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,-116.8,124,2338,947,801,0.0,0.0,0,88,0.00,0.00,-68.70,0.000,16386,0.000,0.000,124,2338,3114,3080,3148,0,0,0,0,0,0,15.17,28.83,15.18
$GC,92,-0.55,-116.8,124,2338,3081,3149,3.9,-7.7,10,115,8.55,2.25,-2.65,0.000,18692,0.429,0.076,2555,3673,3280,3257,3303,0,0,0,0,0,0,14.04,13.23,14.36
$GC,124,-0.55,-116.8,2554,3673,3260,3302,16.8,-35.7,14,132,0.05,2.30,0.00,0.000,3078,0.295,0.044,2574,2321,3280,3262,3299,0,0,0,0,0,0,14.47,14.73,14.83
$GC,383,-0.55,-116.8,2573,2317,3267,3295,53.1,-14.7,47,394,0.00,2.30,0.00,0.000,260,0.000,0.064,2565,3677,3281,3267,3295,0,0,0,0,0,0,15.21,14.50,15.21
$GC,442,-0.55,-116.8,2565,3678,3267,3295,60.5,-11.7,52,449,0.00,2.28,0.00,0.000,3078,0.000,0.040,2565,2322,3281,3267,3295,0,0,0,0,0,0,14.83,14.76,14.85
$GC,690,-0.55,-116.8,2565,2318,3267,3295,92.4,-12.2,77,700,0.00,2.30,0.00,0.000,2308,0.000,0.068,2555,3676,3280,3267,3294,0,0,0,0,0,0,15.26,14.66,15.26
$GC,755,-0.55,-116.8,2555,3677,3267,3295,99.9,-10.7,83,765,0.03,2.20,0.00,0.000,3078,0.369,0.040,2567,2309,3280,3267,3294,0,0,0,0,0,0,14.52,14.75,14.62
$GC,1007,-0.55,-116.8,2566,2308,3267,3295,130.6,-12.1,108,1017,0.00,2.33,0.00,0.000,2308,0.000,0.069,2558,3680,3281,3268,3295,0,0,0,0,0,0,15.26,14.76,15.26
$GC,1062,-0.55,-116.8,2557,3679,3267,3295,137.0,-11.4,113,1072,0.00,2.28,0.00,0.000,3078,0.000,0.040,2558,2279,3281,3268,3294,0,0,0,0,0,0,14.80,14.76,14.82
$GC,1313,-0.55,-116.8,2557,2279,3268,3294,166.2,-11.7,138,1321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2558,2279,3281,3268,3294,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1562,-0.55,-116.8,2558,2276,3267,3294,191.4,-8.1,163,1571,0.00,2.38,0.00,0.000,2308,0.000,0.070,2547,3671,3281,3268,3294,0,0,0,0,0,0,15.27,14.64,15.28
$GC,1597,-0.55,-116.8,2548,3670,3267,3294,194.1,-8.1,166,1603,0.08,2.30,0.00,0.000,3078,0.275,0.035,2579,2243,3280,3267,3294,0,0,0,0,0,0,14.68,14.95,14.90
$STATE,1679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1679,begin apogee
$GC,1687,-0.13,0.0,2579,2076,3268,3293,200.2,-7.0,174,1790,0.30,0.10,94.75,1.071,10246,0.202,0.125,2701,2155,2799,2867,2731,0,0,0,0,0,0,14.32,14.59,13.84
$STATE,1791,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1794,0.55,116.8,2702,2157,2867,2732,206.5,0.0,185,1902,0.50,2.40,97.65,1.067,11012,0.070,0.047,2973,762,2321,2402,2240,0,0,0,0,0,0,14.66,14.27,13.77
$GC,2147,0.61,215.8,2972,761,2391,2237,201.8,5.0,219,2235,0.05,2.30,79.47,1.067,13318,0.327,0.049,2941,2108,1918,1999,1838,0,0,0,0,0,0,14.48,14.76,13.90
$GC,2475,0.64,269.9,2941,2108,1999,1831,172.2,7.3,252,2526,0.00,2.33,44.10,1.040,10756,0.000,0.058,2950,776,1699,1787,1611,0,0,0,0,0,0,15.19,14.71,13.98
$GC,2787,0.65,284.1,2950,776,1778,1609,145.5,9.4,282,2807,0.00,2.33,12.62,0.968,11270,0.000,0.059,2950,2102,1639,1732,1547,0,0,0,0,0,0,14.81,14.72,14.06
$GC,3057,0.65,284.4,2950,2102,1732,1544,117.4,10.1,309,3065,0.00,2.40,0.00,0.000,2308,0.000,0.064,2950,3541,1638,1732,1544,0,0,0,0,0,0,15.23,14.68,15.23
$GC,3144,0.65,284.4,2949,3541,1732,1543,108.7,10.3,317,3151,0.00,2.25,0.00,0.000,1030,0.000,0.050,2960,2188,1638,1732,1544,0,0,0,0,0,0,14.99,14.88,15.02
$GC,3395,0.67,321.2,2960,2186,1732,1544,85.7,8.2,342,3432,0.00,2.42,30.62,0.965,10756,0.000,0.058,2971,777,1488,1583,1393,0,0,0,0,0,0,15.24,14.81,14.09
$GC,3563,0.68,326.1,2971,776,1577,1393,70.5,9.8,358,3574,0.00,2.28,4.60,0.758,13318,0.000,0.053,2971,2130,1469,1562,1376,0,0,0,0,0,0,14.59,14.54,13.98
$GC,3814,0.69,351.4,2971,2130,1562,1375,46.9,8.8,383,3843,0.00,2.33,21.45,0.903,8708,0.000,0.060,2982,777,1365,1462,1269,0,0,0,0,0,0,15.22,14.52,14.07
$GC,3925,0.70,361.7,2981,777,1455,1269,36.4,9.6,393,3944,0.00,2.35,8.95,0.835,13318,0.000,0.057,2981,2121,1324,1419,1229,0,0,0,0,0,0,14.95,14.74,14.08
$GC,4196,0.70,361.7,2981,2121,1419,1226,12.3,10.6,436,4204,0.00,2.45,0.00,0.000,4356,0.000,0.067,2981,3539,1322,1419,1226,0,0,0,0,0,0,15.19,14.78,15.19
$GC,4242,0.70,361.7,2981,3539,1419,1226,7.5,10.3,443,4250,0.05,2.33,0.00,0.000,5126,0.307,0.047,2975,2187,1322,1419,1226,0,0,0,0,0,0,14.47,14.74,14.81
$STATE,4281,end climb,SURFACE_DEPTH_REACHED
$STATE,4284,begin surface coast
$FINISH,0.7,1.023219
$STATE,4312,end surface coast,CONTROL_FINISHED_OK
$STATE,4312,begin surface
$SM_CCo,4330,7.72,0.207,0,0,1246,380.21
$SM_GC,1.21,6.35,0.15,7.72,0.032,0.093,0.207,161,2306,1246,-7.96,-0.79,380.21,0,0,0,0,0,0,14.90,14.92,14.57
$IRIDIUM_FIX,2232.34,-15920.07,171021,100931
$TT8_MAMPS,0.023219,0.315329
$HUMID,53.97
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.23,205.497
$10V_AH,12.50,0.000
$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,15.950,51.450,394.225,7.725,0.000,32.929,52.213,135.356,0.250,0.000,20.185,1167.005,1549.021,427.869,1382.431,202.463,0.000,992.843,0.000,1154.643,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,124.695,1071.000,207.315,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,300.245,327.611,620.240,562.642,657.752,0.000,0.000,0.000,0.000,0.000
$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,44160,455
$CAP_FILE_SIZE,71978,0
$CFSIZE,1023623168,939491328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.169,295.09,1
$GPS,171021,112744,2241.206,-15807.958,6,1.0,21,9.8,0.0,202.9,8,9.8