version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 959
start: 10 17 121 11 34 26
data:
$ID,626
$MISSION,3
$DIVE,959
$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,94
$R_STBD_OVSHOOT,65
$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
$GPS1,171021,112744,2241.2061,-15807.9580,6,1.0,21,9.8,0.0,202.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.7
$GPS2,171021,113336,2241.2007,-15808.0098,6,1.0,21,9.8,0.5,305.1,8,9.3
$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,89.0,15384,-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,-116.8,123,2315,1295,1191,0.0,0.0,0,73,0.00,0.00,-54.47,0.000,16386,0.000,0.000,123,2315,2983,2957,3010,0,0,0,0,0,0,15.17,28.83,15.18
$GC,77,-0.55,-116.8,123,2314,2958,3010,3.4,-6.8,8,100,8.55,2.28,-4.90,0.000,18692,0.430,0.076,2554,3652,3276,3254,3298,0,0,0,0,0,0,14.07,13.81,14.36
$GC,114,-0.55,-116.8,2554,3653,3257,3296,16.4,-34.2,13,123,0.05,2.28,0.00,0.000,3078,0.288,0.045,2573,2318,3277,3261,3293,0,0,0,0,0,0,14.39,14.69,14.54
$GC,376,-0.55,-116.8,2573,2314,3263,3290,59.3,-12.9,45,386,0.00,2.20,0.00,0.000,260,0.000,0.064,2566,3636,3276,3263,3290,0,0,0,0,0,0,15.21,14.50,15.23
$GC,464,-0.55,-116.8,2564,3636,3263,3290,69.3,-10.4,53,474,0.00,2.15,0.00,0.000,3078,0.000,0.042,2565,2313,3276,3263,3290,0,0,0,0,0,0,14.65,14.59,14.66
$GC,716,-0.55,-116.8,2563,2313,3263,3290,99.8,-12.7,78,725,0.00,2.45,0.00,0.000,2564,0.000,0.054,2565,855,3277,3266,3289,0,0,0,0,0,0,15.24,14.59,15.25
$GC,782,-0.55,-116.8,2564,854,3266,3290,107.6,-11.6,84,790,0.05,2.38,0.00,0.000,3078,0.372,0.057,2573,2237,3277,3267,3288,0,0,0,0,0,0,14.58,14.78,14.83
$GC,1034,-0.55,-116.8,2573,2239,3267,3288,136.1,-10.7,109,1044,0.00,2.38,0.00,0.000,260,0.000,0.067,2563,3669,3278,3267,3289,0,0,0,0,0,0,15.26,14.64,15.26
$GC,1050,-0.55,-116.8,2563,3669,3267,3288,137.5,-10.2,110,1058,0.00,2.38,0.00,0.000,3078,0.000,0.042,2563,2263,3277,3267,3288,0,0,0,0,0,0,14.77,14.71,14.79
$GC,1300,-0.55,-116.8,2563,2261,3267,3288,161.5,-9.1,135,1311,0.00,2.42,0.00,0.000,2308,0.000,0.068,2553,3676,3278,3267,3289,0,0,0,0,0,0,15.26,14.54,15.26
$GC,1326,-0.55,-116.8,2552,3676,3267,3288,163.9,-9.1,137,1337,0.05,2.28,0.00,0.000,3078,0.262,0.036,2575,2257,3278,3268,3288,0,0,0,0,0,0,14.45,14.76,14.59
$GC,1576,-0.55,-116.8,2575,2257,3267,3288,186.0,-8.2,162,1585,0.00,2.38,0.00,0.000,260,0.000,0.067,2565,3675,3277,3267,3288,0,0,0,0,0,0,15.28,14.46,15.28
$GC,1591,-0.55,-116.8,2565,3675,3267,3288,186.7,-8.1,163,1599,0.00,2.28,0.00,0.000,3078,0.000,0.034,2565,2258,3277,3267,3288,0,0,0,0,0,0,15.04,14.95,15.06
$STATE,1746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1746,begin apogee
$GC,1753,-0.13,0.0,2565,2086,3268,3288,200.3,-8.0,179,1852,0.32,0.10,94.25,1.078,10246,0.167,0.131,2704,2157,2799,2866,2732,0,0,0,0,0,0,14.54,14.58,13.81
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1856,0.55,116.8,2705,2158,2865,2733,208.0,0.0,189,1961,0.50,2.38,97.75,1.073,10756,0.075,0.050,2964,764,2320,2402,2239,0,0,0,0,0,0,14.64,14.55,13.81
$GC,2350,0.61,223.4,2964,764,2390,2235,201.0,4.6,238,2443,0.05,2.22,85.15,1.076,13318,0.324,0.047,2947,2115,1888,1966,1811,0,0,0,0,0,0,14.42,14.73,13.89
$GC,2692,0.64,261.6,2946,2115,1965,1805,172.0,8.1,272,2731,0.00,2.38,31.77,1.030,10500,0.000,0.062,2946,3525,1731,1816,1646,0,0,0,0,0,0,15.19,14.50,13.98
$GC,3247,0.65,279.6,2946,3525,1816,1646,110.4,9.2,325,3268,0.00,2.22,15.68,0.944,9222,0.000,0.045,2956,2171,1660,1750,1571,0,0,0,0,0,0,14.81,14.76,14.07
$GC,3517,0.71,377.5,2956,2170,1750,1567,92.2,5.0,352,3608,0.00,2.55,77.93,0.957,10756,0.000,0.060,2968,715,1257,1349,1166,0,0,0,0,0,0,15.24,14.67,13.97
$GC,3728,0.73,406.0,2967,714,1344,1164,75.7,8.6,372,3759,0.00,2.35,23.10,0.918,11270,0.000,0.052,2968,2111,1142,1242,1043,0,0,0,0,0,0,14.55,14.49,14.04
$GC,3999,0.75,446.0,2967,2111,1241,1040,53.8,8.0,399,4039,0.00,2.42,31.62,0.902,10756,0.000,0.060,2978,714,978,1082,874,0,0,0,0,0,0,15.19,14.50,14.04
$GC,4133,0.75,447.1,2978,714,1075,877,42.6,10.0,411,4141,0.00,2.42,0.00,0.000,3078,0.000,0.053,2978,2131,975,1075,875,0,0,0,0,0,0,14.92,14.79,14.94
$GC,4388,0.78,487.0,2977,2133,1076,874,23.1,8.0,444,4412,0.00,2.47,17.77,0.825,10756,0.000,0.061,2988,717,811,925,698,0,0,0,0,0,0,15.19,14.82,14.15
$GC,4470,0.83,573.0,2988,717,918,699,17.8,5.7,457,4498,0.00,2.42,22.05,0.263,11270,0.000,0.051,2988,2130,597,710,485,0,0,0,0,0,0,14.93,14.80,14.50
$STATE,4622,end climb,SURFACE_DEPTH_REACHED
$STATE,4622,begin surface coast
$FINISH,0.4,1.023360
$STATE,4649,end surface coast,CONTROL_FINISHED_OK
$STATE,4649,begin surface
$SM_CCo,4728,0.00,0.000,0,0,595,540.88
$SM_GC,1.17,6.53,0.20,0.00,0.051,0.066,0.000,131,2329,595,-7.96,-0.90,540.88,0,0,0,0,0,0,14.95,14.95,14.98
$IRIDIUM_FIX,2230.01,-15808.45,171021,112927
$TT8_MAMPS,0.023219,0.294357
$HUMID,53.74
$INTERNAL_PRESSURE,9.22849
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,13.81,205.707
$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,16.100,52.150,497.075,0.000,0.000,30.223,43.897,136.437,0.750,0.000,22.819,1241.272,1696.262,470.234,1490.094,208.999,0.000,1103.919,0.000,1276.046,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,130.815,1077.885,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,321.672,354.133,668.672,603.622,704.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,47382,488
$CAP_FILE_SIZE,75084,0
$CFSIZE,1023623168,939425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.141,302.06,1
$GPS,171021,125435,2241.288,-15808.215,41,0.9,45,9.8,0.5,26.1,9,9.4