version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 960
start: 10 17 121 13 1 23
data:
$ID,626
$MISSION,3
$DIVE,960
$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,68
$R_STBD_OVSHOOT,32
$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
$GPS1,171021,125435,2241.2878,-15808.2148,41,0.9,45,9.8,0.5,26.1,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.6
$GPS2,171021,130031,2241.2874,-15808.2588,6,0.9,14,9.8,1.2,290.9,9,9.4
$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,85.9,15692,-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,-116.8,123,2226,666,512,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,16386,0.000,0.000,122,2225,3162,3125,3200,0,0,0,0,0,0,15.17,28.83,15.18
$GC,102,-0.55,-116.8,122,2226,3125,3200,3.5,-6.6,11,118,8.62,2.47,-1.88,0.000,18692,0.434,0.070,2556,3690,3279,3250,3309,0,0,0,0,0,0,14.04,13.25,14.35
$GC,142,-0.55,-116.8,2556,3690,3257,3303,19.1,-33.4,17,151,0.05,2.38,0.00,0.000,3078,0.350,0.046,2575,2301,3280,3262,3298,0,0,0,0,0,0,14.57,14.75,14.81
$GC,401,-0.55,-116.8,2574,2297,3265,3295,54.8,-15.5,49,405,0.00,2.40,0.00,0.000,516,0.000,0.054,2575,853,3280,3266,3295,0,0,0,0,0,0,15.21,14.84,15.21
$GC,435,-0.55,-116.8,2575,853,3266,3295,59.8,-14.2,52,444,0.00,2.38,0.00,0.000,3078,0.000,0.060,2567,2259,3280,3267,3294,0,0,0,0,0,0,14.53,14.47,14.57
$GC,687,-0.55,-116.8,2566,2260,3267,3294,92.3,-11.9,77,691,0.00,2.38,0.00,0.000,2564,0.000,0.053,2566,846,3280,3267,3294,0,0,0,0,0,0,15.24,14.86,15.24
$GC,760,-0.55,-116.8,2566,846,3267,3294,100.8,-10.3,84,771,0.03,2.38,0.00,0.000,3078,0.396,0.053,2566,2274,3280,3267,3293,0,0,0,0,0,0,14.31,14.55,14.42
$GC,1015,-0.55,-116.8,2566,2273,3267,3293,129.6,-11.6,109,1020,0.00,2.38,0.00,0.000,2564,0.000,0.051,2566,856,3280,3268,3293,0,0,0,0,0,0,15.26,14.87,15.26
$GC,1069,-0.55,-116.8,2566,855,3268,3293,136.3,-11.7,114,1079,0.03,2.33,0.00,0.000,3078,0.399,0.050,2566,2261,3280,3268,3292,0,0,0,0,0,0,14.28,14.50,14.38
$GC,1320,-0.55,-116.8,2566,2261,3267,3292,161.4,-8.8,139,1324,0.00,2.40,0.00,0.000,2308,0.000,0.072,2557,3678,3280,3268,3292,0,0,0,0,0,0,15.26,14.84,15.27
$GC,1388,-0.55,-116.8,2557,3678,3269,3292,166.5,-7.6,145,1395,0.05,2.30,0.00,0.000,3078,0.301,0.034,2584,2237,3279,3268,3291,0,0,0,0,0,0,14.72,14.94,14.91
$GC,1634,-0.55,-116.8,2583,2237,3268,3290,182.5,-6.8,170,1643,0.00,2.45,0.00,0.000,4356,0.000,0.072,2574,3669,3279,3268,3290,0,0,0,0,0,0,15.27,14.62,15.27
$GC,1809,-0.55,-116.8,2574,3669,3268,3290,194.1,-7.8,187,1813,0.00,2.28,0.00,0.000,1030,0.000,0.034,2574,2266,3278,3267,3290,0,0,0,0,0,0,15.02,14.95,15.04
$STATE,1889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1889,begin apogee
$GC,1897,-0.13,0.0,2574,2087,3268,3290,200.2,-7.3,195,1996,0.30,0.08,94.70,1.082,10246,0.164,0.148,2703,2146,2799,2864,2734,0,0,0,0,0,0,14.40,14.57,13.83
$STATE,1997,end apogee,CONTROL_FINISHED_OK
$STATE,1997,begin climb
$GC,2000,0.55,116.8,2703,2146,2863,2734,206.6,0.0,205,2105,0.50,2.35,97.93,1.067,10756,0.122,0.048,2934,763,2321,2405,2238,0,0,0,0,0,0,14.56,14.33,13.81
$GC,2335,0.64,263.9,2934,763,2394,2234,206.5,2.5,238,2463,0.00,2.25,117.57,1.076,11270,0.000,0.049,2934,2112,1722,1808,1637,0,0,0,0,0,0,14.96,14.84,13.82
$GC,2706,0.64,263.9,2933,2112,1808,1631,172.3,10.9,275,2715,0.00,2.38,0.00,0.000,2308,0.000,0.064,2934,3532,1719,1808,1631,0,0,0,0,0,0,15.18,14.66,15.18
$GC,3127,0.64,274.6,2933,3532,1808,1631,125.2,9.5,316,3146,0.00,2.25,9.77,0.941,11270,0.000,0.051,2944,2179,1678,1771,1586,0,0,0,0,0,0,15.02,14.88,14.04
$GC,3389,0.68,330.1,2944,2177,1771,1584,106.5,7.2,342,3440,0.00,2.38,45.00,0.981,10756,0.000,0.064,2955,774,1452,1546,1359,0,0,0,0,0,0,15.24,14.76,14.05
$GC,3519,0.68,338.3,2955,774,1541,1357,94.8,9.7,354,3537,0.00,2.35,7.62,0.864,11270,0.000,0.057,2955,2116,1418,1515,1322,0,0,0,0,0,0,14.91,14.71,13.97
$GC,3779,0.69,351.4,2955,2116,1515,1319,71.6,9.4,380,3796,0.00,0.00,11.43,0.890,10246,0.000,0.000,2955,2116,1366,1466,1267,0,0,0,0,0,0,15.21,14.56,14.04
$GC,4040,0.71,378.9,2955,2116,1466,1264,48.2,8.7,406,4070,0.00,2.33,22.33,0.897,10756,0.000,0.060,2965,770,1254,1352,1156,0,0,0,0,0,0,15.21,14.54,14.07
$GC,4119,0.72,395.2,2965,770,1348,1156,41.0,9.3,413,4138,0.00,2.38,14.20,0.874,11270,0.000,0.058,2966,2144,1188,1289,1087,0,0,0,0,0,0,14.93,14.78,14.07
$GC,4385,0.73,421.2,2965,2145,1287,1084,23.0,8.8,447,4407,0.00,2.38,11.60,0.813,10756,0.000,0.060,2975,774,1079,1177,981,0,0,0,0,0,0,15.19,14.67,14.12
$GC,4464,0.75,449.1,2975,774,1173,982,15.4,8.7,460,4487,0.00,2.38,11.65,0.261,11270,0.000,0.054,2975,2127,967,1064,870,0,0,0,0,0,0,14.94,14.74,14.31
$STATE,4585,end climb,SURFACE_DEPTH_REACHED
$STATE,4585,begin surface coast
$FINISH,0.2,1.011256
$STATE,4612,end surface coast,CONTROL_FINISHED_OK
$STATE,4612,begin surface
$SM_CCo,4691,0.00,0.000,0,0,964,450.36
$SM_GC,1.13,6.43,0.22,0.00,0.046,0.063,0.000,151,2354,964,-7.91,-0.65,450.36,0,0,0,0,0,0,14.95,14.96,14.99
$IRIDIUM_FIX,2232.34,-15808.45,171021,125618
$TT8_MAMPS,0.02247,0.342293
$HUMID,53.54
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.25,205.905
$10V_AH,12.33,0.000
$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,16.000,52.475,443.800,0.000,0.000,26.269,45.547,136.350,0.500,0.000,17.015,1250.737,1711.925,441.882,1460.999,209.260,0.000,1050.406,0.000,1237.097,0.000,0.555,0.000
$DEVICE_MAMPS,433.755,147.645,1082.475,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,321.184,351.403,658.763,595.262,685.797,0.000,0.000,0.000,0.000,0.000
$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,44029,486
$CAP_FILE_SIZE,74725,0
$CFSIZE,1023623168,939360256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.091,283.61,1
$GPS,171021,142057,2241.357,-15808.261,7,1.1,47,9.8,0.4,175.5,7,5.8