version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 963
start: 10 17 121 17 11 17
data:
$ID,626
$MISSION,3
$DIVE,963
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,171021,170401,2241.0776,-15808.4453,7,0.8,41,9.8,0.0,237.4,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,171021,171028,2241.0408,-15808.5010,7,0.8,14,9.8,0.0,234.1,10,9.3
$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,40.7,16265,-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,17,-0.55,-116.8,124,2296,1223,1099,0.0,0.0,0,80,0.00,0.00,-61.35,0.000,16386,0.000,0.000,124,2296,3140,3102,3179,0,0,0,0,0,0,15.16,28.83,15.18
$GC,84,-0.55,-116.8,124,2296,3104,3179,3.7,-7.9,9,108,8.60,2.33,-2.22,0.000,18692,0.433,0.073,2557,3674,3281,3257,3306,0,0,0,0,0,0,14.07,13.24,14.38
$GC,142,-0.55,-116.8,2557,3674,3261,3303,21.5,-14.4,18,150,0.05,2.40,0.00,0.000,3078,0.351,0.047,2577,2261,3282,3266,3299,0,0,0,0,0,0,14.57,14.77,14.79
$GC,402,-0.55,-116.8,2576,2259,3266,3296,59.1,-14.0,49,412,0.00,2.40,0.00,0.000,260,0.000,0.069,2568,3659,3281,3267,3296,0,0,0,0,0,0,15.23,14.44,15.23
$GC,520,-0.55,-116.8,2568,3659,3267,3297,71.4,-9.7,60,528,0.00,2.38,0.00,0.000,3078,0.000,0.045,2568,2246,3281,3267,3296,0,0,0,0,0,0,14.96,14.81,14.98
$GC,768,-0.55,-116.8,2567,2246,3268,3296,98.4,-11.4,85,776,0.00,2.40,0.00,0.000,2308,0.000,0.070,2557,3653,3281,3267,3296,0,0,0,0,0,0,15.26,14.62,15.26
$GC,881,-0.55,-116.8,2557,3653,3268,3296,109.5,-9.3,96,886,0.05,2.28,0.00,0.000,3078,0.347,0.044,2577,2262,3282,3268,3296,0,0,0,0,0,0,14.66,14.91,14.88
$GC,1136,-0.55,-116.8,2577,2258,3268,3296,131.3,-8.8,121,1144,0.00,2.30,0.00,0.000,516,0.000,0.054,2577,865,3282,3270,3295,0,0,0,0,0,0,15.26,14.68,15.26
$GC,1232,-0.55,-116.8,2577,865,3271,3295,139.4,-8.4,130,1240,0.00,2.40,0.00,0.000,3078,0.000,0.058,2568,2254,3283,3272,3294,0,0,0,0,0,0,14.96,14.78,14.98
$GC,1482,-0.55,-116.8,2569,2254,3272,3294,160.7,-8.1,155,1490,0.00,2.33,0.00,0.000,2564,0.000,0.053,2568,865,3283,3272,3294,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1519,-0.55,-116.8,2568,865,3272,3295,163.7,-8.4,158,1525,0.00,2.38,0.00,0.000,3078,0.000,0.058,2558,2265,3282,3272,3293,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1768,-0.55,-116.8,2558,2266,3271,3293,187.4,-9.6,183,1778,0.00,2.38,0.00,0.000,2564,0.000,0.054,2558,860,3282,3272,3293,0,0,0,0,0,0,15.26,14.47,15.26
$GC,1822,-0.55,-116.8,2558,860,3272,3293,192.8,-9.7,188,1828,0.08,2.38,0.00,0.000,3078,0.320,0.057,2576,2266,3282,3271,3293,0,0,0,0,0,0,14.59,14.85,14.85
$STATE,1914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1914,begin apogee
$GC,1922,-0.13,0.0,2574,2081,3271,3289,200.7,-8.2,197,2027,0.32,0.10,95.30,1.081,10246,0.205,0.126,2706,2158,2798,2864,2733,0,0,0,0,0,0,14.44,14.58,13.82
$STATE,2029,end apogee,CONTROL_FINISHED_OK
$STATE,2029,begin climb
$GC,2032,0.55,116.8,2706,2158,2864,2732,206.9,0.0,208,2137,0.52,2.38,97.50,1.076,10500,0.113,0.067,2943,3515,2321,2402,2241,0,0,0,0,0,0,14.58,14.56,13.82
$GC,2521,0.56,142.0,2943,3515,2402,2241,177.1,8.8,256,2550,0.05,2.20,21.67,1.030,13318,0.341,0.044,2937,2163,2219,2306,2133,0,0,0,0,0,0,14.40,14.73,14.04
$GC,2790,0.58,173.5,2936,2163,2305,2127,155.3,8.5,283,2823,0.00,2.33,26.23,1.025,8452,0.000,0.067,2937,3503,2091,2180,2002,0,0,0,0,0,0,15.21,14.78,14.04
$GC,2862,0.59,180.3,2936,3503,2180,2002,148.8,9.7,290,2875,0.00,2.25,7.15,0.894,13318,0.000,0.046,2946,2139,2063,2152,1975,0,0,0,0,0,0,14.62,14.58,13.97
$GC,3124,0.59,182.9,2946,2139,2152,1970,123.4,10.0,316,3133,0.00,2.40,0.00,0.000,4612,0.000,0.061,2957,720,2058,2150,1967,0,0,0,0,0,0,15.23,14.50,15.23
$GC,3140,0.59,187.2,2957,720,2148,1969,122.4,9.9,317,3158,0.05,2.33,6.55,0.885,13318,0.365,0.056,2938,2101,2034,2123,1946,0,0,0,0,0,0,14.62,14.85,14.00
$GC,3400,0.62,239.5,2938,2102,2124,1944,99.7,7.4,343,3448,0.00,2.50,41.97,0.982,10500,0.000,0.072,2938,3532,1821,1905,1737,0,0,0,0,0,0,15.23,14.76,14.04
$GC,3545,0.63,258.9,2938,3532,1905,1737,86.8,9.1,357,3573,0.00,2.38,16.92,0.935,11270,0.000,0.050,2948,2118,1742,1829,1655,0,0,0,0,0,0,14.94,14.81,14.01
$GC,3815,0.65,275.6,2947,2118,1829,1650,62.7,9.2,384,3835,0.00,2.42,13.77,0.903,10756,0.000,0.062,2959,713,1675,1767,1584,0,0,0,0,0,0,15.21,14.81,14.09
$GC,3935,0.65,287.8,2958,712,1761,1584,51.1,9.5,395,3955,0.00,2.38,10.70,0.863,9222,0.000,0.054,2959,2119,1626,1721,1532,0,0,0,0,0,0,14.57,14.51,14.02
$GC,4195,0.67,315.0,2958,2119,1720,1529,28.7,8.7,422,4218,0.00,2.47,13.60,0.858,10500,0.000,0.076,2959,3534,1514,1607,1421,0,0,0,0,0,0,15.21,14.72,14.12
$GC,4278,0.70,369.0,2958,3534,1607,1421,22.9,7.3,435,4313,0.00,2.42,24.38,0.838,11270,0.000,0.051,2970,2120,1291,1383,1200,0,0,0,0,0,0,14.95,14.81,14.04
$STATE,4502,end climb,SURFACE_DEPTH_REACHED
$STATE,4502,begin surface coast
$FINISH,0.3,1.010635
$STATE,4531,end surface coast,CONTROL_FINISHED_OK
$STATE,4531,begin surface
$SM_CCo,4550,3.92,0.219,0,0,1249,380.21
$SM_GC,1.81,6.45,0.28,3.92,0.045,0.067,0.219,152,2301,1249,-7.96,-0.68,380.21,0,0,0,0,0,0,14.90,14.90,14.56
$IRIDIUM_FIX,2230.01,-15810.61,171021,170543
$TT8_MAMPS,0.02247,0.345289
$HUMID,53.93
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,13.24,206.450
$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,16.175,57.375,375.750,3.925,0.000,24.922,53.093,163.763,0.250,0.000,15.352,1243.107,1657.923,408.466,1450.112,212.511,0.000,984.684,0.000,1201.167,0.000,0.554,0.000
$DEVICE_MAMPS,432.990,126.225,1080.945,218.790,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.575,367.850,654.038,601.773,689.763,0.000,0.000,0.000,0.000,0.000
$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,44033,480
$CAP_FILE_SIZE,76320,0
$CFSIZE,1023623168,939163648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.202,220.63,1
$GPS,171021,182810,2240.854,-15808.714,7,1.0,19,9.8,0.5,258.8,8,9.9