version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 964
start: 10 17 121 18 35 12
data:
$ID,626
$MISSION,3
$DIVE,964
$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,66
$R_STBD_OVSHOOT,56
$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
$GPS1,171021,182810,2240.8545,-15808.7139,7,1.0,19,9.8,0.5,258.8,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.9
$GPS2,171021,183422,2240.7920,-15808.7979,6,1.0,16,9.8,1.2,223.8,8,9.4
$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,33.4,16927,-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,-116.8,123,2218,1295,1191,0.0,0.0,0,73,0.00,0.00,-53.75,0.000,16386,0.000,0.000,123,2216,2935,2910,2960,0,0,0,0,0,0,15.16,28.83,15.17
$GC,77,-0.55,-116.8,122,2216,2913,2958,3.2,-6.8,8,100,8.52,2.50,-6.03,0.000,18692,0.426,0.082,2553,3655,3280,3262,3298,0,0,0,0,0,0,14.04,13.83,14.35
$GC,167,-0.55,-116.8,2553,3655,3262,3298,24.2,-15.9,23,175,0.05,2.33,0.00,0.000,3078,0.301,0.041,2587,2289,3281,3266,3296,0,0,0,0,0,0,14.48,14.73,14.76
$GC,420,-0.55,-116.8,2586,2286,3267,3294,59.1,-13.2,51,429,0.00,2.33,0.00,0.000,4356,0.000,0.070,2579,3645,3281,3268,3294,0,0,0,0,0,0,15.23,14.45,15.23
$GC,526,-0.55,-116.8,2578,3645,3268,3294,70.3,-9.7,61,536,0.00,2.25,0.00,0.000,1030,0.000,0.041,2578,2269,3281,3268,3294,0,0,0,0,0,0,14.59,14.57,14.64
$GC,778,-0.55,-116.8,2578,2269,3268,3294,94.6,-10.0,86,782,0.00,2.38,0.00,0.000,260,0.000,0.071,2568,3648,3281,3268,3294,0,0,0,0,0,0,15.23,14.82,15.25
$GC,881,-0.55,-116.8,2568,3648,3268,3293,105.4,-10.5,96,886,0.00,2.28,0.00,0.000,3078,0.000,0.043,2568,2261,3281,3268,3295,0,0,0,0,0,0,15.02,14.90,15.04
$GC,1139,-0.55,-116.8,2568,2261,3269,3295,135.5,-11.0,121,1147,0.00,2.33,0.00,0.000,2564,0.000,0.057,2568,863,3281,3270,3293,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1244,-0.55,-116.8,2568,863,3271,3293,146.8,-9.7,131,1253,0.00,2.30,0.00,0.000,3078,0.000,0.057,2558,2228,3280,3271,3290,0,0,0,0,0,0,14.73,14.68,14.76
$GC,1497,-0.55,-116.8,2558,2229,3272,3290,172.3,-10.6,156,1502,0.00,2.33,0.00,0.000,2564,0.000,0.054,2558,853,3281,3271,3291,0,0,0,0,0,0,15.26,14.87,15.26
$GC,1565,-0.55,-116.8,2558,852,3272,3291,179.1,-9.3,162,1575,0.05,2.50,0.00,0.000,3078,0.299,0.058,2568,2272,3281,3272,3291,0,0,0,0,0,0,14.38,14.64,14.54
$GC,1814,-0.55,-116.8,2567,2272,3272,3290,197.3,-6.8,187,1823,0.00,2.38,0.00,0.000,2564,0.000,0.054,2568,862,3281,3272,3290,0,0,0,0,0,0,15.27,14.65,15.27
$GC,1837,-0.55,-116.8,2568,862,3272,3290,199.0,-7.3,189,1847,0.00,2.38,0.00,0.000,3078,0.000,0.058,2558,2265,3280,3271,3290,0,0,0,0,0,0,14.52,14.46,14.55
$STATE,1854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1854,begin apogee
$GC,1862,-0.13,0.0,2558,2082,3271,3290,200.5,-7.5,191,1967,0.38,0.10,94.85,1.082,10246,0.213,0.128,2705,2158,2798,2865,2732,0,0,0,0,0,0,14.41,14.57,13.82
$STATE,1968,end apogee,CONTROL_FINISHED_OK
$STATE,1968,begin climb
$GC,1971,0.55,116.8,2705,2158,2865,2732,204.3,0.0,202,2077,0.50,2.45,97.68,1.066,10756,0.095,0.050,2950,757,2320,2402,2239,0,0,0,0,0,0,14.62,14.55,13.83
$GC,2411,0.58,166.9,2951,756,2389,2236,178.5,7.5,245,2460,0.05,2.28,40.88,1.048,13318,0.388,0.051,2935,2108,2118,2205,2031,0,0,0,0,0,0,14.58,14.85,14.00
$GC,2701,0.58,176.3,2934,2108,2204,2025,151.7,9.6,274,2719,0.00,2.40,8.60,0.942,8452,0.000,0.069,2934,3527,2079,2168,1991,0,0,0,0,0,0,15.19,14.56,14.01
$GC,2764,0.58,176.3,2934,3528,2168,1991,144.5,11.7,280,2773,0.00,2.25,0.00,0.000,5126,0.000,0.049,2943,2173,2079,2168,1991,0,0,0,0,0,0,14.64,14.59,14.66
$GC,3018,0.61,210.8,2943,2173,2168,1990,121.2,8.3,305,3054,0.00,2.50,28.60,0.998,8708,0.000,0.060,2955,713,1938,2021,1856,0,0,0,0,0,0,15.23,14.50,14.00
$GC,3079,0.62,239.8,2954,713,2014,1857,115.7,8.6,311,3109,0.00,2.38,24.10,0.972,13318,0.000,0.057,2955,2113,1821,1904,1739,0,0,0,0,0,0,14.72,14.66,14.00
$GC,3349,0.64,272.2,2955,2112,1904,1734,93.0,8.4,338,3381,0.00,2.42,26.75,0.956,8452,0.000,0.073,2955,3537,1689,1778,1600,0,0,0,0,0,0,15.19,14.78,14.04
$GC,3447,0.64,272.2,2955,3538,1778,1600,83.3,10.7,347,3452,0.00,2.40,0.00,0.000,5126,0.000,0.053,2964,2117,1689,1778,1600,0,0,0,0,0,0,14.94,14.81,14.95
$GC,3703,0.68,324.0,2965,2116,1778,1598,62.8,7.4,372,3751,0.00,2.50,41.25,0.923,8964,0.000,0.068,2965,3537,1477,1568,1386,0,0,0,0,0,0,15.20,14.76,14.07
$GC,3850,0.68,339.7,2965,3536,1568,1386,50.6,9.3,386,3870,0.00,2.42,13.88,0.873,13318,0.000,0.054,2976,2126,1412,1506,1319,0,0,0,0,0,0,14.91,14.76,14.04
$GC,4120,0.68,339.7,2976,2126,1506,1315,20.6,11.5,419,4128,0.00,2.47,0.00,0.000,4612,0.000,0.065,2986,709,1410,1506,1314,0,0,0,0,0,0,15.18,14.77,15.18
$GC,4185,0.68,339.7,2987,709,1502,1314,13.1,11.4,430,4193,0.05,2.47,0.00,0.000,5126,0.368,0.057,2970,2132,1407,1502,1313,0,0,0,0,0,0,14.57,14.79,14.83
$STATE,4296,end climb,SURFACE_DEPTH_REACHED
$STATE,4296,begin surface coast
$FINISH,0.2,1.022859
$STATE,4328,end surface coast,CONTROL_FINISHED_OK
$STATE,4328,begin surface
$SM_CCo,4347,16.50,0.189,0,0,1249,380.21
$SM_GC,0.95,6.50,0.22,16.50,0.063,0.092,0.189,185,2278,1249,-7.90,-0.74,380.21,0,0,0,0,0,0,14.86,14.87,14.58
$IRIDIUM_FIX,2230.01,-15808.45,171021,182955
$TT8_MAMPS,0.02247,0.31458
$HUMID,54.60
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.82,206.628
$10V_AH,12.56,0.000
$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,16.100,57.825,376.575,16.500,0.000,26.881,46.704,153.930,0.250,0.000,17.873,1191.195,1564.017,405.092,1394.142,211.934,0.000,966.209,0.000,1148.835,0.000,0.554,0.000
$DEVICE_MAMPS,426.105,130.050,1081.710,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,301.936,371.981,623.084,572.335,657.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,44026,456
$CAP_FILE_SIZE,74420,0
$CFSIZE,1023623168,939098112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,6
$CURRENT,0.260,218.21,1
$GPS,171021,194902,2240.406,-15809.104,6,0.9,27,9.8,0.8,198.9,9,9.2