version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 967
start: 10 17 121 22 33 21
data:
$ID,626
$MISSION,3
$DIVE,967
$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,42
$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
$GPS1,171021,222623,2240.2629,-15809.8867,7,1.0,20,9.8,0.6,257.7,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.9
$GPS2,171021,223231,2240.2686,-15809.9365,7,0.9,26,9.8,0.0,45.2,10,6.4
$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,69.9,19099,-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,-116.8,123,2291,1307,1187,0.0,0.0,0,74,0.00,0.00,-54.90,0.000,16386,0.000,0.000,123,2292,2968,2943,2994,0,0,0,0,0,0,15.17,28.83,15.19
$GC,78,-0.55,-116.8,123,2292,2945,2993,3.0,-5.3,8,100,8.57,0.00,-5.32,0.000,18950,0.432,0.000,2562,2292,3278,3258,3298,0,0,0,0,0,0,14.07,13.88,14.38
$GC,349,-0.55,-116.8,2562,2292,3266,3293,56.9,-17.3,44,358,0.00,2.42,0.00,0.000,2564,0.000,0.054,2563,849,3279,3266,3292,0,0,0,0,0,0,15.22,14.47,15.23
$GC,429,-0.55,-116.8,2562,849,3266,3292,69.0,-14.8,51,437,0.05,2.42,0.00,0.000,3078,0.392,0.058,2570,2251,3279,3268,3290,0,0,0,0,0,0,14.55,14.79,14.81
$GC,678,-0.55,-116.8,2570,2254,3267,3290,104.7,-12.6,76,688,0.00,2.35,0.00,0.000,2564,0.000,0.054,2570,856,3278,3267,3290,0,0,0,0,0,0,15.25,14.50,15.25
$GC,735,-0.55,-116.8,2570,856,3267,3290,111.8,-12.7,81,742,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2266,3278,3267,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,982,-0.55,-116.8,2561,2266,3268,3290,142.4,-11.7,106,993,0.00,2.38,0.00,0.000,2564,0.000,0.053,2561,852,3278,3267,3290,0,0,0,0,0,0,15.27,14.48,15.27
$GC,1021,-0.55,-116.8,2561,852,3268,3290,146.4,-11.8,109,1028,0.05,2.40,0.00,0.000,3078,0.371,0.057,2570,2265,3278,3268,3289,0,0,0,0,0,0,14.62,14.85,14.85
$GC,1270,-0.55,-116.8,2570,2266,3268,3289,167.0,-6.9,134,1279,0.00,2.38,0.00,0.000,2564,0.000,0.054,2570,852,3279,3268,3290,0,0,0,0,0,0,15.27,14.67,15.27
$GC,1336,-0.55,-116.8,2570,852,3268,3290,171.6,-6.9,140,1343,0.00,2.40,0.00,0.000,3078,0.000,0.057,2561,2271,3278,3268,3289,0,0,0,0,0,0,15.01,14.86,15.03
$GC,1587,-0.55,-116.8,2561,2272,3268,3289,192.5,-9.5,165,1591,0.00,2.40,0.00,0.000,2564,0.000,0.055,2561,853,3278,3268,3289,0,0,0,0,0,0,15.27,14.86,15.27
$GC,1643,-0.55,-116.8,2560,853,3268,3289,198.2,-9.9,170,1650,0.08,2.40,0.00,0.000,3078,0.316,0.059,2578,2265,3278,3267,3289,0,0,0,0,0,0,14.60,14.85,14.85
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1666,-0.13,0.0,2578,2070,3268,3289,200.2,-9.8,172,1770,0.30,0.12,94.28,1.066,10246,0.206,0.107,2701,2161,2799,2866,2732,0,0,0,0,0,0,14.45,14.58,13.83
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1774,0.55,116.8,2701,2161,2866,2731,205.6,0.0,183,1880,0.50,2.47,97.78,1.060,10756,0.116,0.050,2934,707,2321,2404,2238,0,0,0,0,0,0,14.58,14.33,13.82
$GC,1889,0.65,278.7,2935,708,2397,2239,207.2,1.7,194,2027,0.00,2.38,130.20,1.060,11270,0.000,0.050,2935,2102,1661,1748,1575,0,0,0,0,0,0,14.75,14.64,13.83
$GC,2269,0.65,278.7,2934,2102,1748,1570,162.3,11.0,232,2278,0.00,2.40,0.00,0.000,2308,0.000,0.067,2935,3532,1659,1748,1570,0,0,0,0,0,0,15.17,14.66,15.18
$GC,2353,0.65,278.7,2934,3532,1748,1570,152.4,11.4,240,2363,0.00,2.33,0.00,0.000,3078,0.000,0.050,2946,2124,1659,1748,1570,0,0,0,0,0,0,14.69,14.66,14.71
$GC,2608,0.65,278.7,2945,2124,1748,1570,126.8,10.3,265,2613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2946,2124,1659,1748,1570,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2853,0.67,312.7,2945,2123,1748,1570,104.3,8.3,290,2888,0.00,2.35,28.48,0.965,10756,0.000,0.060,2957,716,1523,1617,1430,0,0,0,0,0,0,15.26,14.79,14.04
$GC,2917,0.69,345.2,2956,716,1613,1431,98.9,8.4,296,2950,0.00,2.38,27.30,0.944,11270,0.000,0.055,2957,2122,1390,1485,1295,0,0,0,0,0,0,14.64,14.59,14.00
$GC,3200,0.70,372.5,2957,2122,1484,1290,73.2,8.7,324,3229,0.00,2.42,21.73,0.920,10500,0.000,0.064,2957,3543,1282,1379,1186,0,0,0,0,0,0,15.21,14.46,14.00
$GC,3258,0.71,384.5,2957,3543,1379,1186,68.1,9.5,329,3275,0.00,2.40,11.50,0.875,11270,0.000,0.047,2967,2120,1230,1328,1132,0,0,0,0,0,0,14.92,14.80,14.04
$GC,3515,0.72,394.2,2967,2120,1327,1129,43.9,9.6,355,3534,0.00,2.33,8.98,0.835,10756,0.000,0.063,2978,721,1189,1289,1089,0,0,0,0,0,0,15.21,14.67,14.07
$GC,3580,0.72,396.5,2977,722,1287,1090,37.5,10.0,361,3584,0.00,2.40,0.00,0.000,1030,0.000,0.052,2978,2129,1188,1287,1090,0,0,0,0,0,0,14.96,14.85,14.98
$GC,3842,0.72,403.1,2977,2129,1287,1088,10.2,9.8,403,3851,0.00,2.42,3.62,0.256,10500,0.000,0.070,2977,3533,1152,1252,1053,0,0,0,0,0,0,15.19,14.81,14.51
$GC,3888,0.72,403.1,2977,3533,1252,1053,5.0,11.4,410,3896,0.00,2.40,0.00,0.000,5126,0.000,0.054,2988,2130,1152,1252,1053,0,0,0,0,0,0,14.95,14.78,14.97
$STATE,3901,end climb,SURFACE_DEPTH_REACHED
$STATE,3901,begin surface coast
$FINISH,0.3,1.010234
$STATE,3933,end surface coast,CONTROL_FINISHED_OK
$STATE,3933,begin surface
$SM_CCo,4011,0.00,0.000,0,0,1151,404.49
$SM_GC,1.19,6.45,0.25,0.00,0.044,0.076,0.000,159,2282,1151,-7.94,-0.85,404.49,0,0,0,0,0,0,14.92,14.91,14.98
$IRIDIUM_FIX,2230.01,-15810.61,171021,222807
$TT8_MAMPS,0.021721,0.289863
$HUMID,53.58
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,13.82,207.175
$10V_AH,11.59,0.000
$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,16.000,53.250,423.850,0.000,0.000,26.540,45.866,149.286,0.750,0.000,27.069,1056.691,1484.257,425.971,1236.354,203.167,0.000,944.541,0.000,1017.180,0.000,0.553,0.000
$DEVICE_MAMPS,432.225,107.100,1066.410,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,276.145,301.199,576.225,522.685,612.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,37392,417
$CAP_FILE_SIZE,68916,0
$CFSIZE,1023623168,938901504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.173,288.00,1
$GPS,171021,234104,2240.565,-15810.012,6,0.8,16,9.8,0.8,262.5,10,9.5