version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 968
start: 10 17 121 23 47 52
data:
$ID,626
$MISSION,3
$DIVE,968
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,171021,234104,2240.5652,-15810.0117,6,0.8,16,9.8,0.8,262.5,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.9
$GPS2,171021,234701,2240.5864,-15810.0508,6,0.8,18,9.8,0.5,36.1,10,9.2
$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,86.5,19012,-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,-116.8,123,2289,1213,1082,0.0,0.0,0,80,0.00,0.00,-61.15,0.000,16386,0.000,0.000,123,2289,3112,3080,3145,0,0,0,0,0,0,15.17,28.83,15.19
$GC,84,-0.55,-116.8,123,2289,3080,3145,3.7,-7.7,9,107,8.57,2.33,-2.67,0.000,18692,0.431,0.075,2553,3658,3279,3256,3303,0,0,0,0,0,0,14.06,13.23,14.36
$GC,148,-0.55,-116.8,2553,3659,3261,3300,22.2,-13.6,19,158,0.05,2.38,0.00,0.000,3078,0.353,0.042,2573,2262,3279,3262,3297,0,0,0,0,0,0,14.57,14.74,14.80
$GC,410,-0.55,-116.8,2573,2258,3266,3295,59.1,-13.9,49,420,0.00,2.33,0.00,0.000,516,0.000,0.057,2573,858,3280,3267,3294,0,0,0,0,0,0,15.23,14.45,15.23
$GC,522,-0.55,-116.8,2572,858,3267,3294,73.5,-12.1,59,529,0.00,2.40,0.00,0.000,3078,0.000,0.056,2565,2251,3280,3268,3292,0,0,0,0,0,0,14.95,14.79,14.97
$GC,770,-0.55,-116.8,2563,2251,3268,3292,107.1,-12.0,84,774,0.00,2.38,0.00,0.000,2564,0.000,0.054,2564,854,3280,3268,3292,0,0,0,0,0,0,15.26,14.87,15.27
$GC,824,-0.55,-116.8,2563,853,3268,3293,113.1,-11.1,89,832,0.00,2.38,0.00,0.000,3078,0.000,0.057,2553,2263,3280,3269,3291,0,0,0,0,0,0,14.73,14.66,14.76
$GC,1075,-0.55,-116.8,2553,2263,3268,3291,141.4,-11.5,114,1080,0.05,2.35,0.00,0.000,2564,0.409,0.050,2571,859,3280,3269,3291,0,0,0,0,0,0,14.71,14.88,14.88
$GC,1099,-0.55,-116.8,2570,859,3269,3292,144.2,-11.0,116,1104,0.00,2.38,0.00,0.000,3078,0.000,0.057,2562,2265,3280,3269,3291,0,0,0,0,0,0,15.01,14.87,15.04
$GC,1354,-0.55,-116.8,2562,2266,3269,3291,166.8,-8.6,141,1364,0.00,2.38,0.00,0.000,2564,0.000,0.054,2561,858,3280,3269,3291,0,0,0,0,0,0,15.26,14.48,15.26
$GC,1412,-0.55,-116.8,2561,857,3269,3291,171.9,-9.4,146,1419,0.05,2.38,0.00,0.000,3078,0.370,0.057,2570,2266,3280,3270,3291,0,0,0,0,0,0,14.62,14.86,14.86
$GC,1662,-0.55,-116.8,2570,2266,3270,3291,195.7,-10.0,171,1672,0.00,2.35,0.00,0.000,2564,0.000,0.053,2570,865,3280,3269,3291,0,0,0,0,0,0,15.27,14.48,15.27
$STATE,1703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1703,begin apogee
$GC,1712,-0.13,0.0,2562,2130,3270,3290,200.6,-10.6,175,1815,0.38,0.00,94.65,1.074,10246,0.220,0.000,2706,2131,2799,2865,2733,0,0,0,0,0,0,14.42,14.33,13.79
$STATE,1816,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1819,0.55,116.8,2707,2131,2865,2732,207.2,0.0,186,1925,0.52,2.40,98.07,1.065,11012,0.122,0.060,2936,3542,2322,2406,2239,0,0,0,0,0,0,14.57,14.31,13.79
$GC,1954,0.61,218.1,2936,3542,2406,2241,208.6,4.9,199,2042,0.00,2.35,82.05,1.063,9222,0.000,0.040,2947,2116,1909,1987,1832,0,0,0,0,0,0,14.79,14.70,13.84
$GC,2282,0.61,218.1,2947,2116,1985,1826,167.5,12.6,232,2287,0.00,2.42,0.00,0.000,260,0.000,0.066,2947,3533,1905,1985,1826,0,0,0,0,0,0,15.17,14.81,15.18
$GC,2318,0.61,218.1,2947,3532,1985,1826,163.0,13.0,235,2325,0.00,2.33,0.00,0.000,5126,0.000,0.049,2958,2135,1905,1985,1826,0,0,0,0,0,0,14.98,14.85,15.00
$GC,2568,0.62,234.7,2957,2134,1985,1824,137.4,9.2,260,2585,0.00,0.00,14.07,0.971,12294,0.000,0.000,2957,2135,1842,1923,1762,0,0,0,0,0,0,15.23,14.79,14.06
$GC,2828,0.62,234.7,2957,2134,1923,1756,111.4,10.1,286,2837,0.00,2.40,0.00,0.000,4356,0.000,0.069,2958,3535,1840,1923,1758,0,0,0,0,0,0,15.23,14.50,15.23
$GC,2905,0.62,234.7,2957,3535,1923,1757,102.7,11.5,293,2912,0.05,2.35,0.00,0.000,5126,0.381,0.049,2951,2121,1840,1923,1758,0,0,0,0,0,0,14.62,14.88,14.87
$GC,3157,0.63,245.0,2949,2119,1923,1757,77.4,9.6,318,3177,0.00,2.42,9.75,0.894,8708,0.000,0.063,2961,712,1798,1881,1716,0,0,0,0,0,0,15.24,14.69,14.04
$GC,3224,0.66,293.4,2960,712,1878,1716,71.7,7.6,324,3272,0.00,2.45,39.17,0.939,9222,0.000,0.054,2961,2133,1601,1693,1510,0,0,0,0,0,0,14.97,14.84,14.05
$GC,3513,0.68,338.1,2960,2133,1692,1506,49.6,7.8,353,3555,0.00,2.40,35.50,0.904,10500,0.000,0.070,2961,3530,1419,1513,1325,0,0,0,0,0,0,15.20,14.75,14.07
$GC,3607,0.69,352.3,2960,3530,1513,1325,41.4,9.4,362,3625,0.00,2.40,12.60,0.859,9222,0.000,0.050,2970,2116,1361,1455,1268,0,0,0,0,0,0,14.88,14.76,14.05
$GC,3875,0.69,352.3,2971,2115,1454,1263,15.5,10.9,401,3883,0.00,2.40,0.00,0.000,516,0.000,0.065,2982,717,1358,1455,1262,0,0,0,0,0,0,15.17,14.78,15.18
$GC,3946,0.71,388.9,2981,717,1451,1263,9.0,8.2,413,3971,0.00,2.47,15.12,0.223,13318,0.000,0.058,2982,2123,1212,1308,1117,0,0,0,0,0,0,14.72,14.66,14.38
$STATE,4012,end climb,SURFACE_DEPTH_REACHED
$STATE,4012,begin surface coast
$FINISH,1.4,1.023286
$STATE,4039,end surface coast,CONTROL_FINISHED_OK
$STATE,4039,begin surface
$SM_CCo,4119,0.00,0.000,0,0,1209,390.27
$SM_GC,1.10,6.45,0.22,0.00,0.046,0.073,0.000,168,2292,1209,-7.95,-0.90,390.27,0,0,0,0,0,0,14.88,14.92,14.95
$IRIDIUM_FIX,2230.01,-15808.45,171021,234258
$TT8_MAMPS,0.02247,0.343042
$HUMID,53.38
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.23,207.352
$10V_AH,12.05,0.000
$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,16.125,57.200,401.000,0.000,0.000,32.897,54.741,130.670,0.500,0.000,19.474,1086.122,1551.792,418.644,1250.192,198.791,0.000,933.125,0.000,1032.136,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,74.970,1074.060,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.003,309.794,584.203,548.419,642.115,0.000,0.000,0.000,0.000,0.000
$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,40745,428
$CAP_FILE_SIZE,67489,0
$CFSIZE,1023623168,938835968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.163,302.90,1
$GPS,181021,005749,2240.836,-15809.958,9,0.7,42,9.8,0.4,27.8,11,5.5