version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 969
start: 10 18 121 1 4 54
data:
$ID,626
$MISSION,3
$DIVE,969
$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,34
$R_STBD_OVSHOOT,53
$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
$GPS1,181021,005749,2240.8362,-15809.9580,9,0.7,42,9.8,0.4,27.8,11,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,181021,010404,2240.8623,-15809.9893,6,0.7,20,9.8,0.5,274.8,11,8.7
$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,93.2,18703,-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,-116.8,123,2302,1264,1144,0.0,0.0,0,75,0.00,0.00,-55.62,0.000,16386,0.000,0.000,123,2302,2954,2937,2971,0,0,0,0,0,0,15.18,28.83,15.19
$GC,79,-0.55,-116.8,123,2302,2937,2972,3.1,-5.7,8,102,8.62,2.45,-5.65,0.000,18948,0.433,0.069,2574,846,3277,3261,3294,0,0,0,0,0,0,14.06,13.82,14.38
$GC,126,-0.55,-116.8,2574,846,3267,3291,17.1,-25.0,15,134,0.00,2.42,0.00,0.000,3078,0.000,0.057,2565,2242,3278,3267,3289,0,0,0,0,0,0,14.92,14.76,14.94
$GC,388,-0.55,-116.8,2565,2242,3268,3290,57.8,-16.2,48,397,0.00,2.33,0.00,0.000,2564,0.000,0.054,2565,861,3278,3268,3289,0,0,0,0,0,0,15.22,14.50,15.22
$GC,444,-0.55,-116.8,2565,862,3267,3289,66.3,-15.3,53,452,0.05,2.42,0.00,0.000,3078,0.390,0.057,2572,2270,3278,3267,3289,0,0,0,0,0,0,14.56,14.79,14.81
$GC,694,-0.55,-116.8,2572,2272,3268,3289,97.8,-10.5,78,703,0.00,2.35,0.00,0.000,516,0.000,0.052,2572,854,3278,3268,3289,0,0,0,0,0,0,15.24,14.50,15.25
$GC,740,-0.55,-116.8,2572,853,3268,3289,102.4,-10.3,82,747,0.00,2.42,0.00,0.000,3078,0.000,0.057,2563,2267,3278,3268,3289,0,0,0,0,0,0,14.97,14.81,15.00
$GC,990,-0.55,-116.8,2563,2267,3268,3289,127.5,-9.9,107,995,0.00,2.38,0.00,0.000,2564,0.000,0.052,2563,852,3278,3268,3289,0,0,0,0,0,0,15.25,14.88,15.26
$GC,1016,-0.55,-116.8,2563,852,3268,3290,130.3,-10.3,109,1023,0.05,2.40,0.00,0.000,3078,0.361,0.058,2571,2271,3278,3268,3289,0,0,0,0,0,0,14.63,14.85,14.86
$GC,1266,-0.55,-116.8,2571,2271,3269,3288,153.8,-9.5,134,1274,0.00,2.38,0.00,0.000,2564,0.000,0.052,2572,853,3279,3269,3289,0,0,0,0,0,0,15.27,14.69,15.27
$GC,1319,-0.55,-116.8,2571,853,3269,3289,159.0,-9.8,139,1325,0.00,2.40,0.00,0.000,3078,0.000,0.059,2562,2267,3278,3269,3288,0,0,0,0,0,0,15.01,14.85,15.03
$GC,1576,-0.55,-116.8,2562,2267,3269,3288,184.0,-9.7,164,1584,0.00,2.38,0.00,0.000,2564,0.000,0.054,2562,856,3278,3269,3288,0,0,0,0,0,0,15.26,14.68,15.26
$GC,1651,-0.55,-116.8,2562,856,3269,3288,191.0,-9.2,171,1660,0.05,2.45,0.00,0.000,3078,0.369,0.059,2570,2276,3278,3269,3288,0,0,0,0,0,0,14.58,14.81,14.83
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1763,-0.13,0.0,2570,2082,3269,3288,200.1,-8.0,182,1862,0.32,0.10,94.45,1.073,10246,0.212,0.125,2700,2157,2799,2867,2731,0,0,0,0,0,0,14.44,14.58,13.83
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1866,0.55,116.8,2700,2157,2866,2730,203.4,0.0,192,1972,0.50,2.35,98.00,1.056,11012,0.122,0.067,2920,3511,2322,2407,2237,0,0,0,0,0,0,14.56,14.54,13.83
$GC,2301,0.57,157.7,2919,3511,2407,2237,176.2,8.0,235,2340,0.00,2.20,34.20,1.025,9222,0.000,0.044,2930,2164,2157,2247,2067,0,0,0,0,0,0,14.79,14.74,14.00
$GC,2580,0.60,201.6,2930,2164,2244,2060,153.2,7.8,263,2622,0.00,2.47,35.65,1.013,10756,0.000,0.060,2942,722,1976,2061,1892,0,0,0,0,0,0,15.21,14.74,14.02
$GC,2696,0.61,223.1,2941,722,2049,1892,143.8,9.0,274,2725,0.00,2.33,17.75,0.975,11270,0.000,0.054,2942,2098,1889,1970,1809,0,0,0,0,0,0,14.59,14.52,13.93
$GC,2965,0.63,256.2,2941,2098,1970,1804,120.6,8.4,301,3004,0.00,2.50,27.60,0.981,10500,0.000,0.071,2942,3546,1754,1840,1669,0,0,0,0,0,0,15.21,14.64,14.05
$GC,3083,0.64,268.9,2941,3546,1839,1669,109.9,9.4,312,3103,0.00,2.35,12.25,0.921,9222,0.000,0.048,2952,2132,1700,1789,1612,0,0,0,0,0,0,14.57,14.53,14.03
$GC,3342,0.64,268.9,2952,2132,1789,1608,85.4,10.3,338,3352,0.00,2.38,0.00,0.000,516,0.000,0.064,2963,719,1698,1788,1608,0,0,0,0,0,0,15.22,14.53,15.22
$GC,3399,0.64,268.9,2963,719,1785,1607,79.3,11.3,343,3407,0.00,2.45,0.00,0.000,5126,0.000,0.058,2962,2134,1695,1785,1606,0,0,0,0,0,0,14.97,14.82,14.99
$GC,3650,0.66,307.1,2963,2135,1785,1605,57.0,8.1,368,3689,0.00,2.40,30.23,0.916,8452,0.000,0.066,2963,3542,1546,1639,1453,0,0,0,0,0,0,15.22,14.50,14.01
$GC,3714,0.68,327.9,2963,3542,1639,1453,51.2,9.0,374,3737,0.00,2.35,17.52,0.875,13318,0.000,0.047,2974,2123,1463,1556,1370,0,0,0,0,0,0,14.64,14.63,14.05
$GC,3981,0.68,327.9,2974,2122,1554,1365,26.1,11.7,403,3990,0.00,2.47,0.00,0.000,4612,0.000,0.065,2985,719,1459,1554,1365,0,0,0,0,0,0,15.19,14.64,15.19
$GC,4024,0.68,327.9,2984,719,1550,1365,21.1,11.2,410,4032,0.05,2.45,0.00,0.000,5126,0.353,0.054,2966,2137,1457,1550,1364,0,0,0,0,0,0,14.59,14.80,14.83
$STATE,4209,end climb,SURFACE_DEPTH_REACHED
$STATE,4209,begin surface coast
$FINISH,0.2,1.009905
$STATE,4254,end surface coast,CONTROL_FINISHED_OK
$STATE,4255,begin surface
$SM_CCo,4273,21.77,0.188,0,0,1247,380.21
$SM_GC,1.37,6.40,0.20,21.77,0.045,0.102,0.188,151,2267,1247,-7.94,-1.07,380.21,0,0,0,0,0,0,14.91,14.86,14.57
$IRIDIUM_FIX,2232.34,-15810.61,181021,005931
$TT8_MAMPS,0.023219,0.347536
$HUMID,54.17
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.82,207.528
$10V_AH,12.24,0.000
$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,16.050,58.025,367.650,21.775,0.000,25.833,49.141,152.766,0.000,0.000,21.976,1165.400,1564.319,409.648,1349.401,213.991,0.000,956.430,0.000,1118.220,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,124.695,1072.530,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.951,330.612,621.686,564.581,655.888,0.000,0.000,0.000,0.000,0.000
$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,40516,452
$CAP_FILE_SIZE,74143,0
$CFSIZE,1023623168,938770432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,322.63,1
$GPS,181021,021724,2241.000,-15809.707,6,1.0,16,9.8,0.6,280.3,8,9.7