version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 972
start: 10 18 121 5 10 42
data:
$ID,626
$MISSION,3
$DIVE,972
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,181021,050403,2241.1118,-15809.4189,40,0.8,42,9.8,0.5,246.6,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.7
$GPS2,181021,050953,2241.0520,-15809.4443,6,0.9,15,9.8,0.0,252.2,9,9.3
$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,45.8,17710,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,123,2285,730,589,0.0,0.0,0,94,0.00,0.00,-74.62,0.000,16386,0.000,0.000,123,2286,3105,3075,3135,0,0,0,0,0,0,15.17,28.83,15.18
$GC,98,-0.55,-116.8,123,2285,3075,3135,3.5,-6.3,11,121,8.57,2.40,-2.88,0.000,18692,0.432,0.081,2550,3682,3280,3257,3304,0,0,0,0,0,0,14.02,13.24,14.35
$GC,152,-0.55,-116.8,2551,3682,3261,3302,20.1,-19.9,19,161,0.08,2.40,0.00,0.000,3078,0.311,0.037,2578,2241,3281,3265,3297,0,0,0,0,0,0,14.54,14.80,14.78
$GC,409,-0.55,-116.8,2578,2238,3267,3296,59.2,-13.9,49,413,0.00,2.33,0.00,0.000,4612,0.000,0.057,2578,856,3281,3267,3295,0,0,0,0,0,0,15.23,14.84,15.23
$GC,466,-0.55,-116.8,2578,855,3268,3295,65.5,-11.0,54,475,0.00,2.38,0.00,0.000,3078,0.000,0.055,2569,2262,3281,3268,3294,0,0,0,0,0,0,14.52,14.47,14.57
$GC,717,-0.55,-116.8,2570,2262,3268,3294,92.7,-10.7,79,721,0.00,2.38,0.00,0.000,2564,0.000,0.052,2569,851,3282,3269,3295,0,0,0,0,0,0,15.23,14.85,15.24
$GC,761,-0.55,-116.8,2569,852,3268,3294,97.5,-10.3,83,766,0.00,2.40,0.00,0.000,3078,0.000,0.054,2559,2277,3281,3268,3294,0,0,0,0,0,0,15.00,14.86,15.02
$GC,1016,-0.55,-116.8,2558,2277,3269,3294,129.3,-13.0,108,1026,0.00,2.35,0.00,0.000,2308,0.000,0.069,2548,3672,3281,3269,3294,0,0,0,0,0,0,15.25,14.72,15.26
$GC,1074,-0.55,-116.8,2548,3672,3269,3293,136.0,-12.0,113,1081,0.08,2.28,0.00,0.000,3078,0.291,0.031,2578,2225,3281,3269,3294,0,0,0,0,0,0,14.64,14.96,14.87
$GC,1321,-0.55,-116.8,2577,2224,3270,3293,163.6,-9.8,138,1330,0.00,2.45,0.00,0.000,260,0.000,0.068,2568,3665,3281,3269,3293,0,0,0,0,0,0,15.27,14.44,15.28
$GC,1384,-0.55,-116.8,2568,3665,3270,3293,169.3,-8.9,144,1394,0.00,2.20,0.00,0.000,3078,0.000,0.032,2568,2265,3281,3270,3292,0,0,0,0,0,0,14.68,14.65,14.69
$GC,1638,-0.55,-116.8,2568,2264,3270,3291,191.3,-9.1,169,1643,0.00,2.40,0.00,0.000,2308,0.000,0.069,2557,3672,3280,3270,3291,0,0,0,0,0,0,15.26,14.83,15.26
$GC,1673,-0.55,-116.8,2556,3672,3270,3291,194.8,-9.1,172,1682,0.03,2.20,0.00,0.000,3078,0.323,0.033,2570,2281,3280,3270,3291,0,0,0,0,0,0,14.55,14.78,14.64
$STATE,1730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1730,begin apogee
$GC,1738,-0.13,0.0,2571,2106,3270,3291,200.1,-8.7,178,1841,0.32,0.00,95.20,1.073,10246,0.199,0.000,2704,2101,2798,2862,2734,0,0,0,0,0,0,14.46,14.32,13.79
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1845,0.55,116.8,2704,2101,2862,2734,207.7,0.0,189,1952,0.50,2.45,97.45,1.068,10500,0.083,0.054,2949,3541,2322,2405,2239,0,0,0,0,0,0,14.63,14.30,13.78
$GC,2237,0.60,205.3,2948,3541,2404,2239,199.6,5.5,227,2317,0.05,2.25,71.28,1.065,13318,0.417,0.037,2944,2148,1961,2045,1877,0,0,0,0,0,0,14.56,14.88,13.91
$GC,2557,0.63,258.5,2943,2148,2042,1872,175.0,7.4,259,2607,0.00,2.42,42.80,1.043,10756,0.000,0.052,2954,724,1745,1833,1657,0,0,0,0,0,0,15.19,14.71,13.98
$GC,3130,0.66,294.8,2953,724,1821,1654,124.0,8.2,314,3166,0.00,2.42,29.73,0.991,11270,0.000,0.056,2953,2131,1596,1690,1502,0,0,0,0,0,0,14.98,14.83,14.06
$GC,3416,0.69,354.5,2953,2131,1690,1497,100.8,7.0,343,3477,0.00,2.40,48.17,0.972,10500,0.000,0.060,2954,3534,1352,1446,1258,0,0,0,0,0,0,15.21,14.59,14.02
$GC,3535,0.70,367.9,2953,3534,1446,1258,90.4,9.4,354,3553,0.00,2.33,11.82,0.900,11270,0.000,0.051,2964,2145,1299,1396,1203,0,0,0,0,0,0,14.54,14.49,14.01
$GC,3793,0.72,401.4,2964,2143,1396,1199,66.2,8.4,380,3826,0.00,2.42,26.98,0.922,10500,0.000,0.066,2964,3540,1161,1259,1064,0,0,0,0,0,0,15.19,14.77,14.09
$GC,3879,0.72,401.4,2963,3541,1259,1064,57.9,10.6,388,3888,0.00,2.45,0.00,0.000,3078,0.000,0.058,2975,2116,1161,1259,1064,0,0,0,0,0,0,14.91,14.77,14.93
$GC,4131,0.74,429.1,2974,2115,1259,1063,35.6,8.7,413,4160,0.00,2.38,22.23,0.881,10756,0.000,0.059,2986,713,1048,1146,951,0,0,0,0,0,0,15.20,14.52,14.06
$GC,4223,0.76,464.5,2985,713,1141,951,27.5,8.3,424,4248,0.00,2.47,15.82,0.845,11270,0.000,0.053,2986,2125,904,1004,804,0,0,0,0,0,0,14.74,14.67,14.09
$STATE,4447,end climb,SURFACE_DEPTH_REACHED
$STATE,4447,begin surface coast
$FINISH,0.2,1.023502
$STATE,4473,end surface coast,CONTROL_FINISHED_OK
$STATE,4473,begin surface
$SM_CCo,4552,0.00,0.000,0,0,901,465.82
$SM_GC,1.22,6.38,0.22,0.00,0.031,0.071,0.000,138,2293,901,-7.94,-0.88,465.82,0,0,0,0,0,0,14.95,14.92,14.98
$IRIDIUM_FIX,2232.34,-15810.61,181021,050546
$TT8_MAMPS,0.02247,0.34454
$HUMID,54.44
$INTERNAL_PRESSURE,9.22849
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,13.24,208.128
$10V_AH,12.53,0.000
$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,16.000,52.575,461.475,0.000,0.000,27.026,43.449,141.715,0.250,0.000,16.349,1197.302,1647.176,446.118,1429.274,208.362,0.000,1056.388,0.000,1215.566,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,81.090,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,308.845,339.165,638.682,573.232,670.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,44085,468
$CAP_FILE_SIZE,72199,0
$CFSIZE,1023623168,938573824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161,216.73,1
$GPS,181021,062728,2240.779,-15809.592,7,0.9,18,9.8,1.0,177.2,8,9.9