version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 977
start: 10 18 121 12 14 21
data:
$ID,626
$MISSION,3
$DIVE,977
$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,67
$R_STBD_OVSHOOT,76
$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
$GPS1,181021,120700,2240.0369,-15810.5439,7,0.9,19,9.8,0.7,105.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.7
$GPS2,181021,121331,2240.0376,-15810.5771,6,0.9,32,9.8,0.6,311.7,9,6.7
$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,68.0,20268,-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,14,begin dive
$GC,17,-0.55,-116.8,123,2218,879,736,0.0,0.0,0,87,0.00,0.00,-67.82,0.000,16386,0.000,0.000,123,2214,2980,2956,3005,0,0,0,0,0,0,15.17,28.83,15.18
$GC,91,-0.55,-116.8,123,2214,2957,3005,3.1,-5.1,10,114,8.55,2.42,-5.07,0.000,19204,0.428,0.079,2554,3630,3278,3259,3298,0,0,0,0,0,0,14.04,13.83,14.34
$GC,128,-0.55,-116.8,2554,3630,3261,3298,15.3,-30.9,15,137,0.03,2.28,0.00,0.000,3078,0.363,0.042,2566,2293,3280,3265,3295,0,0,0,0,0,0,14.45,14.68,14.56
$GC,390,-0.55,-116.8,2566,2290,3266,3293,55.2,-14.8,49,400,0.00,2.28,0.00,0.000,2308,0.000,0.069,2558,3622,3279,3266,3292,0,0,0,0,0,0,15.23,14.47,15.23
$GC,416,-0.55,-116.8,2558,3622,3266,3293,58.4,-14.2,51,425,0.00,2.20,0.00,0.000,3078,0.000,0.044,2558,2274,3279,3266,3292,0,0,0,0,0,0,14.62,14.58,14.62
$GC,666,-0.55,-116.8,2558,2273,3266,3291,91.0,-11.6,76,677,0.00,2.30,0.00,0.000,2308,0.000,0.070,2549,3623,3278,3266,3291,0,0,0,0,0,0,15.23,14.48,15.24
$GC,724,-0.55,-116.8,2548,3623,3266,3291,97.4,-10.9,81,732,0.08,2.22,0.00,0.000,3078,0.288,0.040,2578,2252,3279,3267,3291,0,0,0,0,0,0,14.64,14.90,14.87
$GC,976,-0.55,-116.8,2578,2249,3265,3291,121.8,-9.7,106,987,0.00,2.35,0.00,0.000,4356,0.000,0.069,2570,3629,3278,3267,3290,0,0,0,0,0,0,15.26,14.47,15.26
$GC,1063,-0.55,-116.8,2569,3629,3267,3290,130.5,-9.6,114,1073,0.00,2.20,0.00,0.000,3078,0.000,0.038,2570,2261,3278,3267,3290,0,0,0,0,0,0,14.64,14.61,14.69
$GC,1317,-0.55,-116.8,2570,2260,3267,3290,156.5,-9.8,139,1326,0.00,2.33,0.00,0.000,2308,0.000,0.070,2559,3623,3278,3267,3290,0,0,0,0,0,0,15.26,14.64,15.26
$GC,1361,-0.55,-116.8,2559,3624,3267,3290,160.9,-9.3,143,1369,0.00,2.17,0.00,0.000,3078,0.000,0.034,2559,2261,3278,3268,3289,0,0,0,0,0,0,14.81,14.80,14.83
$GC,1614,-0.55,-116.8,2559,2259,3268,3289,182.8,-8.0,168,1624,0.00,2.33,0.00,0.000,2308,0.000,0.073,2549,3621,3278,3267,3289,0,0,0,0,0,0,15.26,14.45,15.27
$GC,1765,-0.55,-116.8,2549,3621,3268,3289,194.1,-7.5,182,1773,0.08,2.20,0.00,0.000,3078,0.263,0.038,2583,2261,3278,3268,3289,0,0,0,0,0,0,14.69,14.92,14.89
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1840,begin apogee
$GC,1847,-0.13,0.0,2583,2073,3268,3289,200.5,-7.5,190,1950,0.28,0.00,94.97,1.067,10246,0.173,0.000,2705,2070,2799,2868,2731,0,0,0,0,0,0,14.54,14.58,13.82
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1954,0.55,116.8,2706,2070,2868,2731,208.5,0.0,201,2062,0.50,2.28,98.20,1.062,10756,0.076,0.049,2972,723,2320,2403,2238,0,0,0,0,0,0,14.65,14.31,13.79
$GC,2366,0.63,245.2,2971,722,2392,2235,202.6,3.5,241,2477,0.05,2.25,102.80,1.065,13318,0.340,0.046,2955,2088,1798,1881,1716,0,0,0,0,0,0,14.39,14.73,13.88
$GC,2729,0.63,245.2,2955,2088,1881,1710,168.1,10.7,277,2738,0.00,2.30,0.00,0.000,4612,0.000,0.057,2965,729,1794,1879,1710,0,0,0,0,0,0,15.19,14.69,15.19
$GC,3261,0.64,266.6,2964,728,1870,1710,118.9,9.0,328,3291,0.00,2.33,17.92,0.967,13318,0.000,0.056,2965,2112,1709,1798,1621,0,0,0,0,0,0,14.66,14.63,14.09
$GC,3533,0.67,322.2,2965,2112,1798,1618,96.6,7.2,355,3583,0.00,2.35,45.05,0.960,8708,0.000,0.057,2975,727,1483,1575,1391,0,0,0,0,0,0,15.23,14.76,14.04
$GC,3659,0.71,373.5,2974,727,1569,1392,87.5,7.5,367,3708,0.00,2.38,41.10,0.936,9222,0.000,0.058,2975,2124,1274,1368,1181,0,0,0,0,0,0,14.67,14.62,14.00
$GC,3950,0.74,423.7,2974,2124,1367,1176,65.8,7.5,396,3998,0.00,2.45,39.50,0.914,10756,0.000,0.062,2985,730,1070,1164,976,0,0,0,0,0,0,15.19,14.66,14.06
$GC,4023,0.77,473.0,2985,730,1161,976,60.1,7.6,403,4072,0.00,2.38,38.75,0.895,11270,0.000,0.055,2985,2127,869,971,767,0,0,0,0,0,0,14.58,14.52,13.93
$GC,4313,0.77,476.4,2985,2127,971,763,32.6,9.9,432,4324,0.00,2.42,3.92,0.695,10500,0.000,0.073,2985,3536,855,962,748,0,0,0,0,0,0,15.18,14.37,13.89
$GC,4355,0.77,476.4,2985,3536,962,748,27.9,11.2,437,4363,0.00,2.42,0.00,0.000,1030,0.000,0.050,2995,2131,855,962,748,0,0,0,0,0,0,14.76,14.69,14.79
$STATE,4571,end climb,SURFACE_DEPTH_REACHED
$STATE,4571,begin surface coast
$FINISH,0.2,1.010948
$STATE,4602,end surface coast,CONTROL_FINISHED_OK
$STATE,4602,begin surface
$SM_CCo,4680,0.00,0.000,0,0,853,477.59
$SM_GC,1.18,6.45,0.25,0.00,0.043,0.060,0.000,171,2311,853,-7.92,-0.68,477.59,0,0,0,0,0,0,14.92,14.95,14.97
$IRIDIUM_FIX,2230.01,-15848.36,181021,120854
$TT8_MAMPS,0.02247,0.343791
$HUMID,54.01
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,13.79,209.159
$10V_AH,12.33,0.000
$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,16.000,51.375,482.225,0.000,0.000,32.895,65.737,136.909,0.250,0.000,33.130,1224.058,1679.049,472.872,1512.933,208.357,0.000,1106.754,0.000,1248.952,0.000,0.554,0.000
$DEVICE_MAMPS,428.400,104.805,1067.175,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.395,344.361,653.678,582.132,672.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,47231,482
$CAP_FILE_SIZE,74318,0
$CFSIZE,1023623168,938246144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,304.93,1
$GPS,181021,133312,2240.087,-15810.666,7,1.0,16,9.8,0.0,145.8,8,9.7