version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 978
start: 10 18 121 13 43 54
data:
$ID,626
$MISSION,3
$DIVE,978
$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,60
$R_STBD_OVSHOOT,67
$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
$GPS1,181021,133312,2240.0869,-15810.6660,7,1.0,16,9.8,0.0,145.8,8,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.7
$GPS2,181021,134301,2240.0715,-15810.6963,6,1.0,17,9.8,0.5,89.7,8,9.4
$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,70.9,20421,-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,-116.8,122,2236,918,780,0.0,0.0,0,87,0.00,0.00,-67.85,0.000,16386,0.000,0.000,122,2231,3041,3012,3070,0,0,0,0,0,0,15.16,28.83,15.18
$GC,91,-0.55,-116.8,122,2230,3013,3071,3.5,-7.0,10,107,8.52,0.00,-3.95,0.000,18950,0.426,0.000,2564,2229,3279,3253,3305,0,0,0,0,0,0,14.02,13.26,14.33
$GC,357,-0.55,-116.8,2564,2229,3266,3295,53.2,-16.1,46,367,0.00,2.38,0.00,0.000,2308,0.000,0.067,2555,3629,3280,3265,3295,0,0,0,0,0,0,15.23,14.44,15.23
$GC,432,-0.55,-116.8,2555,3629,3266,3295,63.2,-12.2,53,437,0.05,2.17,0.00,0.000,3078,0.360,0.037,2574,2284,3280,3265,3295,0,0,0,0,0,0,14.62,14.90,14.85
$GC,688,-0.55,-116.8,2574,2281,3267,3294,92.3,-10.7,78,698,0.00,2.30,0.00,0.000,260,0.000,0.072,2565,3631,3280,3266,3294,0,0,0,0,0,0,15.24,14.72,15.25
$GC,752,-0.55,-116.8,2565,3631,3267,3294,99.0,-9.6,84,762,0.00,2.17,0.00,0.000,3078,0.000,0.034,2565,2264,3280,3267,3293,0,0,0,0,0,0,14.66,14.62,14.66
$GC,1005,-0.55,-116.8,2565,2262,3267,3293,125.3,-10.6,109,1010,0.00,2.35,0.00,0.000,2308,0.000,0.071,2555,3635,3279,3267,3292,0,0,0,0,0,0,15.25,14.81,15.25
$GC,1059,-0.55,-116.8,2555,3635,3267,3293,130.8,-9.3,114,1070,0.05,2.20,0.00,0.000,3078,0.330,0.033,2577,2256,3280,3268,3292,0,0,0,0,0,0,14.69,14.95,14.79
$GC,1310,-0.55,-116.8,2577,2255,3267,3291,152.9,-9.1,139,1314,0.00,2.38,0.00,0.000,260,0.000,0.074,2569,3635,3279,3267,3291,0,0,0,0,0,0,15.26,14.81,15.27
$GC,1323,-0.55,-116.8,2568,3635,3268,3291,154.0,-9.1,140,1332,0.00,2.20,0.00,0.000,3078,0.000,0.037,2569,2274,3279,3267,3291,0,0,0,0,0,0,15.04,14.94,15.05
$GC,1576,-0.55,-116.8,2568,2271,3268,3290,179.5,-9.3,165,1583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2568,2271,3279,3268,3291,0,0,0,0,0,0,15.26,15.26,15.27
$GC,1825,-0.55,-116.8,2568,2270,3268,3289,198.8,-7.4,190,1833,0.00,2.35,0.00,0.000,2308,0.000,0.077,2558,3632,3278,3267,3290,0,0,0,0,0,0,15.27,14.62,15.28
$STATE,1844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1844,begin apogee
$GC,1854,-0.13,0.0,2558,2121,3268,3289,200.5,-7.2,192,1956,0.38,0.00,95.12,1.069,10246,0.185,0.000,2709,2117,2798,2865,2732,0,0,0,0,0,0,14.29,14.34,13.81
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1960,0.55,116.8,2708,2118,2865,2732,207.6,0.0,203,2067,0.50,0.00,97.65,1.064,10502,0.097,0.000,2940,2117,2322,2405,2239,0,0,0,0,0,0,14.60,14.25,13.80
$GC,2308,0.61,217.3,2940,2117,2405,2234,202.7,4.9,238,2397,0.00,2.38,81.05,1.063,10756,0.000,0.050,2953,725,1911,1993,1829,0,0,0,0,0,0,15.18,14.35,13.85
$GC,2545,0.61,220.4,2952,724,1979,1829,181.0,9.9,261,2553,0.00,2.38,0.00,0.000,5126,0.000,0.054,2952,2084,1903,1979,1828,0,0,0,0,0,0,14.79,14.71,14.82
$GC,2795,0.62,241.6,2952,2084,1979,1827,158.3,9.0,286,2822,0.00,2.47,19.73,1.004,8452,0.000,0.070,2953,3539,1813,1897,1730,0,0,0,0,0,0,15.21,14.53,14.00
$GC,2989,0.62,241.6,2952,3539,1897,1730,134.9,12.8,305,2998,0.00,2.33,0.00,0.000,5126,0.000,0.053,2962,2140,1813,1897,1730,0,0,0,0,0,0,14.74,14.69,14.77
$GC,3241,0.66,297.3,2963,2141,1897,1729,112.0,7.2,330,3289,0.00,0.00,45.92,0.981,8710,0.000,0.000,2963,2141,1586,1680,1493,0,0,0,0,0,0,15.23,14.71,14.04
$GC,3530,0.71,381.6,2963,2141,1680,1488,92.8,5.7,359,3607,0.00,2.45,66.38,0.952,10756,0.000,0.063,2974,710,1242,1335,1149,0,0,0,0,0,0,15.20,14.46,13.97
$GC,3705,0.73,416.6,2974,710,1327,1148,80.3,8.3,376,3742,0.00,2.47,28.15,0.923,11270,0.000,0.058,2974,2133,1100,1199,1001,0,0,0,0,0,0,14.89,14.74,14.03
$GC,3983,0.76,469.6,2974,2133,1198,997,58.1,7.4,404,4032,0.00,2.47,41.10,0.913,10756,0.000,0.058,2985,707,883,985,781,0,0,0,0,0,0,15.19,14.44,13.99
$GC,4101,0.76,469.6,2985,707,978,782,47.3,10.9,415,4109,0.00,2.45,0.00,0.000,3078,0.000,0.056,2985,2124,879,978,781,0,0,0,0,0,0,14.90,14.75,14.91
$GC,4352,0.78,487.7,2986,2124,978,780,26.9,9.2,443,4368,0.00,2.45,7.90,0.797,10756,0.000,0.062,2996,710,808,914,702,0,0,0,0,0,0,15.19,14.48,14.03
$GC,4393,0.78,500.5,2995,710,910,703,23.0,9.4,449,4408,0.00,2.45,5.45,0.723,11270,0.000,0.056,2996,2126,756,862,650,0,0,0,0,0,0,14.95,14.81,14.02
$STATE,4570,end climb,SURFACE_DEPTH_REACHED
$STATE,4571,begin surface coast
$FINISH,0.2,0.999061
$STATE,4592,end surface coast,CONTROL_FINISHED_OK
$STATE,4592,begin surface
$SM_CCo,4671,0.00,0.000,0,0,753,502.12
$SM_GC,1.24,6.45,0.22,0.00,0.043,0.068,0.000,162,2308,753,-7.91,-0.79,502.12,0,0,0,0,0,0,14.95,14.96,15.00
$IRIDIUM_FIX,2230.01,-15810.61,181021,133839
$TT8_MAMPS,0.023219,0.340795
$HUMID,54.09
$INTERNAL_PRESSURE,9.23826
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.26,209.375
$10V_AH,12.65,0.000
$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,15.950,47.600,488.450,0.000,0.000,57.209,102.920,197.204,0.000,0.000,18.876,1208.985,1835.440,477.481,1555.803,210.439,0.000,1066.197,0.000,1167.894,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,127.755,1068.705,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,319.625,350.677,662.387,591.198,679.366,0.000,0.000,0.000,0.000,0.000
$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,47312,485
$CAP_FILE_SIZE,72869,0
$CFSIZE,1023623168,938180608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,218.30,1
$GPS,181021,150301,2239.892,-15810.605,7,0.9,40,9.8,0.7,175.8,9,6.9