version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 979
start: 10 18 121 15 9 49
data:
$ID,626
$MISSION,3
$DIVE,979
$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,70
$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
$GPS1,181021,150301,2239.8921,-15810.6055,7,0.9,40,9.8,0.7,175.8,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.7
$GPS2,181021,150859,2239.8613,-15810.6328,7,0.9,20,9.8,0.6,212.4,9,8.6
$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,44.3,20503,-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,-116.8,124,2218,820,680,0.0,0.0,0,88,0.00,0.00,-68.50,0.000,16386,0.000,0.000,124,2218,2948,2921,2976,0,0,0,0,0,0,15.18,28.83,15.19
$GC,92,-0.55,-116.8,124,2218,2927,2971,3.2,-6.1,10,115,8.55,2.40,-5.80,0.000,18692,0.428,0.074,2557,3639,3277,3256,3298,0,0,0,0,0,0,14.04,13.84,14.35
$GC,149,-0.55,-116.8,2556,3640,3259,3295,17.5,-14.4,19,157,0.00,2.28,0.00,0.000,3078,0.000,0.041,2557,2300,3277,3261,3293,0,0,0,0,0,0,14.78,14.71,14.82
$GC,405,-0.55,-116.8,2557,2296,3264,3291,54.2,-14.5,52,410,0.05,2.28,0.00,0.000,2308,0.416,0.066,2566,3633,3277,3264,3290,0,0,0,0,0,0,14.69,14.80,14.85
$GC,431,-0.55,-116.8,2565,3633,3264,3291,57.6,-14.3,54,439,0.00,2.33,0.00,0.000,3078,0.000,0.041,2565,2258,3277,3264,3290,0,0,0,0,0,0,14.83,14.76,14.94
$GC,679,-0.55,-116.8,2565,2256,3264,3290,88.1,-11.2,79,688,0.00,2.35,0.00,0.000,2308,0.000,0.071,2555,3632,3277,3265,3290,0,0,0,0,0,0,15.26,14.62,15.26
$GC,732,-0.55,-116.8,2555,3632,3264,3290,93.8,-10.4,84,738,0.05,2.22,0.00,0.000,3078,0.358,0.038,2575,2260,3277,3264,3290,0,0,0,0,0,0,14.64,14.92,14.87
$GC,989,-0.55,-116.8,2574,2257,3265,3290,120.5,-10.5,109,998,0.00,2.33,0.00,0.000,260,0.000,0.074,2565,3631,3277,3264,3290,0,0,0,0,0,0,15.26,14.61,15.26
$GC,1103,-0.55,-116.8,2565,3630,3265,3290,131.9,-9.1,120,1107,0.00,2.20,0.00,0.000,3078,0.000,0.036,2565,2263,3277,3265,3290,0,0,0,0,0,0,15.04,14.94,15.05
$GC,1360,-0.55,-116.8,2565,2260,3266,3290,155.6,-9.3,145,1369,0.00,2.35,0.00,0.000,2308,0.000,0.073,2555,3632,3277,3266,3289,0,0,0,0,0,0,15.26,14.62,15.26
$GC,1425,-0.55,-116.8,2554,3632,3266,3289,161.7,-9.0,151,1433,0.05,2.22,0.00,0.000,3078,0.297,0.034,2582,2243,3278,3267,3289,0,0,0,0,0,0,14.73,14.95,14.91
$GC,1673,-0.55,-116.8,2582,2243,3267,3289,181.3,-7.2,176,1674,0.00,0.00,0.00,0.000,4102,0.000,0.000,2582,2243,3277,3267,3288,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1913,-0.55,-116.8,2582,2243,3266,3288,197.9,-6.4,200,1917,0.00,2.28,0.00,0.000,4612,0.000,0.047,2582,865,3277,3267,3288,0,0,0,0,0,0,15.28,14.89,15.28
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1943,begin apogee
$GC,1953,-0.13,0.0,2576,2090,3266,3287,200.2,-6.6,203,2056,0.32,0.00,94.45,1.074,10246,0.171,0.000,2713,2091,2799,2865,2733,0,0,0,0,0,0,14.54,14.28,13.77
$STATE,2057,end apogee,CONTROL_FINISHED_OK
$STATE,2057,begin climb
$GC,2060,0.55,116.8,2713,2092,2864,2733,206.8,0.0,214,2165,0.47,0.00,98.45,1.069,10758,0.070,0.000,2960,2091,2321,2402,2240,0,0,0,0,0,0,14.58,14.52,13.81
$GC,2406,0.61,211.7,2960,2091,2402,2234,199.7,5.2,249,2489,0.05,2.33,76.25,1.066,12804,0.404,0.052,2952,736,1935,2017,1854,0,0,0,0,0,0,14.66,14.40,13.88
$GC,2998,0.63,247.4,2952,736,2001,1850,152.7,8.3,307,3036,0.00,2.35,28.60,1.022,9222,0.000,0.055,2953,2123,1790,1875,1706,0,0,0,0,0,0,14.98,14.87,14.01
$GC,3280,0.64,272.9,2952,2124,1875,1702,127.1,8.8,335,3307,0.00,2.40,21.95,0.983,8708,0.000,0.054,2963,734,1685,1773,1597,0,0,0,0,0,0,15.21,14.81,14.06
$GC,3803,0.71,379.0,2963,733,1767,1596,91.6,4.6,386,3894,0.00,2.40,83.40,0.964,11270,0.000,0.052,2964,2134,1252,1341,1163,0,0,0,0,0,0,14.97,14.83,13.96
$GC,4144,0.71,379.0,2963,2134,1341,1158,64.8,10.5,420,4153,0.00,2.38,0.00,0.000,2564,0.000,0.058,2974,743,1248,1340,1157,0,0,0,0,0,0,15.18,14.54,15.18
$GC,4283,0.71,379.0,2974,742,1338,1157,51.1,10.4,433,4288,0.00,2.35,0.00,0.000,1030,0.000,0.054,2974,2127,1247,1338,1157,0,0,0,0,0,0,14.96,14.83,14.99
$GC,4535,0.71,386.8,2974,2127,1338,1156,27.1,9.7,460,4544,0.00,2.42,2.95,0.607,10500,0.000,0.070,2974,3536,1220,1315,1125,0,0,0,0,0,0,15.22,14.74,13.93
$GC,4563,0.71,386.8,2974,3536,1315,1125,23.7,11.8,464,4572,0.00,2.38,0.00,0.000,5126,0.000,0.048,2983,2155,1220,1315,1125,0,0,0,0,0,0,14.98,14.79,15.00
$STATE,4751,end climb,SURFACE_DEPTH_REACHED
$STATE,4751,begin surface coast
$FINISH,0.4,1.023486
$STATE,4778,end surface coast,CONTROL_FINISHED_OK
$STATE,4778,begin surface
$SM_CCo,4856,0.00,0.000,0,0,1218,387.81
$SM_GC,1.35,6.40,0.20,0.00,0.039,0.069,0.000,153,2355,1218,-7.91,-0.76,387.81,0,0,0,0,0,0,14.95,14.97,15.00
$IRIDIUM_FIX,2230.01,-15810.61,181021,150444
$TT8_MAMPS,0.02247,0.342293
$HUMID,54.80
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.77,209.566
$10V_AH,12.40,0.000
$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,15.950,46.575,406.050,0.000,0.000,26.453,44.340,140.093,0.000,0.000,21.431,1302.522,1803.719,418.992,1513.608,201.429,0.000,1016.285,0.000,1288.602,0.000,0.554,0.000
$DEVICE_MAMPS,428.400,131.580,1074.060,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,333.669,363.803,682.198,596.722,691.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339084
$DATA_FILE_SIZE,47367,503
$CAP_FILE_SIZE,73316,0
$CFSIZE,1023623168,938115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183,217.16,1
$GPS,181021,163201,2239.473,-15810.758,7,0.9,40,9.8,0.5,167.2,9,5.6