version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 980
start: 10 18 121 16 38 38
data:
$ID,626
$MISSION,3
$DIVE,980
$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,59
$R_STBD_OVSHOOT,27
$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
$GPS1,181021,163201,2239.4729,-15810.7578,7,0.9,40,9.8,0.5,167.2,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.8
$GPS2,181021,163748,2239.4392,-15810.8115,6,0.8,15,9.8,0.0,298.9,10,9.5
$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,32.1,21143,-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,-116.8,124,2233,1283,1148,0.0,0.0,0,82,0.00,0.00,-63.05,0.000,16386,0.000,0.000,124,2232,3250,3210,3291,0,0,0,0,0,0,15.17,28.83,15.18
$GC,86,-0.55,-116.8,124,2232,3213,3290,4.0,-8.3,9,102,8.55,2.28,-0.38,0.000,18948,0.430,0.062,2571,871,3279,3249,3309,0,0,0,0,0,0,14.05,13.26,14.35
$GC,136,-0.55,-116.8,2571,871,3263,3296,22.4,-21.2,17,143,0.00,2.42,0.00,0.000,3078,0.000,0.055,2562,2269,3280,3264,3296,0,0,0,0,0,0,14.91,14.75,14.93
$GC,394,-0.55,-116.8,2562,2270,3264,3295,60.0,-14.6,47,398,0.00,2.35,0.00,0.000,2564,0.000,0.054,2562,883,3279,3264,3295,0,0,0,0,0,0,15.23,14.83,15.23
$GC,430,-0.55,-116.8,2562,883,3266,3294,64.3,-12.6,50,438,0.05,2.42,0.00,0.000,3078,0.320,0.057,2571,2266,3280,3266,3294,0,0,0,0,0,0,14.43,14.70,14.59
$GC,682,-0.55,-116.8,2570,2266,3267,3294,92.3,-10.7,75,689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2570,2266,3280,3267,3294,0,0,0,0,0,0,15.24,15.24,15.24
$GC,928,-0.55,-116.8,2570,2266,3267,3294,118.4,-10.5,100,937,0.00,2.33,0.00,0.000,2564,0.000,0.053,2570,877,3280,3267,3294,0,0,0,0,0,0,15.27,14.48,15.27
$GC,1003,-0.55,-116.8,2570,878,3267,3294,126.1,-9.8,107,1012,0.00,2.33,0.00,0.000,3078,0.000,0.057,2562,2258,3279,3267,3292,0,0,0,0,0,0,14.71,14.66,14.74
$GC,1255,-0.55,-116.8,2561,2257,3267,3292,152.1,-9.6,132,1264,0.00,2.30,0.00,0.000,2564,0.000,0.053,2562,888,3280,3267,3293,0,0,0,0,0,0,15.26,14.52,15.26
$GC,1320,-0.55,-116.8,2561,888,3267,3293,158.2,-8.7,138,1330,0.05,2.33,0.00,0.000,3078,0.297,0.057,2571,2269,3278,3267,3290,0,0,0,0,0,0,14.28,14.68,14.42
$GC,1573,-0.55,-116.8,2571,2270,3268,3291,176.6,-7.0,163,1582,0.00,2.33,0.00,0.000,2564,0.000,0.052,2571,880,3279,3267,3291,0,0,0,0,0,0,15.26,14.67,15.26
$GC,1599,-0.55,-116.8,2571,880,3267,3291,178.5,-6.9,165,1609,0.00,2.42,0.00,0.000,3078,0.000,0.058,2562,2261,3278,3267,3290,0,0,0,0,0,0,14.71,14.64,14.74
$GC,1851,-0.55,-116.8,2562,2259,3267,3290,197.8,-8.4,190,1860,0.00,2.30,0.00,0.000,2564,0.000,0.053,2562,887,3278,3267,3290,0,0,0,0,0,0,15.26,14.69,15.26
$STATE,1871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1871,begin apogee
$GC,1881,-0.13,0.0,2554,2127,3268,3290,200.1,-8.4,192,1983,0.40,0.00,95.32,1.076,10246,0.221,0.000,2705,2128,2798,2865,2732,0,0,0,0,0,0,14.19,14.57,13.82
$STATE,1984,end apogee,CONTROL_FINISHED_OK
$STATE,1984,begin climb
$GC,1987,0.55,116.8,2705,2128,2865,2732,206.7,0.0,203,2095,0.52,2.42,97.75,1.071,10500,0.101,0.058,2941,3543,2325,2405,2245,0,0,0,0,0,0,14.51,14.25,13.74
$GC,2395,0.57,148.2,2940,3543,2405,2245,191.2,8.5,243,2429,0.05,2.28,27.23,1.043,13318,0.343,0.041,2936,2140,2194,2281,2108,0,0,0,0,0,0,14.23,14.57,13.98
$GC,2679,0.60,194.8,2935,2140,2281,2102,166.0,7.7,271,2728,0.00,2.40,38.05,1.043,10500,0.000,0.063,2936,3532,2003,2090,1917,0,0,0,0,0,0,15.21,14.70,14.00
$GC,2762,0.60,194.8,2935,3533,2090,1917,158.2,10.4,279,2772,0.00,2.30,0.00,0.000,1030,0.000,0.044,2944,2133,2003,2090,1916,0,0,0,0,0,0,14.65,14.66,14.66
$GC,3015,0.60,200.9,2944,2133,2090,1911,133.3,9.8,304,3028,0.00,2.40,6.10,0.874,12804,0.000,0.058,2955,719,1978,2064,1892,0,0,0,0,0,0,15.21,14.82,14.00
$GC,3061,0.61,214.9,2955,717,2058,1892,129.0,9.4,308,3080,0.00,2.40,12.50,0.967,13318,0.000,0.054,2955,2129,1920,2004,1837,0,0,0,0,0,0,14.97,14.82,14.04
$GC,3329,0.61,214.9,2955,2128,2003,1834,102.2,10.4,335,3338,0.00,2.38,0.00,0.000,4356,0.000,0.068,2956,3539,1918,2003,1834,0,0,0,0,0,0,15.23,14.67,15.23
$GC,3467,0.61,214.9,2955,3539,2003,1834,86.0,11.5,348,3476,0.05,2.35,0.00,0.000,5126,0.300,0.050,2948,2120,1918,2003,1834,0,0,0,0,0,0,14.23,14.52,14.40
$GC,3718,0.63,254.6,2948,2117,2002,1832,63.1,8.1,373,3757,0.00,2.45,31.02,0.937,10500,0.000,0.062,2948,3544,1763,1851,1675,0,0,0,0,0,0,15.23,14.50,14.02
$GC,3793,0.65,287.8,2948,3545,1851,1675,57.0,8.4,380,3832,0.00,2.35,28.00,0.914,9222,0.000,0.047,2958,2129,1624,1717,1532,0,0,0,0,0,0,14.57,14.54,13.94
$GC,4073,0.68,335.0,2958,2128,1717,1525,33.1,7.7,408,4119,0.00,2.45,36.85,0.887,10756,0.000,0.063,2969,710,1432,1526,1338,0,0,0,0,0,0,15.19,14.64,14.07
$GC,4162,0.69,340.3,2969,710,1522,1338,25.0,9.8,420,4170,0.00,2.45,2.05,0.422,9222,0.000,0.053,2969,2125,1410,1504,1317,0,0,0,0,0,0,14.86,14.74,12.95
$STATE,4381,end climb,SURFACE_DEPTH_REACHED
$STATE,4381,begin surface coast
$FINISH,0.2,1.010895
$STATE,4418,end surface coast,CONTROL_FINISHED_OK
$STATE,4418,begin surface
$SM_CCo,4437,16.80,0.190,0,0,1247,380.21
$SM_GC,0.85,6.45,0.22,16.80,0.051,0.077,0.190,161,2283,1247,-7.91,-0.88,380.21,0,0,0,0,0,0,14.91,14.89,14.56
$IRIDIUM_FIX,2230.01,-15810.61,181021,163343
$TT8_MAMPS,0.023219,0.343042
$HUMID,55.43
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,12.95,209.743
$10V_AH,12.56,0.000
$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,16.125,56.925,374.875,16.800,0.000,25.282,43.163,142.517,0.500,0.000,16.344,1193.619,1655.624,425.417,1347.722,208.761,0.000,983.309,0.000,1134.294,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,77.265,1075.590,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,309.126,336.429,636.774,574.316,667.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,44023,467
$CAP_FILE_SIZE,72215,0
$CFSIZE,1023623168,938049536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.209,225.74,1
$GPS,181021,175349,2239.402,-15811.041,7,1.0,17,9.8,0.0,222.3,8,9.7