version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 981
start: 10 18 121 18 0 37
data:
$ID,626
$MISSION,3
$DIVE,981
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,181021,175349,2239.4021,-15811.0410,7,1.0,17,9.8,0.0,222.3,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.7
$GPS2,181021,175947,2239.3667,-15811.1123,6,1.0,18,9.8,0.0,243.4,8,9.4
$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,37.1,21658,-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,-116.8,121,2293,1286,1191,0.0,0.0,0,81,0.00,0.00,-61.83,0.000,16386,0.000,0.000,123,2294,3230,3188,3273,0,0,0,0,0,0,15.16,28.83,15.17
$GC,85,-0.55,-116.8,123,2294,3191,3272,4.0,-8.8,9,101,8.57,2.33,-0.68,0.000,19204,0.429,0.068,2557,3669,3279,3248,3310,0,0,0,0,0,0,14.03,13.25,14.34
$GC,115,-0.55,-116.8,2557,3669,3254,3307,18.9,-42.3,13,123,0.00,2.45,0.00,0.000,3078,0.000,0.052,2557,2262,3280,3259,3301,0,0,0,0,0,0,14.71,14.64,14.73
$GC,375,-0.55,-116.8,2557,2260,3264,3295,62.0,-14.1,43,380,0.05,2.40,0.00,0.000,2308,0.425,0.068,2564,3656,3280,3264,3296,0,0,0,0,0,0,14.66,14.79,14.83
$GC,517,-0.55,-116.8,2564,3656,3264,3296,78.0,-10.4,56,524,0.00,2.38,0.00,0.000,3078,0.000,0.043,2564,2241,3280,3264,3296,0,0,0,0,0,0,14.95,14.80,14.97
$GC,764,-0.55,-116.8,2563,2240,3267,3295,107.9,-11.7,81,768,0.00,2.33,0.00,0.000,2564,0.000,0.055,2564,849,3280,3267,3293,0,0,0,0,0,0,15.26,14.85,15.26
$GC,830,-0.55,-116.8,2563,850,3267,3294,115.3,-11.4,87,838,0.05,2.38,0.00,0.000,3078,0.380,0.055,2571,2254,3280,3268,3292,0,0,0,0,0,0,14.59,14.85,14.83
$GC,1080,-0.55,-116.8,2571,2255,3268,3293,141.3,-9.8,112,1090,0.00,2.35,0.00,0.000,2564,0.000,0.051,2572,854,3280,3268,3293,0,0,0,0,0,0,15.26,14.71,15.26
$GC,1124,-0.55,-116.8,2571,854,3268,3293,145.8,-9.7,116,1134,0.00,2.38,0.00,0.000,3078,0.000,0.057,2562,2258,3279,3268,3291,0,0,0,0,0,0,14.51,14.45,14.54
$GC,1376,-0.55,-116.8,2562,2258,3269,3292,168.7,-8.6,141,1380,0.00,2.38,0.00,0.000,2564,0.000,0.053,2562,852,3280,3269,3292,0,0,0,0,0,0,15.26,14.85,15.26
$GC,1420,-0.55,-116.8,2562,851,3269,3292,172.4,-8.2,145,1426,0.05,2.40,0.00,0.000,3078,0.371,0.057,2570,2267,3280,3269,3292,0,0,0,0,0,0,14.61,14.85,14.84
$GC,1674,-0.55,-116.8,2570,2269,3269,3291,191.0,-7.6,170,1683,0.00,2.38,0.00,0.000,2564,0.000,0.052,2570,857,3280,3269,3291,0,0,0,0,0,0,15.26,14.65,15.27
$GC,1731,-0.55,-116.8,2570,857,3269,3292,195.3,-8.0,175,1738,0.00,2.40,0.00,0.000,3078,0.000,0.057,2560,2267,3280,3269,3291,0,0,0,0,0,0,14.99,14.84,15.02
$STATE,1795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1795,begin apogee
$GC,1802,-0.13,0.0,2561,2073,3269,3290,200.8,-7.9,182,1908,0.38,0.12,95.35,1.081,10246,0.216,0.109,2707,2161,2798,2865,2732,0,0,0,0,0,0,14.38,14.57,13.82
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1912,0.55,116.8,2707,2161,2864,2733,205.3,0.0,193,2018,0.50,2.53,98.05,1.073,10756,0.095,0.050,2953,714,2321,2401,2241,0,0,0,0,0,0,14.62,14.54,13.80
$GC,2036,0.65,283.2,2953,713,2393,2242,208.5,1.5,205,2179,0.00,2.35,133.98,1.070,11270,0.000,0.051,2953,2094,1643,1729,1558,0,0,0,0,0,0,14.59,14.54,13.81
$GC,2429,0.65,283.2,2953,2094,1728,1553,162.9,11.8,244,2438,0.00,2.42,0.00,0.000,2308,0.000,0.070,2953,3525,1640,1728,1552,0,0,0,0,0,0,15.17,14.64,15.17
$GC,2465,0.65,283.2,2952,3526,1728,1552,158.7,12.1,247,2472,0.00,2.33,0.00,0.000,5126,0.000,0.050,2963,2129,1640,1728,1552,0,0,0,0,0,0,14.97,14.84,14.99
$GC,2715,0.65,283.2,2963,2129,1728,1552,130.0,10.6,272,2725,0.00,2.38,0.00,0.000,4612,0.000,0.063,2974,718,1640,1728,1552,0,0,0,0,0,0,15.22,14.57,15.22
$GC,2752,0.65,283.2,2974,718,1727,1551,126.3,10.3,275,2760,0.05,2.40,0.00,0.000,5126,0.356,0.056,2955,2133,1639,1727,1551,0,0,0,0,0,0,14.63,14.87,14.86
$GC,3002,0.68,328.4,2955,2134,1727,1550,104.6,7.8,300,3051,0.00,2.42,36.97,0.985,10500,0.000,0.070,2955,3534,1460,1552,1368,0,0,0,0,0,0,15.24,14.60,14.01
$GC,3097,0.69,342.8,2955,3534,1551,1367,96.6,9.4,309,3117,0.00,2.35,13.35,0.921,11270,0.000,0.050,2965,2128,1400,1494,1306,0,0,0,0,0,0,14.70,14.64,14.00
$GC,3357,0.69,347.7,2964,2128,1494,1302,69.6,9.8,335,3368,0.00,2.45,5.00,0.786,10756,0.000,0.063,2975,707,1380,1477,1284,0,0,0,0,0,0,15.20,14.78,14.00
$GC,3447,0.69,347.7,2975,706,1473,1284,59.7,12.4,343,3456,0.00,2.40,0.00,0.000,5126,0.000,0.054,2976,2124,1378,1473,1284,0,0,0,0,0,0,14.57,14.50,14.59
$GC,3698,0.69,347.7,2975,2124,1473,1283,34.9,10.4,368,3709,0.00,2.42,0.00,0.000,4612,0.000,0.063,2986,716,1378,1472,1284,0,0,0,0,0,0,15.21,14.45,15.21
$GC,3726,0.69,349.1,2986,716,1473,1284,32.0,10.0,370,3735,0.05,2.45,0.00,0.000,5126,0.351,0.054,2967,2134,1378,1473,1283,0,0,0,0,0,0,14.60,14.81,14.83
$GC,3991,0.71,377.9,2967,2135,1473,1282,6.0,8.6,418,4014,0.00,2.40,12.82,0.211,10500,0.000,0.062,2966,3532,1256,1351,1161,0,0,0,0,0,0,15.19,14.45,14.50
$STATE,4020,end climb,SURFACE_DEPTH_REACHED
$STATE,4020,begin surface coast
$FINISH,1.0,1.023239
$STATE,4039,end surface coast,CONTROL_FINISHED_OK
$STATE,4039,begin surface
$SM_CCo,4059,0.38,0.533,0,0,1248,380.21
$SM_GC,1.87,6.30,2.10,0.38,0.034,0.034,0.533,173,2243,1248,-7.89,0.99,380.21,0,0,0,0,0,0,14.90,14.90,14.53
$IRIDIUM_FIX,2230.01,-15810.61,181021,175537
$TT8_MAMPS,0.023219,0.288365
$HUMID,54.05
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,13.25,209.921
$10V_AH,12.63,0.000
$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,16.000,62.300,395.525,0.375,0.000,32.124,44.067,136.451,0.750,0.000,19.255,1084.906,1488.235,423.088,1247.274,204.649,0.000,945.866,0.000,1030.673,0.000,0.554,0.000
$DEVICE_MAMPS,429.165,108.630,1080.945,533.205,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,280.397,309.100,581.861,524.872,610.829,0.000,0.000,0.000,0.000,0.000
$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,40602,425
$CAP_FILE_SIZE,69216,0
$CFSIZE,1023623168,937984000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.267,233.20,1
$GPS,181021,190918,2239.253,-15811.399,7,1.0,21,9.8,0.0,246.0,8,9.7