version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 982
start: 10 18 121 19 16 14
data:
$ID,626
$MISSION,3
$DIVE,982
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,181021,190918,2239.2529,-15811.3994,7,1.0,21,9.8,0.0,246.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.0
$GPS2,181021,191524,2239.2117,-15811.4463,6,1.0,20,9.8,0.5,288.8,8,10.0
$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,41.9,22295,-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,-116.8,123,2236,1305,1186,0.0,0.0,0,81,0.00,0.00,-61.90,0.000,16386,0.000,0.000,124,2236,3234,3196,3272,0,0,0,0,0,0,15.16,28.83,15.17
$GC,85,-0.55,-116.8,123,2236,3197,3272,3.9,-7.5,9,101,8.57,2.45,-0.65,0.000,18692,0.430,0.070,2552,3683,3279,3250,3309,0,0,0,0,0,0,14.02,13.23,14.32
$GC,153,-0.55,-116.8,2551,3683,3257,3302,24.2,-12.3,20,162,0.05,2.40,0.00,0.000,3078,0.348,0.046,2571,2264,3279,3261,3298,0,0,0,0,0,0,14.54,14.76,14.78
$GC,412,-0.55,-116.8,2571,2260,3266,3295,59.0,-13.7,49,421,0.00,2.40,0.00,0.000,2308,0.000,0.067,2563,3672,3280,3266,3295,0,0,0,0,0,0,15.23,14.42,15.23
$GC,534,-0.55,-116.8,2562,3672,3266,3295,74.1,-14.3,60,541,0.00,2.38,0.00,0.000,3078,0.000,0.042,2562,2250,3280,3266,3295,0,0,0,0,0,0,14.95,14.81,14.97
$GC,783,-0.55,-116.8,2562,2247,3267,3295,108.6,-12.1,85,791,0.00,2.30,0.00,0.000,2564,0.000,0.055,2562,859,3280,3267,3294,0,0,0,0,0,0,15.25,14.66,15.25
$GC,846,-0.55,-116.8,2562,859,3267,3294,115.7,-10.3,91,856,0.03,2.38,0.00,0.000,3078,0.387,0.055,2562,2263,3280,3268,3292,0,0,0,0,0,0,14.43,14.66,14.54
$GC,1098,-0.55,-116.8,2562,2263,3268,3292,141.2,-10.7,116,1106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2263,3280,3268,3292,0,0,0,0,0,0,15.25,15.25,15.24
$GC,1347,-0.55,-116.8,2562,2263,3268,3293,167.0,-9.7,141,1356,0.00,2.38,0.00,0.000,2564,0.000,0.052,2563,850,3280,3268,3293,0,0,0,0,0,0,15.27,14.46,15.28
$GC,1432,-0.55,-116.8,2563,850,3268,3293,174.8,-8.9,149,1441,0.05,2.38,0.00,0.000,3078,0.297,0.056,2573,2261,3279,3268,3291,0,0,0,0,0,0,14.35,14.64,14.52
$GC,1681,-0.55,-116.8,2573,2262,3269,3291,192.1,-6.4,174,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2262,3280,3269,3291,0,0,0,0,0,0,15.27,15.28,15.28
$STATE,1799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1799,begin apogee
$GC,1807,-0.13,0.0,2574,2077,3269,3290,200.5,-7.6,186,1911,0.32,0.08,95.60,1.077,10246,0.207,0.079,2703,2155,2798,2864,2732,0,0,0,0,0,0,14.26,14.31,13.76
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1915,0.55,116.8,2703,2155,2864,2732,205.8,0.0,197,2024,0.52,2.33,97.97,1.066,10500,0.105,0.060,2940,3512,2322,2403,2242,0,0,0,0,0,0,14.59,14.27,13.76
$GC,2102,0.56,129.1,2940,3512,2403,2241,202.0,9.5,215,2122,0.05,2.20,11.75,0.976,13318,0.345,0.044,2934,2166,2271,2356,2187,0,0,0,0,0,0,14.33,14.64,13.90
$GC,2363,0.58,175.2,2934,2166,2356,2183,179.5,7.7,241,2412,0.00,2.47,38.17,1.042,8708,0.000,0.057,2944,723,2082,2169,1995,0,0,0,0,0,0,15.19,14.67,13.97
$GC,2498,0.61,210.9,2943,723,2160,1994,168.2,8.3,254,2537,0.00,2.33,29.20,1.017,9222,0.000,0.052,2944,2105,1938,2019,1857,0,0,0,0,0,0,14.69,14.65,13.95
$GC,2778,0.61,218.3,2944,2105,2018,1851,141.5,9.7,282,2788,0.00,0.00,6.85,0.886,8710,0.000,0.000,2943,2106,1909,1990,1828,0,0,0,0,0,0,15.19,14.76,14.00
$GC,3032,0.63,247.4,2943,2105,1990,1826,117.5,8.6,307,3068,0.00,2.38,24.88,0.975,10500,0.000,0.069,2944,3529,1789,1873,1705,0,0,0,0,0,0,15.22,14.74,14.06
$GC,3093,0.64,266.4,2944,3530,1873,1705,111.7,9.1,313,3120,0.00,2.33,16.90,0.942,9222,0.000,0.049,2954,2127,1712,1799,1625,0,0,0,0,0,0,14.73,14.68,14.02
$GC,3362,0.64,274.2,2954,2127,1799,1619,86.5,9.7,340,3375,0.00,2.40,7.35,0.855,8708,0.000,0.061,2965,723,1680,1771,1590,0,0,0,0,0,0,15.20,14.81,14.02
$GC,3436,0.64,274.2,2965,723,1767,1591,79.1,10.4,347,3446,0.00,2.35,0.00,0.000,5126,0.000,0.054,2966,2117,1677,1766,1589,0,0,0,0,0,0,14.59,14.51,14.61
$GC,3688,0.64,274.2,2965,2118,1767,1588,55.1,10.4,372,3699,0.00,2.42,0.00,0.000,4356,0.000,0.073,2966,3536,1677,1767,1588,0,0,0,0,0,0,15.22,14.45,15.22
$GC,3715,0.64,274.2,2965,3536,1767,1588,52.0,10.9,374,3725,0.05,2.35,0.00,0.000,5126,0.292,0.050,2957,2123,1677,1767,1588,0,0,0,0,0,0,14.23,14.50,14.39
$GC,3967,0.64,274.2,2956,2121,1767,1588,24.0,11.9,403,3974,0.00,2.42,0.00,0.000,516,0.000,0.061,2967,712,1677,1767,1588,0,0,0,0,0,0,15.21,14.78,15.22
$GC,4011,0.64,274.2,2966,712,1766,1588,19.1,11.7,410,4018,0.00,2.47,0.00,0.000,5126,0.000,0.055,2967,2137,1677,1767,1587,0,0,0,0,0,0,14.95,14.80,14.97
$STATE,4168,end climb,SURFACE_DEPTH_REACHED
$STATE,4168,begin surface coast
$FINISH,0.3,1.023240
$STATE,4194,end surface coast,CONTROL_FINISHED_OK
$STATE,4195,begin surface
$SM_CCo,4213,44.75,0.188,0,0,1247,380.21
$SM_GC,1.04,6.40,0.20,44.75,0.047,0.086,0.188,176,2277,1247,-7.91,-0.93,380.21,0,0,0,0,0,0,14.90,14.91,14.54
$IRIDIUM_FIX,2230.01,-15812.78,181021,191101
$TT8_MAMPS,0.023219,0.294357
$HUMID,54.60
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,13.23,210.086
$10V_AH,12.46,0.000
$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,16.050,48.000,328.675,44.750,0.000,26.391,45.240,149.070,0.750,0.000,21.479,1139.862,1614.855,420.875,1273.883,206.997,0.000,930.595,0.000,1054.290,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,86.445,1077.120,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.876,319.892,608.291,543.580,634.396,0.000,0.000,0.000,0.000,0.000
$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,40617,444
$CAP_FILE_SIZE,70521,0
$CFSIZE,1023623168,937918464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.278,228.03,1
$GPS,181021,202831,2238.994,-15811.779,7,0.8,39,9.8,0.0,204.0,11,10.0