version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 984
start: 10 18 121 21 55 9
data:
$ID,626
$MISSION,3
$DIVE,984
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,181021,214753,2238.8413,-15812.2217,7,0.9,17,9.8,1.0,102.8,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.6
$GPS2,181021,215419,2238.8416,-15812.2549,7,1.2,18,9.8,0.0,315.7,8,9.5
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA2
$TGT_LATLONG,2244.750,-15800.750
$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,49.6,22492,-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,-116.8,125,2282,1286,1194,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,16386,0.000,0.000,124,2282,3241,3201,3281,0,0,0,0,0,0,15.17,28.83,15.18
$GC,85,-0.55,-116.8,124,2282,3202,3282,3.9,-7.1,9,101,8.62,2.38,-0.55,0.000,19204,0.435,0.069,2555,3689,3279,3250,3309,0,0,0,0,0,0,14.07,13.26,14.39
$GC,115,-0.55,-116.8,2555,3689,3254,3306,18.2,-41.6,13,124,0.03,2.47,0.00,0.000,3078,0.407,0.053,2564,2265,3280,3259,3301,0,0,0,0,0,0,14.43,14.64,14.53
$GC,377,-0.55,-116.8,2564,2260,3263,3296,59.7,-15.1,44,387,0.00,2.40,0.00,0.000,2308,0.000,0.069,2555,3665,3280,3264,3296,0,0,0,0,0,0,15.23,14.51,15.23
$GC,509,-0.55,-116.8,2555,3666,3263,3295,77.2,-13.3,56,517,0.05,2.38,0.00,0.000,3078,0.362,0.044,2574,2250,3280,3264,3296,0,0,0,0,0,0,14.58,14.81,14.81
$GC,760,-0.55,-116.8,2573,2247,3267,3294,106.5,-9.4,81,770,0.00,2.42,0.00,0.000,260,0.000,0.070,2565,3665,3280,3267,3294,0,0,0,0,0,0,15.23,14.61,15.25
$GC,867,-0.55,-116.8,2564,3665,3267,3295,116.1,-9.0,91,875,0.00,2.30,0.00,0.000,3078,0.000,0.043,2564,2264,3280,3267,3294,0,0,0,0,0,0,15.02,14.90,15.03
$GC,1115,-0.55,-116.8,2564,2263,3267,3295,142.6,-11.0,116,1125,0.00,2.33,0.00,0.000,2564,0.000,0.054,2564,865,3281,3268,3294,0,0,0,0,0,0,15.27,14.50,15.27
$GC,1220,-0.55,-116.8,2564,865,3268,3294,154.6,-11.0,126,1231,0.05,2.33,0.00,0.000,3078,0.300,0.054,2573,2257,3279,3268,3291,0,0,0,0,0,0,14.29,14.71,14.44
$GC,1471,-0.55,-116.8,2573,2258,3268,3291,178.6,-9.0,151,1480,0.00,2.33,0.00,0.000,516,0.000,0.050,2573,854,3280,3269,3292,0,0,0,0,0,0,15.26,14.66,15.26
$GC,1556,-0.55,-116.8,2573,854,3268,3292,185.8,-8.1,159,1568,0.00,2.40,0.00,0.000,3078,0.000,0.057,2564,2271,3279,3268,3291,0,0,0,0,0,0,14.50,14.44,14.54
$STATE,1733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1733,begin apogee
$GC,1741,-0.13,0.0,2564,2073,3269,3290,200.0,-7.6,177,1845,0.35,0.12,95.15,1.067,10246,0.211,0.109,2701,2163,2798,2864,2733,0,0,0,0,0,0,14.23,14.57,13.83
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1850,0.55,116.8,2701,2163,2864,2733,204.0,0.0,188,1957,0.52,2.50,97.78,1.063,10756,0.101,0.050,2951,713,2320,2400,2241,0,0,0,0,0,0,14.60,14.28,13.76
$GC,2212,0.57,154.8,2951,713,2389,2237,185.8,8.1,223,2250,0.05,2.35,31.38,1.055,13318,0.382,0.050,2935,2110,2166,2253,2080,0,0,0,0,0,0,14.57,14.83,13.97
$GC,2490,0.60,196.4,2935,2110,2252,2075,164.6,8.0,251,2531,0.00,2.47,34.15,1.026,10500,0.000,0.067,2934,3537,1998,2082,1914,0,0,0,0,0,0,15.21,14.76,14.01
$GC,2543,0.61,221.9,2935,3536,2082,1914,160.3,8.8,256,2571,0.00,2.35,21.90,0.992,9222,0.000,0.048,2944,2128,1894,1974,1814,0,0,0,0,0,0,14.88,14.78,13.96
$GC,2811,0.61,225.5,2944,2127,1974,1808,132.0,9.9,283,2819,0.00,0.00,3.90,0.756,8198,0.000,0.000,2944,2127,1878,1961,1796,0,0,0,0,0,0,15.19,14.69,13.89
$GC,3062,0.65,275.7,2944,2127,1961,1796,111.0,7.5,308,3110,0.00,2.45,41.17,0.978,10756,0.000,0.060,2956,709,1675,1763,1587,0,0,0,0,0,0,15.23,14.76,14.04
$GC,3135,0.66,305.6,2955,709,1759,1587,104.9,8.6,315,3168,0.00,2.38,25.20,0.941,11270,0.000,0.053,2955,2114,1552,1641,1464,0,0,0,0,0,0,14.69,14.67,13.98
$GC,3417,0.68,326.1,2955,2114,1641,1457,78.1,9.0,343,3440,0.00,2.45,17.12,0.911,10500,0.000,0.073,2955,3533,1468,1559,1378,0,0,0,0,0,0,15.19,14.78,14.07
$GC,3472,0.68,326.1,2955,3533,1559,1377,72.7,10.5,348,3480,0.00,2.40,0.00,0.000,1030,0.000,0.052,2966,2123,1468,1559,1377,0,0,0,0,0,0,14.91,14.80,14.94
$GC,3723,0.69,342.7,2965,2123,1559,1375,47.7,9.2,373,3743,0.00,2.42,14.50,0.871,10756,0.000,0.061,2976,713,1400,1494,1306,0,0,0,0,0,0,15.21,14.83,14.11
$GC,3790,0.69,344.2,2976,712,1490,1307,41.1,10.0,379,3798,0.00,2.42,0.00,0.000,5126,0.000,0.052,2977,2125,1398,1490,1306,0,0,0,0,0,0,14.95,14.81,14.97
$GC,4047,0.69,345.2,2976,2125,1490,1303,14.9,10.1,418,4054,0.00,2.45,0.00,0.000,4356,0.000,0.073,2976,3532,1396,1490,1303,0,0,0,0,0,0,15.19,14.74,15.20
$GC,4104,0.69,345.2,2976,3531,1490,1303,8.9,11.3,427,4112,0.05,2.40,0.00,0.000,5126,0.355,0.050,2969,2124,1396,1490,1303,0,0,0,0,0,0,14.58,14.79,14.82
$STATE,4157,end climb,SURFACE_DEPTH_REACHED
$STATE,4157,begin surface coast
$FINISH,0.2,1.000879
$STATE,4185,end surface coast,CONTROL_FINISHED_OK
$STATE,4185,begin surface
$SM_CCo,4203,15.57,0.187,0,0,1247,380.21
$SM_GC,1.00,6.43,0.25,15.57,0.048,0.065,0.187,167,2301,1247,-7.93,-0.93,380.21,0,0,0,0,0,0,14.95,14.94,14.58
$IRIDIUM_FIX,2230.01,-15850.54,181021,214952
$TT8_MAMPS,0.023219,0.29211
$HUMID,53.34
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,13.26,210.438
$10V_AH,12.51,0.000
$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,16.150,53.400,382.250,15.575,0.000,32.951,65.444,141.054,0.250,0.000,19.759,1136.230,1555.829,413.729,1325.455,205.171,0.000,952.589,0.000,1084.865,0.000,0.555,0.000
$DEVICE_MAMPS,434.520,108.630,1067.175,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.163,320.296,604.457,540.051,623.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,40664,441
$CAP_FILE_SIZE,71110,0
$CFSIZE,1023623168,937787392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.222,278.57,1
$GPS,181021,230649,2239.069,-15812.638,7,0.8,41,9.8,0.9,287.0,10,5.8