version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 986
start: 10 19 121 0 34 49
data:
$ID,626
$MISSION,3
$DIVE,986
$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,97
$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
$GPS1,191021,002711,2239.3811,-15812.7393,7,0.9,18,9.8,0.0,36.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.4
$GPS2,191021,003400,2239.3970,-15812.7666,6,1.0,46,9.8,0.2,286.1,6,4.6
$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,99.4,22794,-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,-116.8,124,2278,1309,1186,0.0,0.0,0,80,0.00,0.00,-60.75,0.000,16386,0.000,0.000,124,2279,3211,3172,3251,0,0,0,0,0,0,15.18,28.83,15.19
$GC,84,-0.55,-116.8,124,2278,3172,3251,3.9,-7.9,9,100,8.60,2.28,-1.05,0.000,18948,0.431,0.058,2576,903,3280,3251,3310,0,0,0,0,0,0,14.02,13.21,14.35
$GC,114,-0.55,-116.8,2576,902,3262,3300,17.5,-38.7,13,123,0.00,2.40,0.00,0.000,3078,0.000,0.054,2568,2268,3281,3266,3297,0,0,0,0,0,0,14.70,14.63,14.73
$GC,371,-0.55,-116.8,2568,2268,3266,3297,56.8,-14.1,44,381,0.00,2.28,0.00,0.000,2564,0.000,0.054,2568,917,3281,3266,3296,0,0,0,0,0,0,15.23,14.85,15.23
$GC,441,-0.55,-116.8,2568,917,3267,3296,65.9,-13.4,50,449,0.00,2.35,0.00,0.000,3078,0.000,0.057,2557,2261,3281,3268,3294,0,0,0,0,0,0,14.95,14.72,14.97
$GC,688,-0.55,-116.8,2558,2261,3268,3295,103.6,-15.4,75,698,0.00,2.25,0.00,0.000,2564,0.000,0.050,2558,917,3281,3268,3295,0,0,0,0,0,0,15.26,14.87,15.26
$GC,722,-0.55,-116.8,2558,917,3269,3295,108.3,-14.0,78,732,0.05,2.28,0.00,0.000,3078,0.309,0.057,2567,2267,3281,3268,3294,0,0,0,0,0,0,14.21,14.50,14.36
$GC,977,-0.55,-116.8,2567,2268,3268,3295,135.8,-9.7,103,986,0.00,2.22,0.00,0.000,2564,0.000,0.052,2567,923,3282,3269,3295,0,0,0,0,0,0,15.26,14.71,15.26
$GC,1013,-0.55,-116.8,2567,923,3269,3295,139.5,-9.5,106,1020,0.00,2.33,0.00,0.000,3078,0.000,0.057,2558,2259,3281,3269,3294,0,0,0,0,0,0,14.80,14.73,14.93
$GC,1263,-0.55,-116.8,2558,2259,3269,3294,161.4,-8.6,131,1272,0.00,2.22,0.00,0.000,2564,0.000,0.052,2559,920,3282,3270,3294,0,0,0,0,0,0,15.26,14.71,15.26
$GC,1327,-0.55,-116.8,2558,920,3270,3294,167.4,-8.9,137,1337,0.05,2.25,0.00,0.000,3078,0.298,0.057,2568,2266,3282,3270,3294,0,0,0,0,0,0,14.39,14.68,14.54
$GC,1577,-0.55,-116.8,2568,2266,3270,3294,188.4,-8.1,162,1587,0.00,2.25,0.00,0.000,2564,0.000,0.050,2569,919,3282,3270,3294,0,0,0,0,0,0,15.28,14.54,15.28
$GC,1643,-0.55,-116.8,2568,919,3270,3294,193.9,-8.6,168,1652,0.00,2.28,0.00,0.000,3078,0.000,0.056,2560,2267,3281,3270,3292,0,0,0,0,0,0,14.90,14.85,14.90
$STATE,1718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1719,begin apogee
$GC,1726,-0.13,0.0,2560,2129,3270,3292,200.5,-8.1,176,1825,0.38,0.00,94.90,1.074,10246,0.214,0.000,2706,2125,2799,2868,2730,0,0,0,0,0,0,14.41,14.57,13.81
$STATE,1826,end apogee,CONTROL_FINISHED_OK
$STATE,1826,begin climb
$GC,1829,0.55,116.8,2706,2126,2867,2731,204.1,0.0,186,1934,0.50,2.28,97.40,1.062,10756,0.114,0.050,2941,764,2322,2407,2237,0,0,0,0,0,0,14.58,14.55,13.81
$GC,2313,0.59,189.7,2940,763,2391,2235,176.2,6.3,234,2380,0.00,2.35,59.25,1.043,9222,0.000,0.052,2941,2121,2024,2110,1939,0,0,0,0,0,0,14.94,14.76,13.95
$GC,2623,0.61,217.4,2940,2120,2108,1933,150.1,8.7,265,2651,0.00,2.33,22.83,1.003,10756,0.000,0.056,2951,777,1911,1993,1829,0,0,0,0,0,0,15.19,14.78,14.03
$GC,2676,0.62,230.8,2951,776,1987,1829,145.0,9.4,270,2695,0.00,2.28,11.88,0.949,13318,0.000,0.057,2951,2128,1857,1939,1776,0,0,0,0,0,0,14.61,14.56,14.00
$GC,2936,0.62,230.8,2951,2128,1939,1772,118.1,10.3,296,2945,0.00,2.38,0.00,0.000,4356,0.000,0.069,2951,3535,1855,1939,1772,0,0,0,0,0,0,15.21,14.47,15.22
$GC,3020,0.62,230.8,2951,3535,1939,1772,108.8,10.7,304,3029,0.00,2.22,0.00,0.000,5126,0.000,0.047,2961,2188,1855,1939,1772,0,0,0,0,0,0,14.63,14.59,14.65
$GC,3274,0.64,270.5,2961,2188,1939,1772,85.9,8.1,329,3312,0.00,2.28,32.67,0.961,12548,0.000,0.066,2961,3535,1695,1784,1606,0,0,0,0,0,0,15.23,14.79,14.06
$GC,3349,0.65,286.1,2960,3535,1784,1606,79.2,9.3,336,3368,0.00,2.33,14.10,0.906,13318,0.000,0.049,2971,2179,1631,1723,1539,0,0,0,0,0,0,14.80,14.73,14.02
$GC,3609,0.67,315.0,2971,2180,1722,1534,56.7,8.6,362,3638,0.00,2.42,23.58,0.904,12804,0.000,0.061,2982,770,1513,1605,1421,0,0,0,0,0,0,15.20,14.79,14.09
$GC,3696,0.69,345.7,2982,769,1600,1421,49.4,8.5,370,3727,0.00,2.38,24.95,0.895,13318,0.000,0.057,2982,2142,1389,1483,1295,0,0,0,0,0,0,14.91,14.76,14.06
$GC,3977,0.69,349.1,2982,2141,1482,1290,21.9,9.9,404,3986,0.00,2.40,1.17,0.394,12548,0.000,0.070,2982,3535,1373,1471,1276,0,0,0,0,0,0,15.17,14.30,14.12
$GC,3999,0.69,349.1,2982,3535,1471,1276,19.5,10.9,407,4009,0.05,2.33,0.00,0.000,5126,0.285,0.051,2973,2190,1374,1471,1277,0,0,0,0,0,0,14.40,14.65,14.57
$STATE,4172,end climb,SURFACE_DEPTH_REACHED
$STATE,4172,begin surface coast
$FINISH,0.3,0.999205
$STATE,4201,end surface coast,CONTROL_FINISHED_OK
$STATE,4201,begin surface
$SM_CCo,4219,12.95,0.198,0,0,1247,380.21
$SM_GC,1.54,6.47,0.15,12.95,0.052,0.087,0.198,156,2319,1247,-7.95,-0.71,380.21,0,0,0,0,0,0,14.90,14.93,14.54
$IRIDIUM_FIX,2230.01,-15812.78,191021,002856
$TT8_MAMPS,0.023219,0.313082
$HUMID,54.60
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.21,210.800
$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,16.100,55.600,382.725,12.950,0.000,26.608,44.267,167.861,0.000,0.000,47.773,1144.847,1538.786,403.522,1374.234,210.386,0.000,958.071,0.000,1108.313,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,94.095,1074.060,198.135,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.378,316.441,608.135,547.575,640.003,0.000,0.000,0.000,0.000,0.000
$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,40745,443
$CAP_FILE_SIZE,73036,0
$CFSIZE,1023623168,937656320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183,324.07,1
$GPS,191021,014649,2239.644,-15812.653,7,1.1,47,9.8,0.8,302.0,7,5.6