version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 989
start: 10 19 121 4 43 20
data:
$ID,626
$MISSION,3
$DIVE,989
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,191021,043637,2239.9529,-15812.3877,7,0.9,18,9.8,0.0,210.1,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.9
$GPS2,191021,044229,2239.8943,-15812.4424,6,1.0,17,9.8,0.5,204.8,8,9.6
$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,67.0,21901,-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,-116.8,126,2286,1296,1190,0.0,0.0,0,73,0.00,0.00,-54.25,0.000,16386,0.000,0.000,125,2286,2946,2924,2969,0,0,0,0,0,0,15.16,28.83,15.18
$GC,78,-0.55,-116.8,125,2286,2926,2969,3.1,-5.2,8,101,8.60,2.38,-5.78,0.000,18692,0.433,0.083,2557,3677,3278,3262,3295,0,0,0,0,0,0,14.04,13.82,14.34
$GC,135,-0.55,-116.8,2556,3678,3265,3295,16.0,-10.6,17,143,0.05,2.38,0.00,0.000,3078,0.344,0.035,2577,2258,3279,3267,3291,0,0,0,0,0,0,14.57,14.76,14.79
$GC,397,-0.55,-116.8,2577,2257,3268,3290,52.5,-14.1,52,407,0.00,2.42,0.00,0.000,260,0.000,0.069,2568,3673,3279,3268,3290,0,0,0,0,0,0,15.22,14.49,15.23
$GC,452,-0.55,-116.8,2567,3674,3268,3290,59.0,-11.6,57,457,0.00,2.28,0.00,0.000,3078,0.000,0.037,2568,2272,3278,3267,3290,0,0,0,0,0,0,15.00,14.90,15.02
$GC,708,-0.55,-116.8,2567,2270,3268,3290,88.1,-11.3,82,718,0.00,2.40,0.00,0.000,2308,0.000,0.071,2557,3665,3279,3268,3290,0,0,0,0,0,0,15.23,14.42,15.23
$GC,724,-0.55,-116.8,2556,3665,3268,3290,89.4,-11.5,83,732,0.05,2.30,0.00,0.000,3078,0.327,0.042,2580,2260,3279,3268,3290,0,0,0,0,0,0,14.66,14.89,14.87
$GC,973,-0.55,-116.8,2580,2258,3268,3290,115.0,-10.2,108,984,0.00,2.42,0.00,0.000,4356,0.000,0.074,2571,3663,3279,3269,3290,0,0,0,0,0,0,15.25,14.40,15.25
$GC,1008,-0.55,-116.8,2571,3663,3268,3290,118.7,-10.3,111,1013,0.00,2.28,0.00,0.000,3078,0.000,0.036,2571,2256,3279,3269,3290,0,0,0,0,0,0,15.03,14.92,15.04
$GC,1264,-0.55,-116.8,2571,2252,3269,3290,145.2,-10.7,136,1274,0.00,2.42,0.00,0.000,2308,0.000,0.073,2560,3665,3279,3269,3290,0,0,0,0,0,0,15.25,14.46,15.26
$GC,1321,-0.55,-116.8,2560,3665,3269,3290,150.6,-9.6,141,1329,0.00,2.33,0.00,0.000,3078,0.000,0.034,2560,2259,3280,3270,3290,0,0,0,0,0,0,14.85,14.80,14.95
$GC,1573,-0.55,-116.8,2560,2259,3271,3289,175.8,-11.0,166,1581,0.00,2.45,0.00,0.000,2308,0.000,0.078,2550,3672,3279,3270,3289,0,0,0,0,0,0,15.26,14.57,15.26
$GC,1625,-0.55,-116.8,2549,3672,3271,3289,181.8,-10.4,171,1630,0.08,2.28,0.00,0.000,3078,0.241,0.034,2587,2250,3279,3270,3289,0,0,0,0,0,0,14.73,14.95,14.90
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1838,begin apogee
$GC,1845,-0.13,0.0,2587,2095,3271,3289,200.2,-8.5,192,1948,0.28,0.00,94.82,1.075,10246,0.156,0.000,2710,2092,2800,2868,2733,0,0,0,0,0,0,14.41,14.31,13.78
$STATE,1949,end apogee,CONTROL_FINISHED_OK
$STATE,1949,begin climb
$GC,1952,0.55,116.8,2711,2092,2867,2732,209.2,0.0,203,2059,0.45,2.28,98.03,1.070,10756,0.099,0.049,2933,755,2322,2403,2241,0,0,0,0,0,0,14.59,14.28,13.75
$GC,2139,0.64,259.1,2932,754,2394,2239,214.4,2.8,221,2266,0.00,2.30,115.10,1.076,11270,0.000,0.047,2933,2129,1742,1824,1660,0,0,0,0,0,0,14.86,14.75,13.83
$GC,2507,0.65,289.1,2932,2129,1823,1654,181.6,8.6,258,2538,0.00,2.42,25.35,1.030,10500,0.000,0.071,2933,3528,1619,1709,1530,0,0,0,0,0,0,15.18,14.76,14.00
$GC,2748,0.68,327.6,2932,3528,1709,1530,160.0,8.1,281,2788,0.00,2.28,32.65,1.027,11270,0.000,0.053,2943,2161,1462,1552,1372,0,0,0,0,0,0,14.78,14.78,14.02
$GC,3029,0.70,362.1,2943,2161,1552,1368,138.7,8.3,309,3069,0.05,2.50,28.73,1.003,10756,0.256,0.060,3077,715,1321,1412,1230,0,0,0,0,0,0,14.85,14.67,14.02
$GC,3286,0.70,362.1,3078,714,1405,1231,100.0,16.2,333,3293,0.30,2.40,0.00,0.000,5126,0.266,0.060,2973,2122,1317,1405,1230,0,0,0,0,0,0,14.49,14.83,14.78
$GC,3537,0.71,374.2,2973,2125,1405,1228,77.0,9.5,358,3552,0.00,2.40,10.45,0.903,8452,0.000,0.074,2973,3530,1272,1367,1178,0,0,0,0,0,0,15.22,14.83,14.07
$GC,3698,0.71,385.7,2973,3530,1367,1178,61.5,9.5,373,3719,0.00,2.33,10.90,0.881,13318,0.000,0.052,2982,2132,1225,1324,1126,0,0,0,0,0,0,14.65,14.64,14.08
$GC,3959,0.74,424.2,2982,2132,1325,1123,39.4,8.1,399,3998,0.00,2.42,30.73,0.896,10500,0.000,0.068,2982,3531,1067,1169,966,0,0,0,0,0,0,15.23,14.48,14.02
$GC,4015,0.74,428.3,2982,3531,1169,966,34.2,9.9,404,4025,0.00,2.42,4.85,0.741,13318,0.000,0.056,2992,2121,1051,1155,948,0,0,0,0,0,0,14.91,14.78,13.99
$GC,4282,0.74,428.3,2992,2120,1155,945,8.5,11.7,449,4290,0.00,2.50,0.00,0.000,4612,0.000,0.066,3003,708,1050,1155,945,0,0,0,0,0,0,15.16,14.69,15.16
$STATE,4330,end climb,SURFACE_DEPTH_REACHED
$STATE,4330,begin surface coast
$FINISH,0.4,1.023335
$STATE,4357,end surface coast,CONTROL_FINISHED_OK
$STATE,4357,begin surface
$SM_CCo,4438,0.00,0.000,0,0,1046,430.25
$SM_GC,1.08,6.43,2.70,0.00,0.036,0.059,0.000,151,2261,1046,-7.94,-0.96,430.25,0,0,0,0,0,0,14.96,14.81,15.00
$IRIDIUM_FIX,2230.01,-15812.78,191021,043822
$TT8_MAMPS,0.023219,0.291361
$HUMID,54.29
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,13.75,211.369
$10V_AH,11.21,0.000
$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,16.275,57.425,451.600,0.000,0.000,31.185,43.972,136.228,0.500,0.000,18.666,1177.819,1612.087,440.332,1375.115,210.753,0.000,1018.719,0.000,1164.926,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,84.915,1075.590,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.153,331.421,632.490,580.305,674.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,44155,462
$CAP_FILE_SIZE,72268,0
$CFSIZE,1023623168,937459712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.091,258.28,1
$GPS,191021,055831,2239.766,-15812.573,7,0.8,37,9.8,0.5,247.2,11,7.4