version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 990
start: 10 19 121 6 6 47
data:
$ID,626
$MISSION,3
$DIVE,990
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,191021,055831,2239.7656,-15812.5732,7,0.8,37,9.8,0.5,247.2,11,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.3
$GPS2,191021,060558,2239.7263,-15812.6426,7,0.8,15,9.8,0.5,252.0,11,9.4
$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,60.7,22342,-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,-116.8,125,2273,1112,975,0.0,0.0,0,83,0.00,0.00,-63.17,0.000,16386,0.000,0.000,125,2273,3068,3036,3100,0,0,0,0,0,0,15.17,28.83,15.18
$GC,87,-0.55,-116.8,125,2273,3036,3100,3.3,-5.6,9,102,8.62,0.00,-3.47,0.000,18438,0.435,0.000,2562,2274,3278,3250,3306,0,0,0,0,0,0,14.07,13.26,14.38
$GC,357,-0.55,-116.8,2562,2274,3266,3294,52.9,-14.2,45,367,0.00,2.38,0.00,0.000,2308,0.000,0.069,2553,3669,3279,3265,3294,0,0,0,0,0,0,15.22,14.47,15.23
$GC,402,-0.55,-116.8,2553,3670,3265,3295,58.1,-11.5,49,412,0.05,2.30,0.00,0.000,3078,0.286,0.042,2572,2260,3280,3266,3294,0,0,0,0,0,0,14.21,14.50,14.35
$GC,653,-0.55,-116.8,2572,2258,3266,3294,86.7,-11.8,74,658,0.00,2.45,0.00,0.000,260,0.000,0.072,2563,3677,3280,3267,3293,0,0,0,0,0,0,15.23,14.80,15.23
$GC,676,-0.55,-116.8,2563,3677,3266,3294,89.5,-11.5,76,682,0.00,2.33,0.00,0.000,3078,0.000,0.042,2563,2260,3280,3267,3293,0,0,0,0,0,0,15.01,14.89,15.02
$GC,934,-0.55,-116.8,2563,2259,3267,3293,117.4,-9.7,101,942,0.00,2.33,0.00,0.000,2564,0.000,0.053,2563,853,3279,3267,3291,0,0,0,0,0,0,15.24,14.68,15.24
$GC,977,-0.55,-116.8,2563,853,3268,3292,121.9,-10.2,105,986,0.05,2.38,0.00,0.000,3078,0.300,0.054,2572,2270,3279,3268,3290,0,0,0,0,0,0,14.37,14.65,14.52
$GC,1226,-0.55,-116.8,2572,2270,3268,3290,145.8,-10.1,130,1231,0.00,2.38,0.00,0.000,516,0.000,0.052,2572,858,3279,3268,3290,0,0,0,0,0,0,15.26,14.86,15.27
$GC,1249,-0.55,-116.8,2572,859,3268,3290,148.3,-10.3,132,1254,0.00,2.38,0.00,0.000,3078,0.000,0.053,2563,2271,3279,3268,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1506,-0.55,-116.8,2563,2271,3269,3290,174.0,-9.9,157,1514,0.00,2.40,0.00,0.000,2308,0.000,0.079,2552,3675,3279,3268,3290,0,0,0,0,0,0,15.26,14.61,15.26
$STATE,1828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1838,-0.13,0.0,2552,2108,3269,3289,200.5,-7.9,189,1941,0.38,0.00,94.78,1.076,10246,0.164,0.000,2708,2106,2799,2866,2732,0,0,0,0,0,0,14.31,14.32,13.79
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1945,0.55,116.8,2708,2105,2866,2731,209.7,0.0,200,2052,0.50,2.38,97.85,1.069,10756,0.090,0.048,2954,711,2321,2402,2240,0,0,0,0,0,0,14.61,14.28,13.76
$GC,2408,0.62,229.0,2954,712,2390,2234,203.7,4.3,245,2507,0.00,2.35,90.20,1.080,13318,0.000,0.045,2954,2128,1865,1945,1785,0,0,0,0,0,0,14.75,14.70,13.88
$GC,2748,0.63,248.5,2954,2128,1945,1778,171.6,9.1,279,2770,0.00,2.40,16.52,1.008,8964,0.000,0.057,2965,716,1786,1869,1703,0,0,0,0,0,0,15.18,14.79,14.02
$GC,3284,0.65,277.7,2965,716,1858,1702,124.2,8.6,331,3314,0.00,2.38,24.80,0.995,13318,0.000,0.055,2965,2120,1665,1755,1576,0,0,0,0,0,0,15.00,14.86,14.07
$GC,3564,0.65,283.4,2964,2120,1754,1572,97.3,9.8,359,3575,0.00,2.42,5.78,0.836,12804,0.000,0.057,2975,725,1643,1736,1550,0,0,0,0,0,0,15.22,14.81,14.00
$GC,3902,0.66,297.9,2975,724,1730,1552,67.0,9.4,391,3922,0.00,2.42,13.12,0.902,13318,0.000,0.056,2975,2127,1582,1674,1490,0,0,0,0,0,0,14.96,14.81,14.07
$GC,4172,0.70,366.5,2975,2127,1674,1488,48.2,6.6,418,4233,0.00,2.42,54.03,0.907,8452,0.000,0.070,2975,3535,1304,1397,1212,0,0,0,0,0,0,15.22,14.69,14.04
$GC,4345,0.71,381.4,2975,3534,1397,1212,34.8,9.3,435,4364,0.00,2.35,13.07,0.847,13318,0.000,0.053,2986,2136,1243,1339,1147,0,0,0,0,0,0,14.92,14.78,14.06
$GC,4621,0.73,412.4,2985,2136,1338,1143,5.7,8.5,482,4643,0.00,2.47,13.07,0.203,8708,0.000,0.071,2997,720,1114,1207,1021,0,0,0,0,0,0,15.16,14.71,14.53
$STATE,4649,end climb,SURFACE_DEPTH_REACHED
$STATE,4649,begin surface coast
$FINISH,0.2,1.004119
$STATE,4679,end surface coast,CONTROL_FINISHED_OK
$STATE,4679,begin surface
$SM_CCo,4760,0.00,0.000,0,0,1110,414.55
$SM_GC,1.17,6.45,2.65,0.00,0.045,0.050,0.000,153,2262,1110,-7.90,-0.99,414.55,0,0,0,0,0,0,14.93,14.79,14.98
$IRIDIUM_FIX,2230.01,-15815.82,191021,060200
$TT8_MAMPS,0.02247,0.313831
$HUMID,54.37
$INTERNAL_PRESSURE,9.23826
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,13.26,211.562
$10V_AH,11.23,0.000
$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,16.050,48.125,423.225,0.000,0.000,68.031,50.681,131.334,0.500,0.000,16.364,1287.546,1754.940,397.154,1582.868,210.392,0.000,1024.977,0.000,1329.080,0.000,0.554,0.000
$DEVICE_MAMPS,434.520,78.795,1080.180,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,325.861,353.923,671.443,604.178,696.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,47394,491
$CAP_FILE_SIZE,74012,0
$CFSIZE,1023623168,937394176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.229,253.80,1
$GPS,191021,072659,2239.352,-15812.973,7,0.8,16,9.8,0.6,262.6,10,10.0