version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 992
start: 10 19 121 8 55 37
data:
$ID,626
$MISSION,3
$DIVE,992
$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,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
$GPS1,191021,084904,2239.3047,-15813.2842,7,0.8,31,9.8,0.0,317.6,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.3
$GPS2,191021,085447,2239.3181,-15813.3389,7,0.8,15,9.8,0.5,276.8,10,9.7
$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,51.7,23739,-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,16,-0.55,-116.8,128,2251,1271,1132,0.0,0.0,0,82,0.00,0.00,-63.08,0.000,16386,0.000,0.000,128,2251,3251,3213,3289,0,0,0,0,0,0,15.17,28.83,15.18
$GC,86,-0.55,-116.8,128,2251,3214,3289,4.2,-9.0,9,102,8.57,2.45,-0.38,0.000,18692,0.433,0.070,2552,3692,3279,3248,3310,0,0,0,0,0,0,14.04,13.26,14.38
$GC,154,-0.55,-116.8,2551,3693,3259,3302,24.7,-13.8,20,163,0.05,2.45,0.00,0.000,3078,0.299,0.044,2570,2258,3279,3261,3298,0,0,0,0,0,0,14.36,14.65,14.52
$GC,408,-0.55,-116.8,2570,2254,3265,3295,56.4,-13.4,48,418,0.00,2.42,0.00,0.000,2308,0.000,0.070,2561,3666,3280,3265,3295,0,0,0,0,0,0,15.23,14.41,15.23
$GC,434,-0.55,-116.8,2561,3666,3265,3296,59.9,-13.9,50,442,0.00,2.38,0.00,0.000,3078,0.000,0.044,2561,2255,3280,3265,3296,0,0,0,0,0,0,14.95,14.80,14.97
$GC,683,-0.55,-116.8,2561,2253,3266,3295,92.1,-11.6,75,692,0.00,2.45,0.00,0.000,2308,0.000,0.072,2551,3675,3280,3266,3294,0,0,0,0,0,0,15.25,14.60,15.25
$GC,718,-0.55,-116.8,2550,3675,3266,3295,95.9,-11.5,78,727,0.08,2.38,0.00,0.000,3078,0.277,0.039,2582,2240,3281,3267,3295,0,0,0,0,0,0,14.61,14.83,14.83
$GC,970,-0.55,-116.8,2582,2240,3267,3295,120.8,-10.2,103,979,0.00,2.47,0.00,0.000,4356,0.000,0.073,2573,3678,3281,3267,3295,0,0,0,0,0,0,15.24,14.59,15.24
$GC,1077,-0.55,-116.8,2572,3678,3267,3295,131.4,-9.8,113,1084,0.00,2.28,0.00,0.000,1030,0.000,0.034,2573,2256,3281,3268,3294,0,0,0,0,0,0,15.02,14.94,15.03
$GC,1327,-0.55,-116.8,2572,2256,3268,3293,157.4,-10.5,138,1336,0.00,2.28,0.00,0.000,516,0.000,0.052,2573,876,3281,3268,3294,0,0,0,0,0,0,15.24,14.52,15.25
$GC,1384,-0.55,-116.8,2573,876,3268,3294,163.1,-10.1,143,1392,0.00,2.35,0.00,0.000,3078,0.000,0.050,2562,2278,3280,3269,3291,0,0,0,0,0,0,15.00,14.86,15.02
$GC,1634,-0.55,-116.8,2562,2278,3269,3291,186.2,-9.3,168,1644,0.00,2.38,0.00,0.000,2308,0.000,0.079,2552,3661,3280,3269,3291,0,0,0,0,0,0,15.26,14.40,15.26
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1817,-0.13,0.0,2552,2121,3269,3290,200.7,-7.7,185,1921,0.38,0.00,95.28,1.076,10246,0.171,0.000,2707,2119,2798,2865,2731,0,0,0,0,0,0,14.46,14.28,13.76
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1925,0.55,116.8,2707,2119,2865,2731,209.1,0.0,196,2031,0.50,2.47,97.85,1.073,10500,0.104,0.058,2933,3536,2322,2406,2238,0,0,0,0,0,0,14.58,14.55,13.81
$GC,2220,0.62,239.3,2933,3536,2406,2239,210.6,3.8,225,2330,0.00,2.30,98.93,1.076,11270,0.000,0.043,2944,2136,1822,1902,1743,0,0,0,0,0,0,14.76,14.78,13.82
$GC,2571,0.64,273.5,2943,2136,1901,1737,181.3,8.3,260,2610,0.00,2.42,28.75,1.037,10756,0.000,0.057,2955,723,1682,1768,1596,0,0,0,0,0,0,15.18,14.70,14.00
$GC,3127,0.66,297.7,2954,723,1760,1593,136.9,8.9,314,3154,0.00,2.38,20.20,0.991,9222,0.000,0.057,2955,2122,1584,1676,1492,0,0,0,0,0,0,14.57,14.51,14.06
$GC,3395,0.68,331.1,2955,2123,1676,1489,111.5,8.4,341,3425,0.00,0.00,27.77,0.977,10758,0.000,0.000,2955,2122,1449,1542,1356,0,0,0,0,0,0,15.23,14.75,14.06
$GC,3664,0.74,422.6,2955,2122,1541,1352,93.3,5.4,368,3743,0.05,0.00,72.53,0.956,10502,0.257,0.000,3062,2123,1076,1169,983,0,0,0,0,0,0,14.86,14.63,13.97
$GC,3984,0.74,422.6,3063,2123,1169,977,54.7,13.4,400,3994,0.17,2.42,0.00,0.000,4612,0.251,0.061,2999,717,1072,1169,976,0,0,0,0,0,0,14.54,14.50,14.68
$GC,4019,0.74,422.6,2999,717,1165,976,50.9,11.5,403,4024,0.00,2.42,0.00,0.000,5126,0.000,0.057,2999,2135,1070,1165,975,0,0,0,0,0,0,14.95,14.81,14.97
$GC,4271,0.75,438.8,2999,2134,1165,974,29.1,9.3,428,4293,0.00,2.40,11.02,0.841,12548,0.000,0.071,3000,3533,1007,1111,904,0,0,0,0,0,0,15.21,14.65,14.12
$GC,4323,0.75,447.3,2999,3533,1111,904,24.2,9.7,436,4332,0.05,2.40,3.78,0.661,13318,0.346,0.051,2990,2127,974,1080,868,0,0,0,0,0,0,14.62,14.81,14.02
$STATE,4530,end climb,SURFACE_DEPTH_REACHED
$STATE,4530,begin surface coast
$FINISH,0.2,1.023363
$STATE,4562,end surface coast,CONTROL_FINISHED_OK
$STATE,4562,begin surface
$SM_CCo,4641,0.00,0.000,0,0,970,448.89
$SM_GC,1.17,6.47,0.25,0.00,0.050,0.063,0.000,169,2311,970,-7.90,-0.82,448.89,0,0,0,0,0,0,14.93,14.95,14.98
$IRIDIUM_FIX,2230.01,-15813.65,191021,085047
$TT8_MAMPS,0.02247,0.345289
$HUMID,54.37
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,13.26,211.954
$10V_AH,12.43,0.000
$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,16.325,48.275,456.100,0.000,0.000,25.900,43.547,137.546,0.500,0.000,16.359,1212.291,1720.417,457.036,1417.205,204.349,0.000,1043.810,0.000,1207.128,0.000,0.554,0.000
$DEVICE_MAMPS,432.990,78.795,1076.355,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.331,346.203,648.630,569.046,661.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,47533,479
$CAP_FILE_SIZE,70332,0
$CFSIZE,1023623168,937263104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,265.43,1
$GPS,191021,101401,2239.278,-15813.543,8,0.9,26,9.8,0.3,244.5,8,7.0