version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 993
start: 10 19 121 10 20 55
data:
$ID,626
$MISSION,3
$DIVE,993
$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,30
$R_STBD_OVSHOOT,71
$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
$GPS1,191021,101401,2239.2783,-15813.5430,8,0.9,26,9.8,0.3,244.5,8,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.4
$GPS2,191021,102004,2239.2979,-15813.5898,6,0.9,19,9.8,0.0,288.4,8,9.5
$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,69.3,24144,-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,-116.8,124,2204,1034,899,0.0,0.0,0,87,0.00,0.00,-67.88,0.000,16386,0.000,0.000,124,2201,3156,3122,3190,0,0,0,0,0,0,15.17,28.83,15.17
$GC,91,-0.55,-116.8,123,2201,3122,3191,3.9,-7.6,10,107,8.57,2.45,-1.95,0.000,18692,0.429,0.072,2552,3639,3280,3253,3307,0,0,0,0,0,0,14.03,13.24,14.36
$GC,131,-0.55,-116.8,2552,3639,3262,3302,18.6,-29.4,16,140,0.08,2.38,0.00,0.000,3078,0.278,0.048,2582,2264,3281,3265,3298,0,0,0,0,0,0,14.58,14.72,14.80
$GC,394,-0.55,-116.8,2582,2262,3267,3295,53.5,-13.3,48,399,0.00,2.35,0.00,0.000,4356,0.000,0.068,2574,3632,3281,3267,3295,0,0,0,0,0,0,15.22,14.81,15.22
$GC,438,-0.55,-116.8,2574,3632,3267,3295,59.0,-12.4,52,444,0.00,2.25,0.00,0.000,1030,0.000,0.040,2574,2256,3281,3267,3295,0,0,0,0,0,0,14.99,14.90,15.01
$GC,695,-0.55,-116.8,2573,2252,3268,3295,93.7,-13.1,77,704,0.00,2.35,0.00,0.000,260,0.000,0.070,2564,3628,3281,3268,3295,0,0,0,0,0,0,15.23,14.62,15.23
$GC,748,-0.55,-116.8,2563,3628,3268,3295,100.2,-11.5,82,753,0.00,2.22,0.00,0.000,3078,0.000,0.041,2563,2262,3281,3267,3295,0,0,0,0,0,0,15.01,14.90,15.03
$GC,1005,-0.55,-116.8,2563,2259,3268,3295,130.0,-11.6,107,1013,0.00,2.35,0.00,0.000,2308,0.000,0.070,2553,3632,3281,3267,3295,0,0,0,0,0,0,15.24,14.62,15.24
$GC,1037,-0.55,-116.8,2553,3632,3268,3295,134.0,-11.4,110,1042,0.05,2.22,0.00,0.000,3078,0.336,0.037,2575,2256,3281,3267,3295,0,0,0,0,0,0,14.66,14.92,14.88
$GC,1291,-0.55,-116.8,2574,2253,3268,3295,160.2,-9.8,135,1301,0.00,2.38,0.00,0.000,260,0.000,0.071,2566,3628,3281,3268,3294,0,0,0,0,0,0,15.26,14.63,15.27
$GC,1337,-0.55,-116.8,2565,3628,3268,3295,164.2,-9.1,139,1344,0.00,2.20,0.00,0.000,3078,0.000,0.033,2565,2255,3281,3269,3294,0,0,0,0,0,0,15.03,14.95,15.04
$GC,1587,-0.55,-116.8,2565,2254,3269,3294,186.5,-8.6,164,1592,0.00,2.38,0.00,0.000,2308,0.000,0.071,2555,3635,3281,3269,3293,0,0,0,0,0,0,15.26,14.81,15.26
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1769,begin apogee
$GC,1779,-0.13,0.0,2555,2120,3270,3293,200.5,-7.2,182,1882,0.30,0.00,95.10,1.069,10246,0.113,0.000,2701,2119,2799,2867,2731,0,0,0,0,0,0,14.64,14.28,13.76
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1886,0.55,116.8,2701,2119,2866,2731,209.4,0.0,193,1992,0.52,2.42,97.88,1.062,10756,0.100,0.051,2953,719,2322,2406,2238,0,0,0,0,0,0,14.59,14.55,13.81
$GC,2151,0.65,276.5,2952,718,2393,2236,217.8,1.9,219,2291,0.00,2.30,128.30,1.072,9222,0.000,0.047,2953,2099,1670,1755,1586,0,0,0,0,0,0,14.73,14.75,13.81
$GC,2533,0.65,290.3,2952,2099,1755,1580,182.3,9.4,257,2553,0.00,2.42,12.05,0.978,10500,0.000,0.059,2953,3536,1615,1705,1525,0,0,0,0,0,0,15.18,14.49,13.95
$GC,2811,0.68,325.2,2953,3536,1706,1525,156.3,8.3,284,2850,0.00,2.33,29.98,1.012,9222,0.000,0.053,2964,2140,1472,1562,1382,0,0,0,0,0,0,14.78,14.70,14.01
$GC,3091,0.68,328.1,2963,2139,1563,1377,132.6,10.0,312,3102,0.00,2.40,0.00,0.000,516,0.000,0.066,2975,712,1469,1562,1377,0,0,0,0,0,0,15.21,14.49,15.21
$GC,3210,0.68,328.1,2974,711,1558,1378,120.5,10.4,323,3218,0.00,2.38,0.00,0.000,5126,0.000,0.060,2975,2122,1467,1557,1377,0,0,0,0,0,0,14.72,14.66,14.77
$GC,3463,0.71,373.9,2974,2122,1557,1376,98.2,7.7,348,3510,0.00,2.47,39.33,0.962,8452,0.000,0.070,2974,3545,1272,1368,1177,0,0,0,0,0,0,15.23,14.77,14.05
$GC,3537,0.72,398.5,2974,3545,1368,1177,91.9,8.8,355,3564,0.00,2.42,20.75,0.933,13318,0.000,0.054,2986,2119,1173,1272,1074,0,0,0,0,0,0,14.92,14.78,14.01
$GC,3806,0.74,430.3,2985,2119,1272,1070,68.3,8.5,382,3838,0.00,2.45,25.65,0.916,8708,0.000,0.067,2997,715,1042,1142,943,0,0,0,0,0,0,15.19,14.78,14.07
$GC,3978,0.74,430.3,2997,714,1135,943,50.8,10.4,398,3989,0.00,2.40,0.00,0.000,5126,0.000,0.057,2997,2123,1038,1135,942,0,0,0,0,0,0,14.54,14.48,14.58
$GC,4231,0.76,462.2,2997,2123,1134,941,28.2,8.5,424,4254,0.00,2.40,15.10,0.850,12548,0.000,0.063,2997,3549,912,1019,805,0,0,0,0,0,0,15.21,14.59,14.12
$GC,4273,0.76,462.2,2997,3549,1019,805,23.8,10.5,430,4282,0.00,2.42,0.00,0.000,5126,0.000,0.050,3007,2121,912,1019,805,0,0,0,0,0,0,14.95,14.81,14.97
$STATE,4500,end climb,SURFACE_DEPTH_REACHED
$STATE,4500,begin surface coast
$FINISH,0.2,1.010691
$STATE,4537,end surface coast,CONTROL_FINISHED_OK
$STATE,4538,begin surface
$SM_CCo,4617,0.00,0.000,0,0,910,463.61
$SM_GC,1.25,6.53,0.28,0.00,0.049,0.060,0.000,168,2318,910,-7.93,-0.59,463.61,0,0,0,0,0,0,14.93,14.95,14.98
$IRIDIUM_FIX,2230.01,-15815.82,191021,101545
$TT8_MAMPS,0.02247,0.346038
$HUMID,54.44
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.24,212.159
$10V_AH,12.11,0.000
$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,16.050,57.200,464.125,0.000,0.000,26.659,44.155,148.271,0.500,0.000,20.672,1212.011,1694.378,458.986,1434.980,206.812,0.000,1055.858,0.000,1201.326,0.000,0.554,0.000
$DEVICE_MAMPS,429.165,127.755,1071.765,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,314.743,343.940,642.980,576.188,669.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,44246,477
$CAP_FILE_SIZE,71456,0
$CFSIZE,1023623168,937197568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.181,287.52,1
$GPS,191021,113849,2239.392,-15813.819,7,1.0,21,9.8,0.0,278.2,8,9.3