version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 994
start: 10 19 121 11 48 9
data:
$ID,626
$MISSION,3
$DIVE,994
$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,74
$R_STBD_OVSHOOT,23
$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
$GPS1,191021,113849,2239.3921,-15813.8193,7,1.0,21,9.8,0.0,278.2,8,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.9
$GPS2,191021,114719,2239.4441,-15813.8721,7,1.0,21,9.8,0.0,341.3,8,9.4
$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,88.2,24472,-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,14,begin dive
$GC,17,-0.55,-116.8,125,2215,979,834,0.0,0.0,0,87,0.00,0.00,-67.12,0.000,16386,0.000,0.000,125,2213,3067,3035,3100,0,0,0,0,0,0,15.17,28.83,15.18
$GC,91,-0.55,-116.8,124,2213,3036,3100,3.6,-7.5,10,114,8.55,2.25,-3.53,0.000,18948,0.428,0.071,2573,896,3279,3261,3298,0,0,0,0,0,0,14.04,13.22,14.35
$GC,122,-0.55,-116.8,2572,895,3263,3295,15.3,-32.9,14,130,0.00,2.40,0.00,0.000,3078,0.000,0.057,2564,2278,3280,3267,3294,0,0,0,0,0,0,14.91,14.74,14.93
$GC,379,-0.55,-116.8,2564,2278,3267,3292,55.3,-16.7,48,384,0.00,2.35,0.00,0.000,2564,0.000,0.059,2564,899,3279,3267,3291,0,0,0,0,0,0,15.22,14.83,15.22
$GC,446,-0.55,-116.8,2563,898,3267,3292,64.2,-12.7,54,454,0.05,2.38,0.00,0.000,3078,0.373,0.060,2572,2269,3279,3267,3291,0,0,0,0,0,0,14.55,14.75,14.80
$GC,697,-0.55,-116.8,2572,2271,3268,3291,94.7,-10.3,79,706,0.00,2.28,0.00,0.000,516,0.000,0.050,2572,892,3279,3268,3290,0,0,0,0,0,0,15.23,14.68,15.23
$GC,761,-0.55,-116.8,2572,892,3268,3290,101.0,-9.3,85,770,0.00,2.33,0.00,0.000,3078,0.000,0.057,2563,2268,3279,3268,3290,0,0,0,0,0,0,14.73,14.71,14.76
$GC,1012,-0.55,-116.8,2563,2268,3268,3290,128.1,-11.4,110,1017,0.00,2.30,0.00,0.000,2564,0.000,0.050,2563,896,3279,3268,3290,0,0,0,0,0,0,15.25,14.88,15.26
$GC,1035,-0.55,-116.8,2563,895,3268,3290,131.0,-11.3,112,1040,0.05,2.33,0.00,0.000,3078,0.367,0.057,2572,2269,3278,3267,3290,0,0,0,0,0,0,14.62,14.85,14.85
$GC,1289,-0.55,-116.8,2572,2269,3269,3290,156.8,-9.5,137,1298,0.00,2.28,0.00,0.000,516,0.000,0.051,2573,892,3279,3269,3290,0,0,0,0,0,0,15.26,14.69,15.26
$GC,1326,-0.55,-116.8,2572,892,3269,3290,159.9,-9.8,140,1333,0.00,2.33,0.00,0.000,3078,0.000,0.054,2563,2269,3279,3269,3290,0,0,0,0,0,0,15.00,14.86,15.02
$GC,1574,-0.55,-116.8,2563,2269,3270,3290,182.5,-9.2,165,1583,0.00,2.38,0.00,0.000,2308,0.000,0.073,2553,3669,3279,3269,3290,0,0,0,0,0,0,15.26,14.44,15.26
$GC,1618,-0.55,-116.8,2552,3669,3269,3289,187.1,-10.1,169,1627,0.05,2.17,0.00,0.000,3078,0.237,0.032,2577,2272,3279,3269,3289,0,0,0,0,0,0,14.50,14.77,14.62
$STATE,1765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1765,begin apogee
$GC,1773,-0.13,0.0,2577,2091,3269,3288,200.5,-9.8,184,1876,0.30,0.00,94.82,1.066,10246,0.194,0.000,2701,2088,2799,2868,2730,0,0,0,0,0,0,14.45,14.57,13.83
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1880,0.55,116.8,2701,2088,2868,2729,208.7,0.0,195,1987,0.50,2.22,97.72,1.060,10756,0.061,0.048,2986,769,2321,2405,2238,0,0,0,0,0,0,14.69,14.31,13.79
$GC,2127,0.60,207.6,2987,768,2393,2234,209.5,5.4,219,2208,0.12,2.28,73.12,1.063,13318,0.277,0.050,2945,2134,1951,2033,1869,0,0,0,0,0,0,14.22,14.53,13.88
$GC,2447,0.63,258.6,2944,2133,2032,1864,183.4,7.5,251,2498,0.00,2.40,41.70,1.041,11012,0.000,0.065,2945,3536,1744,1831,1657,0,0,0,0,0,0,15.19,14.45,13.94
$GC,3023,0.65,288.9,2944,3536,1831,1657,129.5,8.5,306,3054,0.00,2.22,25.80,0.989,11270,0.000,0.047,2955,2180,1620,1714,1526,0,0,0,0,0,0,14.64,14.59,14.07
$GC,3303,0.68,331.6,2954,2179,1714,1522,108.8,7.9,334,3345,0.00,2.40,35.03,0.979,10756,0.000,0.061,2965,779,1445,1539,1351,0,0,0,0,0,0,15.23,14.76,14.04
$GC,3376,0.69,342.2,2965,779,1535,1352,102.3,9.6,341,3395,0.00,2.28,9.52,0.890,11270,0.000,0.058,2965,2119,1403,1499,1308,0,0,0,0,0,0,14.71,14.65,13.97
$GC,3636,0.70,367.8,2964,2119,1499,1303,79.1,8.8,367,3664,0.00,2.45,21.15,0.926,10500,0.000,0.072,2965,3546,1298,1396,1201,0,0,0,0,0,0,15.21,14.49,14.00
$GC,3755,0.72,397.3,2964,3546,1396,1200,68.6,8.6,378,3785,0.00,2.28,24.35,0.913,11270,0.000,0.050,2975,2173,1178,1278,1079,0,0,0,0,0,0,14.73,14.76,14.07
$GC,4025,0.72,404.1,2975,2172,1278,1076,44.8,9.7,405,4038,0.00,2.50,6.72,0.802,10756,0.000,0.066,2986,712,1150,1251,1049,0,0,0,0,0,0,15.20,14.81,14.05
$GC,4123,0.75,452.9,2986,711,1247,1050,37.0,7.6,414,4171,0.00,2.45,38.25,0.877,11270,0.000,0.057,2986,2132,951,1054,849,0,0,0,0,0,0,14.96,14.80,14.04
$GC,4430,0.76,459.2,2986,2132,1054,844,6.6,9.8,464,4439,0.00,2.47,2.47,0.254,10756,0.000,0.063,2997,714,923,1028,818,0,0,0,0,0,0,15.17,14.78,14.50
$STATE,4474,end climb,SURFACE_DEPTH_REACHED
$STATE,4474,begin surface coast
$FINISH,0.3,1.023502
$STATE,4507,end surface coast,CONTROL_FINISHED_OK
$STATE,4507,begin surface
$SM_CCo,4588,0.00,0.000,0,0,919,461.40
$SM_GC,1.22,6.55,2.67,0.00,0.059,0.054,0.000,133,2266,919,-7.91,-0.85,461.40,0,0,0,0,0,0,14.97,14.83,15.00
$IRIDIUM_FIX,2230.01,-15815.82,191021,114306
$TT8_MAMPS,0.02247,0.340795
$HUMID,53.42
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.22,212.366
$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,16.175,56.650,470.675,0.000,0.000,57.437,88.805,137.616,0.250,0.000,22.348,1216.689,1713.891,450.660,1529.984,212.781,0.000,1059.161,0.000,1208.600,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,104.805,1066.410,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,314.564,345.783,642.601,579.763,669.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339056
$DATA_FILE_SIZE,47225,477
$CAP_FILE_SIZE,75244,0
$CFSIZE,1023623168,937132032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155,318.92,1
$GPS,191021,130556,2239.667,-15813.848,8,0.9,43,9.8,0.2,297.0,9,8.7