version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 995
start: 10 19 121 13 12 59
data:
$ID,626
$MISSION,3
$DIVE,995
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,191021,130556,2239.6667,-15813.8477,8,0.9,43,9.8,0.2,297.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.8
$GPS2,191021,131209,2239.7053,-15813.8906,9,0.9,18,9.8,0.0,306.8,9,9.1
$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,98.1,24311,-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,-116.8,125,2276,988,847,0.0,0.0,0,87,0.00,0.00,-67.45,0.000,16386,0.000,0.000,125,2276,3094,3062,3127,0,0,0,0,0,0,15.17,28.83,15.18
$GC,91,-0.55,-116.8,125,2276,3061,3127,3.6,-6.6,10,114,8.60,2.42,-3.05,0.000,18948,0.433,0.065,2572,847,3280,3260,3300,0,0,0,0,0,0,14.04,13.21,14.36
$GC,128,-0.55,-116.8,2572,847,3265,3296,16.8,-32.8,15,136,0.00,2.50,0.00,0.000,3078,0.000,0.059,2563,2261,3280,3266,3295,0,0,0,0,0,0,14.69,14.63,14.73
$GC,386,-0.55,-116.8,2563,2261,3267,3292,55.6,-14.4,48,391,0.00,2.40,0.00,0.000,2564,0.000,0.055,2564,847,3279,3267,3292,0,0,0,0,0,0,15.23,14.83,15.23
$GC,461,-0.55,-116.8,2563,846,3267,3291,65.9,-13.2,55,471,0.05,2.40,0.00,0.000,3078,0.328,0.057,2571,2265,3278,3267,3290,0,0,0,0,0,0,14.16,14.46,14.35
$GC,713,-0.55,-116.8,2570,2265,3267,3290,96.6,-11.2,80,717,0.00,2.40,0.00,0.000,2564,0.000,0.053,2570,843,3278,3266,3290,0,0,0,0,0,0,15.24,14.85,15.25
$GC,768,-0.55,-116.8,2570,843,3268,3290,103.0,-11.5,85,775,0.00,2.42,0.00,0.000,3078,0.000,0.054,2561,2280,3279,3268,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1019,-0.55,-116.8,2561,2280,3268,3290,133.1,-11.4,110,1023,0.00,2.42,0.00,0.000,2564,0.000,0.052,2561,842,3279,3268,3290,0,0,0,0,0,0,15.25,14.87,15.26
$GC,1073,-0.55,-116.8,2561,842,3268,3290,139.2,-10.8,115,1082,0.05,2.38,0.00,0.000,3078,0.308,0.054,2569,2260,3279,3269,3289,0,0,0,0,0,0,14.36,14.66,14.53
$GC,1322,-0.55,-116.8,2569,2261,3269,3289,164.1,-9.3,140,1324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2569,2261,3279,3269,3289,0,0,0,0,0,0,15.27,15.27,15.27
$GC,1562,-0.55,-116.8,2569,2261,3269,3289,185.8,-9.2,164,1567,0.00,2.42,0.00,0.000,2308,0.000,0.076,2560,3679,3279,3269,3289,0,0,0,0,0,0,15.27,14.83,15.28
$STATE,1745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1745,begin apogee
$GC,1755,-0.13,0.0,2560,2112,3269,3289,200.3,-7.8,182,1857,0.35,0.00,95.12,1.069,10246,0.173,0.000,2707,2110,2799,2869,2729,0,0,0,0,0,0,14.50,14.31,13.82
$STATE,1858,end apogee,CONTROL_FINISHED_OK
$STATE,1858,begin climb
$GC,1861,0.55,116.8,2707,2110,2869,2729,208.7,0.0,193,1968,0.50,2.50,98.50,1.062,10500,0.060,0.059,2982,3539,2321,2405,2238,0,0,0,0,0,0,14.59,14.56,13.81
$GC,2137,0.59,184.5,2981,3539,2405,2238,204.9,6.6,220,2205,0.15,2.33,55.65,1.056,13318,0.321,0.038,2944,2115,2045,2135,1956,0,0,0,0,0,0,14.45,14.84,13.92
$GC,2446,0.64,264.2,2944,2114,2134,1949,182.4,6.0,251,2517,0.00,2.40,64.32,1.042,10756,0.000,0.062,2954,730,1720,1808,1633,0,0,0,0,0,0,15.19,14.64,13.93
$GC,2764,0.65,287.6,2953,730,1797,1631,155.9,8.9,282,2790,0.00,2.42,19.40,0.986,11270,0.000,0.058,2954,2130,1626,1719,1533,0,0,0,0,0,0,14.95,14.80,14.04
$GC,3031,0.68,334.5,2953,2130,1719,1529,133.8,7.7,309,3078,0.00,2.40,38.78,0.987,10500,0.000,0.071,2954,3543,1434,1528,1340,0,0,0,0,0,0,15.21,14.76,14.01
$GC,3160,0.69,347.5,2953,3543,1528,1340,123.1,9.4,321,3178,0.00,2.38,12.23,0.925,11270,0.000,0.054,2964,2136,1381,1477,1285,0,0,0,0,0,0,14.93,14.80,14.00
$GC,3418,0.73,407.6,2964,2135,1477,1281,103.1,7.0,347,3476,0.00,2.42,48.05,0.959,10756,0.000,0.064,2975,717,1136,1233,1040,0,0,0,0,0,0,15.21,14.50,14.01
$GC,3513,0.75,440.7,2974,717,1228,1040,95.5,8.4,356,3550,0.00,2.45,27.02,0.932,11270,0.000,0.057,2975,2130,1001,1104,899,0,0,0,0,0,0,14.88,14.73,13.97
$GC,3792,0.77,475.3,2975,2130,1103,895,70.2,8.3,384,3831,0.00,2.42,27.60,0.912,10756,0.000,0.063,2985,718,859,967,752,0,0,0,0,0,0,15.19,14.55,14.06
$GC,3913,0.78,494.1,2985,718,962,752,59.9,9.1,395,3934,0.00,2.45,15.62,0.876,11270,0.000,0.055,2985,2131,784,896,673,0,0,0,0,0,0,14.92,14.78,14.06
$GC,4185,0.78,498.7,2985,2132,893,669,33.7,9.9,422,4195,0.00,2.47,4.78,0.733,10756,0.000,0.064,2996,714,764,881,647,0,0,0,0,0,0,15.21,14.79,14.01
$GC,4215,0.79,503.3,2996,713,878,648,30.8,9.9,425,4226,0.00,2.38,4.82,0.721,11270,0.000,0.056,2996,2120,746,861,631,0,0,0,0,0,0,14.66,14.59,14.04
$GC,4487,0.79,503.3,2996,2120,861,630,4.8,10.8,474,4496,0.00,2.47,0.00,0.000,2564,0.000,0.064,3007,714,745,861,630,0,0,0,0,0,0,15.19,14.78,15.19
$STATE,4502,end climb,SURFACE_DEPTH_REACHED
$STATE,4502,begin surface coast
$FINISH,0.5,1.023297
$STATE,4523,end surface coast,CONTROL_FINISHED_OK
$STATE,4524,begin surface
$SM_CCo,4605,0.00,0.000,0,0,744,504.33
$SM_GC,1.16,6.35,2.67,0.00,0.024,0.045,0.000,152,2277,744,-7.91,-0.48,504.33,0,0,0,0,0,0,14.98,14.83,15.01
$IRIDIUM_FIX,2230.01,-15815.82,191021,130743
$TT8_MAMPS,0.02247,0.34454
$HUMID,53.50
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.21,212.583
$10V_AH,12.46,0.000
$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,16.050,58.550,511.900,0.000,0.000,26.794,45.796,158.083,0.500,0.000,19.996,1208.732,1649.330,493.210,1437.120,215.284,0.000,1094.240,0.000,1203.336,0.000,0.556,0.000
$DEVICE_MAMPS,432.990,75.735,1068.705,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.239,346.653,647.890,579.935,676.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,44117,480
$CAP_FILE_SIZE,73148,0
$CFSIZE,1023623168,937066496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,319.18,1
$GPS,191021,143101,2239.780,-15813.761,7,0.9,41,9.8,0.4,103.6,9,5.4