version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 998
start: 10 19 121 17 34 50
data:
$ID,626
$MISSION,3
$DIVE,998
$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,34
$R_STBD_OVSHOOT,52
$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
$GPS1,191021,172321,2239.5359,-15814.0918,7,0.9,16,9.8,0.7,283.8,8,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.0
$GPS2,191021,173400,2239.4939,-15814.1787,7,1.0,18,9.8,0.0,209.6,8,10.0
$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,44.5,24916,-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,-116.8,124,2302,1306,1176,0.0,0.0,0,82,0.00,0.00,-62.62,0.000,16386,0.000,0.000,124,2303,3276,3237,3316,0,0,0,0,0,0,15.17,28.83,15.18
$GC,86,-0.55,-116.8,124,2303,3238,3316,4.2,-8.4,9,101,8.57,2.25,0.00,0.000,2308,0.431,0.044,2555,3664,3277,3244,3310,0,0,0,0,0,0,14.02,14.51,14.32
$GC,153,-0.55,-116.8,2554,3664,3255,3302,25.5,-14.4,20,161,0.05,2.40,0.00,0.000,3078,0.347,0.046,2574,2250,3278,3260,3297,0,0,0,0,0,0,14.55,14.76,14.78
$GC,411,-0.55,-116.8,2574,2247,3262,3295,61.3,-13.0,48,420,0.00,2.30,0.00,0.000,516,0.000,0.056,2574,858,3278,3263,3293,0,0,0,0,0,0,15.23,14.46,15.23
$GC,500,-0.55,-116.8,2574,858,3264,3291,71.8,-11.8,56,508,0.00,2.40,0.00,0.000,3078,0.000,0.057,2566,2244,3278,3266,3290,0,0,0,0,0,0,14.94,14.78,14.97
$GC,749,-0.55,-116.8,2565,2245,3266,3290,101.6,-11.8,81,758,0.00,2.35,0.00,0.000,2564,0.000,0.053,2566,852,3278,3266,3291,0,0,0,0,0,0,15.26,14.66,15.26
$GC,813,-0.55,-116.8,2565,851,3266,3291,109.3,-11.9,87,823,0.03,2.40,0.00,0.000,3078,0.394,0.056,2565,2270,3278,3267,3290,0,0,0,0,0,0,14.42,14.64,14.53
$GC,1065,-0.55,-116.8,2565,2271,3267,3290,136.4,-9.7,112,1075,0.00,2.38,0.00,0.000,2564,0.000,0.054,2565,863,3279,3267,3291,0,0,0,0,0,0,15.26,14.46,15.26
$GC,1111,-0.55,-116.8,2565,863,3267,3291,141.1,-10.0,116,1120,0.00,2.45,0.00,0.000,3078,0.000,0.058,2556,2258,3278,3267,3290,0,0,0,0,0,0,14.71,14.64,14.74
$GC,1363,-0.55,-116.8,2556,2258,3267,3290,164.0,-8.6,141,1374,0.05,2.35,0.00,0.000,2564,0.394,0.052,2575,860,3278,3267,3290,0,0,0,0,0,0,14.72,14.44,14.88
$GC,1421,-0.55,-116.8,2574,860,3267,3290,168.9,-8.0,146,1428,0.00,2.40,0.00,0.000,3078,0.000,0.057,2564,2274,3278,3267,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1673,-0.55,-116.8,2565,2274,3267,3289,188.2,-7.8,171,1683,0.00,2.40,0.00,0.000,2564,0.000,0.053,2565,853,3278,3267,3290,0,0,0,0,0,0,15.26,14.45,15.27
$GC,1738,-0.55,-116.8,2565,853,3267,3290,193.9,-8.4,177,1748,0.03,2.40,0.00,0.000,3078,0.388,0.057,2566,2268,3278,3267,3289,0,0,0,0,0,0,14.20,14.43,14.32
$STATE,1814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1814,begin apogee
$GC,1822,-0.13,0.0,2566,2075,3267,3288,200.4,-8.0,185,1921,0.35,0.10,94.47,1.077,10246,0.214,0.125,2705,2153,2798,2865,2732,0,0,0,0,0,0,14.39,14.57,13.80
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1925,0.55,116.8,2705,2153,2865,2732,205.3,0.0,195,2031,0.52,2.40,98.12,1.059,10756,0.112,0.049,2952,750,2320,2401,2240,0,0,0,0,0,0,14.58,14.32,13.79
$GC,2201,0.59,191.1,2952,749,2389,2237,201.2,6.3,222,2268,0.00,2.35,60.30,1.056,13318,0.000,0.052,2952,2101,2020,2104,1936,0,0,0,0,0,0,14.90,14.72,13.90
$GC,2509,0.59,191.1,2952,2101,2102,1931,171.0,11.1,253,2517,0.00,2.28,0.00,0.000,4612,0.000,0.056,2962,760,2015,2100,1930,0,0,0,0,0,0,15.19,14.69,15.19
$GC,2574,0.59,191.1,2962,760,2096,1930,163.4,12.1,259,2581,0.08,2.30,0.00,0.000,5126,0.319,0.053,2935,2123,2012,2095,1930,0,0,0,0,0,0,14.57,14.85,14.85
$GC,2821,0.61,223.1,2935,2126,2095,1929,139.1,8.5,284,2851,0.00,0.00,26.02,1.001,10758,0.000,0.000,2935,2126,1889,1971,1807,0,0,0,0,0,0,15.24,14.76,14.07
$GC,3096,0.65,279.7,2935,2126,1970,1803,118.3,7.2,311,3151,0.00,2.42,46.58,0.986,10500,0.000,0.066,2936,3535,1656,1747,1566,0,0,0,0,0,0,15.21,14.42,13.93
$GC,3201,0.65,289.9,2935,3535,1747,1566,109.7,9.6,321,3217,0.00,2.30,9.65,0.897,11270,0.000,0.047,2944,2159,1615,1706,1525,0,0,0,0,0,0,14.90,14.77,13.97
$GC,3457,0.67,313.9,2944,2159,1706,1520,85.7,8.9,347,3485,0.00,2.45,19.92,0.936,10756,0.000,0.062,2956,713,1518,1611,1426,0,0,0,0,0,0,15.20,14.80,14.07
$GC,3591,0.69,351.5,2955,713,1606,1424,73.9,8.2,360,3631,0.00,2.40,30.60,0.925,11270,0.000,0.055,2956,2121,1364,1459,1270,0,0,0,0,0,0,14.57,14.47,13.99
$GC,3872,0.71,387.0,2955,2121,1459,1265,50.4,8.3,388,3911,0.00,2.40,28.25,0.899,10500,0.000,0.070,2956,3536,1220,1316,1124,0,0,0,0,0,0,15.19,14.54,14.06
$GC,3936,0.73,409.3,2955,3536,1315,1124,44.8,8.9,394,3965,0.00,2.35,18.50,0.865,11270,0.000,0.049,2966,2126,1130,1226,1035,0,0,0,0,0,0,14.62,14.59,13.96
$GC,4213,0.73,409.3,2965,2126,1227,1030,18.7,10.6,431,4220,0.00,2.47,0.00,0.000,2564,0.000,0.064,2976,708,1128,1226,1030,0,0,0,0,0,0,15.16,14.76,15.16
$GC,4230,0.73,409.3,2976,708,1225,1030,16.9,10.3,433,4239,0.00,2.47,0.00,0.000,3078,0.000,0.052,2976,2136,1127,1225,1029,0,0,0,0,0,0,14.93,14.78,14.95
$STATE,4358,end climb,SURFACE_DEPTH_REACHED
$STATE,4358,begin surface coast
$FINISH,0.2,1.002840
$STATE,4387,end surface coast,CONTROL_FINISHED_OK
$STATE,4387,begin surface
$SM_CCo,4466,0.00,0.000,0,0,1125,410.87
$SM_GC,1.03,6.47,0.20,0.00,0.050,0.067,0.000,151,2364,1125,-7.94,-0.74,410.87,0,0,0,0,0,0,14.91,14.96,14.97
$IRIDIUM_FIX,2227.67,-15953.43,191021,173019
$TT8_MAMPS,0.02247,0.343042
$HUMID,54.60
$INTERNAL_PRESSURE,9.26755
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,13.79,213.161
$10V_AH,12.67,0.000
$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,16.150,57.625,432.425,0.000,0.000,68.136,107.233,217.887,0.500,0.000,19.360,1169.471,1740.974,437.951,1557.110,226.500,0.000,1015.312,0.000,1134.564,0.000,0.555,0.000
$DEVICE_MAMPS,430.695,124.695,1077.120,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.998,331.754,625.036,570.851,662.301,0.000,0.000,0.000,0.000,0.000
$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,44077,461
$CAP_FILE_SIZE,74916,0
$CFSIZE,1023623168,936869888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.231,229.14,1
$GPS,191021,185031,2239.234,-15814.397,7,0.8,39,9.8,0.7,269.0,11,5.4