version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 778
start: 10 7 121 19 46 6
data:
$ID,626
$MISSION,3
$DIVE,778
$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,400
$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,62
$R_STBD_OVSHOOT,28
$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
$GPS1,071021,193948,2245.0718,-15759.7227,7,0.8,19,9.8,0.0,245.3,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.4
$GPS2,071021,194512,2245.0515,-15759.7393,6,0.8,17,9.8,0.0,263.4,10,9.6
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$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,244.8,456,-19.1,-10.101,-25.00,1808
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-116.8,122,2217,1202,1112,0.0,0.0,0,74,0.00,0.00,-55.45,0.000,16386,0.000,0.000,122,2217,2934,2914,2954,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.58,-116.8,122,2217,2914,2955,3.4,-7.5,8,101,8.50,2.45,-5.70,0.000,18692,0.435,0.070,2542,3684,3278,3257,3299,0,0,0,0,0,0,14.15,13.88,14.45
$GC,205,-0.58,-116.8,2542,3684,3259,3298,33.3,-15.4,28,211,0.05,2.30,0.00,0.000,3078,0.356,0.044,2561,2283,3279,3261,3297,0,0,0,0,0,0,14.65,14.89,14.87
$GC,461,-0.58,-116.8,2560,2279,3264,3295,77.9,-17.2,53,471,0.00,2.38,0.00,0.000,2564,0.000,0.060,2561,862,3279,3266,3293,0,0,0,0,0,0,15.24,14.54,15.24
$GC,698,-0.58,-116.8,2561,862,3267,3292,110.9,-12.4,76,703,0.00,2.35,0.00,0.000,3078,0.000,0.058,2552,2266,3279,3267,3291,0,0,0,0,0,0,15.04,14.90,15.06
$GC,953,-0.58,-116.8,2552,2266,3269,3291,145.9,-14.1,101,962,0.00,2.35,0.00,0.000,2564,0.000,0.058,2552,863,3279,3268,3291,0,0,0,0,0,0,15.28,14.73,15.28
$GC,1030,-0.58,-116.8,2552,863,3268,3291,155.4,-11.8,108,1039,0.05,2.42,0.00,0.000,3078,0.333,0.058,2559,2266,3280,3269,3291,0,0,0,0,0,0,14.46,14.74,14.63
$GC,1278,-0.58,-116.8,2559,2267,3269,3290,186.9,-12.4,133,1286,0.00,2.35,0.00,0.000,2564,0.000,0.056,2559,862,3280,3269,3291,0,0,0,0,0,0,15.29,14.75,15.29
$GC,1371,-0.58,-116.8,2559,861,3269,3290,197.0,-10.3,142,1375,0.00,2.35,0.00,0.000,3078,0.000,0.057,2549,2264,3279,3269,3290,0,0,0,0,0,0,15.05,14.92,15.07
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1409,-0.13,0.0,2550,2094,3270,3290,200.4,-10.2,145,1507,0.40,0.00,94.65,1.071,10246,0.238,0.000,2702,2092,2799,2864,2734,0,0,0,0,0,0,14.48,14.62,13.93
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1510,0.58,116.8,2701,2091,2864,2734,204.0,0.0,155,1615,0.52,2.33,97.40,1.057,10756,0.139,0.054,2936,749,2321,2403,2239,0,0,0,0,0,0,14.57,14.57,13.88
$GC,1702,0.59,140.5,2935,749,2390,2238,196.6,8.8,174,1732,0.00,2.30,20.15,1.017,11270,0.000,0.053,2936,2119,2225,2310,2140,0,0,0,0,0,0,14.59,14.56,13.97
$GC,1973,0.60,156.9,2936,2119,2310,2136,170.3,9.2,201,1993,0.00,2.42,14.60,0.988,10500,0.000,0.064,2936,3543,2158,2248,2069,0,0,0,0,0,0,15.20,14.83,14.10
$GC,2110,0.60,156.9,2936,3544,2248,2070,156.1,10.5,214,2118,0.00,2.30,0.00,0.000,1030,0.000,0.048,2947,2157,2159,2248,2070,0,0,0,0,0,0,14.99,14.90,15.01
$GC,2362,0.61,171.5,2946,2157,2248,2068,130.7,9.3,239,2382,0.00,2.33,13.38,0.965,8452,0.000,0.065,2947,3536,2098,2188,2009,0,0,0,0,0,0,15.23,14.88,14.14
$GC,2439,0.61,171.5,2946,3536,2188,2009,123.1,10.3,246,2448,0.00,2.40,0.00,0.000,5126,0.000,0.050,2957,2130,2098,2188,2009,0,0,0,0,0,0,14.81,14.76,14.85
$GC,2690,0.65,228.1,2957,2130,2188,2007,103.1,6.9,271,2747,0.00,2.40,45.03,0.978,8452,0.000,0.065,2957,3533,1868,1950,1786,0,0,0,0,0,0,15.24,14.59,14.12
$GC,2781,0.65,228.1,2957,3533,1950,1785,94.4,10.2,280,2792,0.00,2.38,0.00,0.000,5126,0.000,0.049,2968,2115,1867,1950,1785,0,0,0,0,0,0,14.93,14.81,14.95
$GC,3037,0.67,270.5,2968,2116,1950,1781,68.9,7.7,305,3076,0.00,2.47,33.95,0.933,12548,0.000,0.066,2968,3535,1694,1782,1607,0,0,0,0,0,0,15.21,14.80,14.16
$GC,3091,0.69,303.9,2968,3535,1782,1607,64.3,8.2,310,3124,0.00,2.35,27.45,0.909,13318,0.000,0.051,2980,2130,1559,1650,1468,0,0,0,0,0,0,14.66,14.60,14.07
$GC,3373,0.69,303.9,2980,2130,1649,1463,34.0,11.5,338,3383,0.00,2.40,0.00,0.000,4612,0.000,0.062,2991,709,1555,1648,1463,0,0,0,0,0,0,15.19,14.57,15.19
$GC,3398,0.69,303.9,2991,708,1646,1463,31.0,12.3,340,3408,0.05,2.45,0.00,0.000,5126,0.361,0.055,2971,2117,1554,1646,1462,0,0,0,0,0,0,14.63,14.78,14.87
$GC,3670,0.70,308.4,2971,2120,1646,1460,3.7,9.8,389,3678,0.00,2.40,1.42,0.278,8452,0.000,0.059,2971,3545,1537,1630,1445,0,0,0,0,0,0,15.20,14.56,14.42
$STATE,3684,end climb,SURFACE_DEPTH_REACHED
$STATE,3684,begin surface coast
$FINISH,0.3,1.023089
$STATE,3714,end surface coast,CONTROL_FINISHED_OK
$STATE,3714,begin surface
$SM_CCo,3734,37.95,0.184,0,0,1166,400.08
$SM_GC,1.08,6.40,2.15,37.95,0.051,0.039,0.184,168,2247,1166,-7.89,0.74,400.08,0,0,0,0,0,0,14.98,14.92,14.64
$IRIDIUM_FIX,2237.01,-15759.32,071021,194114
$TT8_MAMPS,0.023219,0.342293
$HUMID,52.24
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,4
$24V_AH,13.88,173.370
$10V_AH,12.50,0.000
$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,15.975,52.375,348.025,37.950,0.000,25.867,47.689,124.520,1.000,0.000,18.800,1035.969,1323.591,403.069,1212.628,159.958,0.000,898.064,0.000,1003.136,0.000,0.556,0.000
$DEVICE_MAMPS,435.285,89.505,1071.000,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,261.559,285.170,546.439,502.548,586.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,37280,396
$CAP_FILE_SIZE,67249,0
$CFSIZE,1023623168,951287808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,173.80,1
$GPS,071021,205001,2244.725,-15759.969,7,1.1,25,9.8,0.9,316.4,8,7.7