version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 799
start: 10 8 121 21 16 52
data:
$ID,626
$MISSION,3
$DIVE,799
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,081021,210749,2244.8701,-15800.1621,5,1.1,18,9.8,0.5,195.2,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.2
$GPS2,081021,211601,2244.8494,-15800.1836,6,0.9,35,9.8,0.2,10.7,10,6.6
$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,28.2,420,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.58,-116.8,123,2291,1282,1191,0.0,0.0,0,76,0.00,0.00,-57.12,0.000,16386,0.000,0.000,124,2291,3096,3062,3131,0,0,0,0,0,0,15.18,28.83,15.19
$GC,79,-0.58,-116.8,123,2292,3064,3131,4.0,-8.2,8,102,8.48,2.30,-2.85,0.000,18692,0.433,0.067,2543,3683,3280,3254,3306,0,0,0,0,0,0,14.13,13.30,14.40
$GC,116,-0.58,-116.8,2542,3684,3257,3304,20.6,-42.9,13,125,0.05,2.45,0.00,0.000,3078,0.314,0.057,2559,2265,3281,3261,3301,0,0,0,0,0,0,14.44,14.69,14.60
$GC,369,-0.58,-116.8,2559,2261,3266,3297,73.4,-20.4,41,379,0.00,2.35,0.00,0.000,2564,0.000,0.060,2559,856,3281,3267,3296,0,0,0,0,0,0,15.24,14.54,15.24
$GC,519,-0.58,-116.8,2559,855,3268,3295,95.8,-12.9,55,529,0.00,2.35,0.00,0.000,3078,0.000,0.058,2549,2258,3281,3269,3294,0,0,0,0,0,0,14.77,14.71,14.80
$GC,769,-0.58,-116.8,2550,2259,3269,3295,130.7,-13.1,80,778,0.00,2.35,0.00,0.000,2564,0.000,0.059,2550,860,3282,3269,3295,0,0,0,0,0,0,15.26,14.57,15.27
$GC,843,-0.58,-116.8,2550,860,3270,3294,140.7,-12.3,87,853,0.05,2.35,0.00,0.000,3078,0.339,0.057,2557,2268,3282,3271,3293,0,0,0,0,0,0,14.45,14.72,14.62
$GC,1096,-0.58,-116.8,2557,2269,3271,3294,171.5,-12.4,112,1104,0.00,2.38,0.00,0.000,2564,0.000,0.057,2557,855,3282,3271,3294,0,0,0,0,0,0,15.28,14.74,15.28
$GC,1180,-0.58,-116.8,2557,855,3271,3294,181.1,-10.3,120,1190,0.00,2.38,0.00,0.000,3078,0.000,0.059,2548,2267,3282,3272,3293,0,0,0,0,0,0,14.62,14.56,14.65
$STATE,1339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1339,begin apogee
$GC,1346,-0.13,0.0,2548,2084,3272,3292,200.3,-12.3,136,1450,0.40,0.05,95.05,1.068,10246,0.241,0.095,2700,2142,2798,2864,2733,0,0,0,0,0,0,14.46,14.38,13.87
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1451,begin climb
$GC,1454,0.58,116.8,2700,2142,2863,2732,204.8,0.0,147,1563,0.55,2.38,97.88,1.059,10500,0.139,0.062,2930,3516,2322,2403,2241,0,0,0,0,0,0,14.42,14.56,13.88
$GC,1620,0.61,167.1,2930,3516,2403,2242,201.7,7.2,163,1668,0.00,2.28,41.97,1.043,11270,0.000,0.046,2940,2145,2117,2202,2032,0,0,0,0,0,0,14.85,14.75,13.95
$GC,1907,0.61,167.1,2940,2145,2199,2027,172.0,10.6,192,1917,0.00,2.30,0.00,0.000,2308,0.000,0.063,2941,3505,2113,2200,2027,0,0,0,0,0,0,15.19,14.59,15.19
$GC,1932,0.61,167.1,2940,3505,2199,2027,169.5,10.7,194,1939,0.00,2.30,0.00,0.000,5126,0.000,0.049,2951,2124,2113,2200,2027,0,0,0,0,0,0,14.99,14.88,15.01
$GC,2185,0.61,169.7,2951,2124,2198,2026,143.4,10.0,219,2191,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,2123,2112,2199,2026,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2430,0.62,179.2,2951,2123,2199,2024,118.7,9.6,244,2449,0.00,2.33,10.50,0.932,12548,0.000,0.062,2951,3509,2067,2155,1980,0,0,0,0,0,0,15.27,14.62,14.09
$GC,2539,0.62,190.6,2951,3509,2155,1980,109.3,9.5,254,2555,0.00,2.38,10.82,0.924,13318,0.000,0.050,2960,2122,2020,2105,1936,0,0,0,0,0,0,15.01,14.84,14.13
$GC,2794,0.66,252.7,2961,2122,2105,1932,88.8,6.6,280,2853,0.00,2.38,49.25,0.980,8452,0.000,0.064,2961,3520,1767,1850,1685,0,0,0,0,0,0,15.24,14.57,14.09
$GC,2869,0.69,293.4,2961,3520,1850,1685,83.6,7.8,287,2908,0.00,2.33,33.15,0.928,13318,0.000,0.050,2972,2123,1602,1691,1514,0,0,0,0,0,0,14.73,14.68,14.04
$GC,3148,0.69,296.7,2972,2123,1691,1508,56.8,9.9,315,3159,0.00,2.40,3.62,0.691,8708,0.000,0.062,2983,713,1589,1682,1497,0,0,0,0,0,0,15.18,14.47,13.98
$GC,3204,0.69,296.7,2983,712,1677,1498,50.9,10.5,320,3215,0.00,2.33,0.00,0.000,5126,0.000,0.057,2983,2091,1587,1677,1497,0,0,0,0,0,0,14.68,14.64,14.71
$GC,3460,0.69,302.5,2982,2091,1677,1496,22.0,9.8,352,3470,0.00,2.47,2.35,0.498,12548,0.000,0.063,2983,3547,1564,1655,1474,0,0,0,0,0,0,15.21,14.83,13.98
$GC,3511,0.69,302.5,2983,3547,1655,1474,15.7,12.6,360,3520,0.08,2.42,0.00,0.000,5126,0.311,0.051,2966,2116,1564,1655,1474,0,0,0,0,0,0,14.64,14.84,14.88
$STATE,3633,end climb,SURFACE_DEPTH_REACHED
$STATE,3633,begin surface coast
$FINISH,0.5,1.023143
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3681,32.60,0.184,0,0,1249,380.21
$SM_GC,1.33,6.45,0.28,32.60,0.056,0.079,0.184,174,2277,1249,-7.93,-0.82,380.21,0,0,0,0,0,0,14.92,14.92,14.64
$IRIDIUM_FIX,2237.01,-15759.32,081021,211148
$TT8_MAMPS,0.023219,0.343042
$HUMID,52.52
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.30,176.884
$10V_AH,12.64,0.000
$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,16.050,47.750,344.600,32.600,0.000,58.463,91.214,121.742,0.000,0.000,36.730,990.393,1425.489,426.064,1239.114,160.174,0.000,887.052,0.000,926.835,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,94.860,1067.940,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.926,278.687,530.075,475.619,551.212,0.000,0.000,0.000,0.000,0.000
$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,37366,387
$CAP_FILE_SIZE,63468,0
$CFSIZE,1023623168,949927936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083,206.67,1
$GPS,081021,221942,2245.012,-15800.163,7,1.0,18,9.8,0.5,54.2,9,9.8