version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 804
start: 10 9 121 3 16 33
data:
$ID,626
$MISSION,3
$DIVE,804
$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,56
$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
$GPS1,091021,030951,2245.1904,-15800.5947,8,1.2,48,9.8,1.0,208.2,7,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.8
$GPS2,091021,031541,2245.2170,-15800.6357,8,1.1,48,9.8,0.7,107.1,7,8.0
$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,102.4,1157,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,122,2209,1281,1194,0.0,0.0,0,75,0.00,0.00,-55.78,0.000,16386,0.000,0.000,122,2208,3019,2991,3048,0,0,0,0,0,0,15.19,28.83,15.20
$GC,79,-0.55,-116.8,122,2209,2991,3048,3.6,-7.4,8,94,8.55,0.00,-4.20,0.000,19206,0.436,0.000,2565,2207,3279,3253,3305,0,0,0,0,0,0,14.11,13.34,14.42
$GC,347,-0.55,-116.8,2565,2206,3266,3296,67.5,-20.5,41,357,0.00,2.25,0.00,0.000,2564,0.000,0.057,2565,862,3281,3267,3295,0,0,0,0,0,0,15.23,14.59,15.23
$GC,446,-0.55,-116.8,2565,861,3268,3295,84.7,-16.0,50,454,0.00,2.40,0.00,0.000,3078,0.000,0.060,2556,2232,3280,3269,3292,0,0,0,0,0,0,14.84,14.76,14.96
$GC,695,-0.55,-116.8,2556,2232,3269,3292,124.7,-15.8,75,705,0.05,2.30,0.00,0.000,2564,0.455,0.054,2572,851,3280,3269,3292,0,0,0,0,0,0,14.70,14.73,14.90
$GC,739,-0.55,-116.8,2572,852,3270,3293,131.0,-14.5,79,749,0.00,2.38,0.00,0.000,3078,0.000,0.059,2563,2269,3281,3271,3291,0,0,0,0,0,0,14.78,14.71,14.81
$GC,991,-0.55,-116.8,2562,2268,3271,3292,161.1,-12.0,104,999,0.00,2.38,0.00,0.000,2564,0.000,0.056,2563,852,3281,3271,3292,0,0,0,0,0,0,15.27,14.72,15.27
$GC,1054,-0.55,-116.8,2562,852,3271,3292,168.6,-11.2,110,1063,0.05,2.38,0.00,0.000,3078,0.315,0.058,2570,2271,3281,3271,3291,0,0,0,0,0,0,14.45,14.71,14.61
$GC,1304,-0.55,-116.8,2570,2271,3272,3291,195.5,-10.8,135,1314,0.00,2.38,0.00,0.000,2564,0.000,0.056,2570,853,3280,3270,3291,0,0,0,0,0,0,15.29,14.56,15.28
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1354,-0.13,0.0,2561,2126,3271,3290,200.0,-10.6,139,1457,0.38,0.00,94.35,1.064,10246,0.233,0.000,2706,2127,2798,2865,2732,0,0,0,0,0,0,14.48,14.61,13.91
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1461,0.55,116.8,2706,2127,2865,2732,204.6,0.0,150,1568,0.50,2.42,96.82,1.058,10500,0.130,0.070,2925,3541,2323,2404,2242,0,0,0,0,0,0,14.59,14.57,13.88
$GC,2081,0.57,156.4,2924,3541,2403,2242,173.2,8.1,211,2120,0.00,2.33,33.12,1.030,9222,0.000,0.045,2936,2119,2161,2249,2073,0,0,0,0,0,0,14.81,14.78,14.10
$GC,2362,0.58,166.4,2936,2119,2248,2068,145.4,9.6,239,2382,0.00,2.40,9.15,0.932,8452,0.000,0.064,2936,3536,2120,2209,2031,0,0,0,0,0,0,15.21,14.62,14.09
$GC,2679,0.60,194.8,2935,3536,2209,2031,114.2,8.6,270,2710,0.00,2.33,23.60,0.975,13318,0.000,0.050,2947,2132,2004,2090,1919,0,0,0,0,0,0,14.66,14.61,14.15
$GC,2950,0.62,238.5,2946,2133,2089,1913,91.3,7.8,297,2990,0.00,0.00,34.97,0.956,8710,0.000,0.000,2946,2132,1826,1908,1744,0,0,0,0,0,0,15.22,14.77,14.14
$GC,3230,0.66,295.8,2946,2132,1907,1738,70.0,7.1,325,3282,0.00,2.42,45.33,0.930,10500,0.000,0.066,2946,3533,1592,1683,1502,0,0,0,0,0,0,15.21,14.73,14.12
$GC,3313,0.67,318.7,2946,3533,1682,1502,63.6,8.9,333,3341,0.00,2.35,19.23,0.890,11270,0.000,0.049,2957,2122,1499,1590,1408,0,0,0,0,0,0,14.61,14.56,14.02
$GC,3582,0.71,382.0,2957,2121,1590,1403,40.0,6.8,360,3641,0.00,2.38,49.15,0.888,10756,0.000,0.063,2968,719,1239,1335,1143,0,0,0,0,0,0,15.19,14.56,14.11
$GC,3679,0.71,385.1,2968,719,1330,1143,31.6,9.9,369,3687,0.00,2.42,0.00,0.000,3078,0.000,0.056,2968,2128,1236,1330,1143,0,0,0,0,0,0,14.88,14.75,14.90
$GC,3944,0.71,385.1,2968,2128,1329,1139,3.3,11.2,417,3952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2968,2128,1234,1330,1139,0,0,0,0,0,0,15.16,15.16,15.16
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FINISH,0.3,1.010166
$STATE,3980,end surface coast,CONTROL_FINISHED_OK
$STATE,3980,begin surface
$SM_CCo,4058,0.00,0.000,0,0,1233,384.38
$SM_GC,1.40,6.35,0.20,0.00,0.041,0.067,0.000,140,2325,1233,-7.90,-1.02,384.38,0,0,0,0,0,0,14.97,14.97,15.00
$IRIDIUM_FIX,2234.68,-15800.20,091021,031120
$TT8_MAMPS,0.02247,0.289863
$HUMID,52.63
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,13.34,177.705
$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,15.875,37.950,405.725,0.000,0.000,28.614,46.412,119.883,1.000,0.000,49.693,1083.080,1467.770,396.193,1339.348,154.975,0.000,937.309,0.000,1099.247,0.000,0.555,0.000
$DEVICE_MAMPS,455.175,132.345,1064.115,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,279.195,305.631,577.399,520.426,605.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,37495,423
$CAP_FILE_SIZE,64708,0
$CFSIZE,1023623168,949600256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.141,350.46,1
$GPS,091021,042525,2245.511,-15800.298,8,0.8,39,9.8,0.6,292.1,10,6.2