version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 809
start: 10 9 121 9 43 11
data:
$ID,626
$MISSION,3
$DIVE,809
$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,30
$R_STBD_OVSHOOT,68
$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
$GPS1,091021,093636,2245.9072,-15759.7207,8,0.9,18,9.8,0.5,31.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.3
$GPS2,091021,094221,2245.8743,-15759.7373,7,0.9,15,9.8,1.2,279.9,9,9.8
$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,196.2,1680,-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,16,-0.55,-116.8,122,2209,1176,1057,0.0,0.0,0,82,0.00,0.00,-63.90,0.000,16386,0.000,0.000,123,2209,3212,3174,3250,0,0,0,0,0,0,15.18,28.83,15.19
$GC,86,-0.55,-116.8,122,2209,3174,3250,4.1,-8.7,9,103,8.48,2.30,-1.00,0.000,18948,0.428,0.067,2576,840,3278,3251,3305,0,0,0,0,0,0,14.12,13.31,14.40
$GC,179,-0.55,-116.8,2576,839,3265,3295,29.2,-12.4,25,187,0.00,2.40,0.00,0.000,3078,0.000,0.062,2567,2223,3280,3266,3294,0,0,0,0,0,0,14.94,14.78,14.96
$GC,426,-0.55,-116.8,2567,2225,3266,3293,78.4,-18.9,50,430,0.00,2.35,0.00,0.000,2564,0.000,0.066,2567,847,3279,3266,3293,0,0,0,0,0,0,15.25,14.86,15.25
$GC,512,-0.55,-116.8,2567,847,3267,3292,90.4,-12.5,58,521,0.03,2.47,0.00,0.000,3078,0.420,0.059,2565,2269,3279,3267,3291,0,0,0,0,0,0,14.51,14.71,14.62
$GC,762,-0.55,-116.8,2565,2274,3266,3291,127.7,-14.0,83,771,0.00,2.38,0.00,0.000,2564,0.000,0.059,2565,856,3279,3268,3291,0,0,0,0,0,0,15.26,14.71,15.26
$GC,825,-0.55,-116.8,2565,856,3268,3292,136.5,-12.8,89,835,0.03,2.35,0.00,0.000,3078,0.401,0.058,2567,2262,3279,3268,3290,0,0,0,0,0,0,14.52,14.73,14.64
$GC,1075,-0.55,-116.8,2566,2263,3268,3290,170.5,-14.6,114,1079,0.00,2.38,0.00,0.000,2564,0.000,0.056,2567,850,3278,3267,3290,0,0,0,0,0,0,15.29,14.91,15.29
$GC,1118,-0.55,-116.8,2566,849,3267,3291,175.6,-11.9,118,1123,0.00,2.40,0.00,0.000,3078,0.000,0.057,2557,2273,3278,3266,3290,0,0,0,0,0,0,15.04,14.90,15.07
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1326,-0.13,0.0,2557,2081,3268,3290,200.9,-10.9,138,1425,0.40,0.10,94.22,1.073,10246,0.258,0.125,2704,2163,2798,2864,2733,0,0,0,0,0,0,14.28,14.62,13.90
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1428,0.55,116.8,2704,2163,2864,2733,204.1,0.0,148,1535,0.47,2.47,97.32,1.061,10756,0.112,0.057,2932,749,2321,2405,2238,0,0,0,0,0,0,14.54,14.56,13.87
$GC,2041,0.63,255.3,2931,748,2390,2235,178.6,3.0,209,2157,0.00,2.25,110.18,1.056,11270,0.000,0.051,2932,2098,1759,1842,1676,0,0,0,0,0,0,15.03,14.90,13.95
$GC,2398,0.64,265.9,2931,2099,1841,1667,147.4,9.6,245,2418,0.00,2.28,9.43,0.940,10756,0.000,0.063,2941,766,1715,1804,1626,0,0,0,0,0,0,15.18,14.61,14.07
$GC,2674,0.64,268.4,2942,765,1797,1626,119.9,10.0,272,2684,0.00,2.30,0.00,0.000,3078,0.000,0.063,2942,2121,1711,1797,1625,0,0,0,0,0,0,14.71,14.64,14.74
$GC,2927,0.66,298.2,2941,2121,1797,1624,97.7,8.6,297,2956,0.00,0.00,26.75,0.965,10246,0.000,0.000,2942,2121,1583,1677,1489,0,0,0,0,0,0,15.25,14.81,14.16
$GC,3197,0.67,318.6,2941,2121,1676,1485,72.9,9.0,324,3224,0.00,2.35,17.20,0.922,10500,0.000,0.063,2942,3538,1499,1593,1405,0,0,0,0,0,0,15.22,14.64,14.16
$GC,3241,0.69,344.3,2941,3537,1593,1405,69.0,8.8,328,3269,0.00,2.33,21.62,0.915,11270,0.000,0.047,2952,2168,1394,1491,1298,0,0,0,0,0,0,14.86,14.81,14.13
$GC,3509,0.75,440.5,2952,2166,1491,1293,50.4,5.1,355,3590,0.05,2.53,73.82,0.903,10756,0.256,0.063,3090,717,1002,1098,906,0,0,0,0,0,0,14.87,14.69,14.09
$GC,3715,0.75,440.5,3090,717,1090,905,21.4,14.3,379,3723,0.28,2.42,0.00,0.000,5126,0.222,0.052,2988,2134,996,1089,904,0,0,0,0,0,0,14.59,14.77,14.81
$STATE,3868,end climb,SURFACE_DEPTH_REACHED
$STATE,3868,begin surface coast
$FINISH,0.3,1.023164
$STATE,3892,end surface coast,CONTROL_FINISHED_OK
$STATE,3892,begin surface
$SM_CCo,3970,0.00,0.000,0,0,994,443.00
$SM_GC,1.15,6.50,0.20,0.00,0.051,0.073,0.000,118,2316,994,-7.94,-0.93,443.00,0,0,0,0,0,0,14.96,14.95,15.00
$IRIDIUM_FIX,2237.01,-15759.32,091021,093811
$TT8_MAMPS,0.02247,0.345289
$HUMID,53.81
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.31,178.647
$10V_AH,12.75,0.000
$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,16.225,38.575,450.550,0.000,0.000,27.976,45.070,145.169,0.250,0.000,16.318,1054.933,1436.348,424.695,1270.725,157.679,0.000,946.170,0.000,1043.871,0.000,0.554,0.000
$DEVICE_MAMPS,428.400,133.875,1073.295,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.014,299.642,555.403,488.312,562.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,37289,411
$CAP_FILE_SIZE,62585,0
$CFSIZE,1023623168,949272576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.098,209.16,1
$GPS,091021,105031,2245.442,-15800.009,7,0.8,35,9.8,0.7,103.2,10,6.1