version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 810
start: 10 9 121 10 57 9
data:
$ID,626
$MISSION,3
$DIVE,810
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,091021,105031,2245.4419,-15800.0088,7,0.8,35,9.8,0.7,103.2,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.3
$GPS2,091021,105617,2245.4126,-15800.0508,7,0.9,18,9.8,0.6,174.6,9,9.7
$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,148.7,769,-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,-116.8,117,2230,1051,931,0.0,0.0,0,82,0.00,0.00,-62.97,0.000,16386,0.000,0.000,118,2229,3040,3011,3069,0,0,0,0,0,0,15.17,28.83,15.19
$GC,86,-0.58,-116.8,117,2229,3012,3069,3.7,-7.4,9,109,8.40,2.28,-3.85,0.000,18948,0.425,0.071,2562,882,3279,3258,3301,0,0,0,0,0,0,14.12,13.28,14.42
$GC,170,-0.58,-116.8,2561,881,3266,3295,25.9,-12.8,23,179,0.00,2.40,0.00,0.000,3078,0.000,0.057,2553,2254,3280,3267,3294,0,0,0,0,0,0,14.81,14.73,14.85
$GC,430,-0.58,-116.8,2553,2257,3267,3293,75.4,-16.9,50,440,0.00,2.38,0.00,0.000,2308,0.000,0.067,2542,3677,3280,3267,3293,0,0,0,0,0,0,15.23,14.54,15.24
$GC,499,-0.58,-116.8,2542,3676,3267,3294,85.5,-13.2,56,509,0.05,2.33,0.00,0.000,3078,0.304,0.043,2561,2283,3280,3267,3293,0,0,0,0,0,0,14.54,14.80,14.70
$GC,750,-0.58,-116.8,2561,2280,3267,3294,122.3,-13.7,81,759,0.00,2.35,0.00,0.000,2308,0.000,0.067,2552,3677,3280,3268,3293,0,0,0,0,0,0,15.26,14.71,15.26
$GC,804,-0.58,-116.8,2552,3678,3267,3294,129.0,-11.6,86,815,0.00,2.30,0.00,0.000,3078,0.000,0.041,2552,2265,3280,3267,3293,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1057,-0.58,-116.8,2552,2265,3268,3294,163.8,-13.7,111,1066,0.00,2.38,0.00,0.000,2308,0.000,0.065,2542,3681,3280,3267,3294,0,0,0,0,0,0,15.28,14.55,15.28
$GC,1101,-0.58,-116.8,2542,3681,3267,3294,169.2,-11.5,115,1110,0.05,2.30,0.00,0.000,3078,0.283,0.043,2561,2253,3280,3268,3293,0,0,0,0,0,0,14.51,14.81,14.66
$GC,1350,-0.58,-116.8,2561,2251,3268,3293,195.8,-9.9,140,1359,0.00,2.40,0.00,0.000,2308,0.000,0.070,2552,3669,3280,3268,3292,0,0,0,0,0,0,15.29,14.70,15.29
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1413,-0.13,0.0,2552,2133,3267,3291,200.6,-8.8,145,1514,0.40,0.00,94.65,1.073,10246,0.226,0.000,2706,2129,2798,2865,2732,0,0,0,0,0,0,14.51,14.62,13.93
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1517,0.58,116.8,2706,2129,2865,2732,204.5,0.0,156,1624,0.52,0.00,97.55,1.063,11014,0.106,0.000,2948,2129,2321,2402,2240,0,0,0,0,0,0,14.62,14.32,13.83
$GC,1864,0.62,180.1,2947,2129,2399,2234,187.2,6.5,191,1924,0.00,2.40,51.22,1.050,8452,0.000,0.063,2948,3545,2064,2150,1978,0,0,0,0,0,0,15.17,14.70,14.02
$GC,2433,0.62,180.1,2948,3545,2149,1977,127.9,11.0,247,2437,0.00,2.35,0.00,0.000,5126,0.000,0.047,2959,2126,2063,2149,1977,0,0,0,0,0,0,15.03,14.92,15.05
$GC,2688,0.64,215.0,2959,2125,2149,1971,104.8,8.1,272,2725,0.00,2.45,27.75,0.981,12548,0.000,0.065,2959,3539,1921,2003,1839,0,0,0,0,0,0,15.26,14.78,14.13
$GC,2893,0.65,226.5,2958,3539,2004,1839,86.3,9.4,292,2911,0.00,2.40,10.38,0.900,13318,0.000,0.054,2969,2130,1874,1957,1792,0,0,0,0,0,0,14.97,14.83,14.12
$GC,3152,0.66,254.2,2970,2130,1957,1786,63.7,8.5,318,3181,0.00,2.40,22.55,0.920,12804,0.000,0.060,2980,712,1760,1846,1675,0,0,0,0,0,0,15.23,14.60,14.13
$GC,3712,0.69,303.5,2981,712,1836,1673,26.6,7.3,375,3741,0.00,2.42,21.70,0.848,13318,0.000,0.054,2981,2129,1559,1650,1469,0,0,0,0,0,0,14.99,14.85,14.21
$GC,4002,0.74,381.8,2981,2132,1650,1464,6.9,5.7,427,4040,0.00,2.40,32.88,0.199,10500,0.000,0.063,2981,3535,1238,1329,1147,0,0,0,0,0,0,15.19,14.81,14.62
$STATE,4046,end climb,SURFACE_DEPTH_REACHED
$STATE,4046,begin surface coast
$FINISH,0.3,1.023134
$STATE,4070,end surface coast,CONTROL_FINISHED_OK
$STATE,4071,begin surface
$SM_CCo,4150,0.00,0.000,0,0,1236,383.64
$SM_GC,1.23,6.45,2.17,0.00,0.044,0.048,0.000,144,2251,1236,-7.93,0.68,383.64,0,0,0,0,0,0,14.95,14.87,14.99
$IRIDIUM_FIX,2237.01,-15759.32,091021,093822
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.22
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,13.28,178.810
$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,15.875,42.775,358.675,0.000,0.000,32.895,56.937,123.044,0.500,0.000,19.894,1132.528,1456.956,380.159,1391.899,167.518,0.000,918.951,0.000,1173.190,0.000,0.555,0.000
$DEVICE_MAMPS,425.340,107.865,1072.530,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.043,316.816,600.213,572.564,676.083,0.000,0.000,0.000,0.000,0.000
$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,40735,437
$CAP_FILE_SIZE,66093,0
$CFSIZE,1023623168,949190656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,211.53,1
$GPS,091021,120715,2245.101,-15800.157,7,0.9,21,9.8,0.0,306.3,9,8.6