version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 812
start: 10 9 121 13 30 55
data:
$ID,626
$MISSION,3
$DIVE,812
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,091021,132431,2244.8135,-15800.4219,8,0.9,36,9.8,1.3,229.7,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.3
$GPS2,091021,133005,2244.7959,-15800.4551,7,0.9,18,9.8,0.9,325.9,9,9.3
$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,34.5,864,-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,-116.8,122,2292,1291,1191,0.0,0.0,0,74,0.00,0.00,-55.65,0.000,16386,0.000,0.000,122,2292,3012,2983,3041,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,122,2292,2983,3040,3.5,-5.9,8,101,8.48,2.45,-4.38,0.000,18948,0.428,0.071,2572,830,3279,3260,3299,0,0,0,0,0,0,14.12,13.28,14.42
$GC,109,-0.55,-116.8,2572,830,3263,3296,16.3,-36.3,12,117,0.00,2.45,0.00,0.000,3078,0.000,0.061,2564,2245,3280,3265,3296,0,0,0,0,0,0,14.95,14.79,14.96
$GC,361,-0.55,-116.8,2563,2248,3267,3294,71.0,-17.1,41,372,0.00,2.38,0.00,0.000,2308,0.000,0.063,2552,3674,3279,3265,3294,0,0,0,0,0,0,15.23,14.54,15.23
$GC,449,-0.55,-116.8,2552,3673,3267,3294,83.1,-13.1,49,459,0.05,2.30,0.00,0.000,3078,0.290,0.045,2572,2261,3280,3267,3293,0,0,0,0,0,0,14.47,14.75,14.62
$GC,700,-0.55,-116.8,2572,2258,3268,3293,116.9,-12.0,74,710,0.00,2.38,0.00,0.000,260,0.000,0.063,2563,3679,3280,3268,3293,0,0,0,0,0,0,15.26,14.55,15.27
$GC,764,-0.55,-116.8,2563,3679,3267,3293,124.5,-10.6,80,774,0.00,2.30,0.00,0.000,3078,0.000,0.042,2563,2264,3280,3268,3293,0,0,0,0,0,0,14.66,14.62,14.68
$GC,1016,-0.55,-116.8,2563,2262,3268,3293,157.2,-14.6,105,1026,0.00,2.38,0.00,0.000,2308,0.000,0.063,2552,3671,3280,3268,3292,0,0,0,0,0,0,15.27,14.55,15.27
$GC,1070,-0.55,-116.8,2552,3672,3268,3293,164.0,-11.8,110,1080,0.05,2.30,0.00,0.000,3078,0.278,0.044,2573,2250,3280,3267,3293,0,0,0,0,0,0,14.52,14.88,14.67
$GC,1319,-0.55,-116.8,2573,2247,3268,3291,192.9,-10.5,135,1331,0.00,2.25,0.00,0.000,516,0.000,0.057,2573,867,3280,3269,3291,0,0,0,0,0,0,15.28,14.76,15.29
$GC,1398,-0.55,-116.8,2573,867,3270,3291,199.7,-8.9,142,1405,0.00,2.35,0.00,0.000,3078,0.000,0.056,2564,2270,3280,3271,3290,0,0,0,0,0,0,15.04,14.90,15.06
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1420,-0.13,0.0,2564,2086,3271,3290,201.5,-8.7,144,1518,0.38,0.08,94.30,1.070,10246,0.237,0.151,2704,2148,2798,2863,2734,0,0,0,0,0,0,14.31,14.59,13.93
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1522,0.55,116.8,2704,2148,2863,2733,205.7,0.0,154,1628,0.50,2.40,97.35,1.060,10756,0.127,0.050,2934,759,2321,2404,2238,0,0,0,0,0,0,14.59,14.56,13.86
$GC,2140,0.62,230.6,2934,759,2390,2236,184.5,4.2,215,2238,0.00,2.25,90.93,1.053,11270,0.000,0.051,2934,2108,1858,1938,1778,0,0,0,0,0,0,15.02,14.90,13.97
$GC,2478,0.63,246.8,2934,2107,1938,1772,155.7,9.3,249,2498,0.00,2.35,14.15,0.973,10756,0.000,0.060,2945,758,1792,1876,1709,0,0,0,0,0,0,15.19,14.83,14.12
$GC,2766,0.63,246.8,2945,757,1866,1709,124.2,11.5,277,2775,0.00,2.30,0.00,0.000,3078,0.000,0.060,2945,2119,1786,1866,1707,0,0,0,0,0,0,14.79,14.73,14.81
$GC,3019,0.65,280.0,2945,2119,1866,1707,99.4,8.4,302,3054,0.00,0.00,27.45,0.957,10502,0.000,0.000,2945,2120,1656,1747,1566,0,0,0,0,0,0,15.26,14.81,14.16
$GC,3298,0.67,315.2,2944,2120,1748,1561,76.4,8.3,330,3335,0.00,2.42,28.77,0.933,10500,0.000,0.067,2945,3534,1512,1605,1419,0,0,0,0,0,0,15.23,14.78,14.16
$GC,3370,0.68,325.6,2945,3534,1606,1419,69.6,9.6,337,3390,0.00,2.25,9.65,0.859,11270,0.000,0.051,2955,2179,1471,1565,1378,0,0,0,0,0,0,14.64,14.61,14.04
$GC,3630,0.71,382.8,2955,2177,1565,1374,51.3,7.1,363,3683,0.00,2.45,44.92,0.904,10756,0.000,0.066,2966,760,1236,1334,1139,0,0,0,0,0,0,15.21,14.74,14.14
$GC,3766,0.77,472.8,2966,760,1327,1140,41.3,5.5,376,3843,0.00,2.35,68.22,0.885,11270,0.000,0.056,2966,2134,870,987,753,0,0,0,0,0,0,14.93,14.81,14.02
$GC,4096,0.77,472.9,2966,2134,987,749,10.9,10.1,426,4103,0.00,2.40,0.00,0.000,2564,0.000,0.065,2976,765,867,986,749,0,0,0,0,0,0,15.15,14.77,15.16
$GC,4144,0.77,472.9,2976,764,983,749,5.9,10.8,434,4152,0.00,2.35,0.00,0.000,3078,0.000,0.052,2976,2125,865,983,748,0,0,0,0,0,0,14.77,14.72,14.79
$STATE,4168,end climb,SURFACE_DEPTH_REACHED
$STATE,4168,begin surface coast
$FINISH,0.2,1.023392
$STATE,4199,end surface coast,CONTROL_FINISHED_OK
$STATE,4199,begin surface
$SM_CCo,4276,0.00,0.000,0,0,865,474.65
$SM_GC,1.04,6.45,0.22,0.00,0.050,0.094,0.000,159,2272,865,-7.93,-0.93,474.65,0,0,0,0,0,0,14.92,14.87,14.98
$IRIDIUM_FIX,2234.68,-15759.32,091021,132606
$TT8_MAMPS,0.02247,0.289114
$HUMID,52.75
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.28,179.187
$10V_AH,12.36,0.000
$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,15.900,47.575,475.750,0.000,0.000,28.169,45.722,129.411,0.500,0.000,19.887,1122.705,1522.904,456.029,1363.539,174.398,0.000,1045.338,0.000,1145.440,0.000,0.555,0.000
$DEVICE_MAMPS,427.635,151.470,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.334,323.541,596.866,534.293,620.081,0.000,0.000,0.000,0.000,0.000
$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,40517,443
$CAP_FILE_SIZE,67915,0
$CFSIZE,1023623168,949059584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.087,236.77,1
$GPS,091021,144325,2244.717,-15800.422,7,0.9,39,9.8,0.6,281.4,9,5.0