version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 819
start: 10 9 121 21 54 53
data:
$ID,626
$MISSION,3
$DIVE,819
$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,53
$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
$GPS1,091021,214821,2244.9155,-15759.8896,48,0.9,50,9.8,0.8,87.4,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.2
$GPS2,091021,215359,2244.9380,-15759.9189,8,0.9,17,9.8,0.6,2.6,10,9.6
$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,303.8,180,-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,-116.8,123,2299,1285,1190,0.0,0.0,0,75,0.00,0.00,-56.28,0.000,16386,0.000,0.000,123,2299,3021,2997,3046,0,0,0,0,0,0,15.19,28.83,15.19
$GC,79,-0.58,-116.8,123,2300,2998,3046,3.4,-6.6,8,102,8.45,2.28,-4.30,0.000,18692,0.428,0.070,2546,3665,3279,3256,3303,0,0,0,0,0,0,14.09,13.23,14.38
$GC,195,-0.58,-116.8,2545,3664,3261,3299,29.2,-13.6,28,203,0.03,2.38,0.00,0.000,3078,0.372,0.047,2556,2268,3281,3265,3297,0,0,0,0,0,0,14.54,14.74,14.66
$GC,445,-0.58,-116.8,2555,2265,3266,3294,73.9,-17.8,53,450,0.00,2.35,0.00,0.000,2564,0.000,0.059,2556,859,3281,3267,3295,0,0,0,0,0,0,15.24,14.88,15.24
$GC,571,-0.58,-116.8,2556,858,3268,3294,91.8,-13.4,65,576,0.00,2.33,0.00,0.000,3078,0.000,0.057,2548,2240,3281,3268,3294,0,0,0,0,0,0,15.02,14.89,15.04
$GC,826,-0.58,-116.8,2548,2241,3269,3293,129.4,-15.0,90,835,0.00,2.33,0.00,0.000,2564,0.000,0.055,2548,854,3281,3270,3293,0,0,0,0,0,0,15.27,14.59,15.27
$GC,880,-0.58,-116.8,2548,854,3270,3294,136.9,-13.6,95,885,0.08,2.38,0.00,0.000,3078,0.340,0.058,2564,2264,3281,3270,3293,0,0,0,0,0,0,14.63,14.89,14.89
$GC,1135,-0.58,-116.8,2563,2265,3271,3292,168.2,-11.5,120,1145,0.00,2.35,0.00,0.000,516,0.000,0.054,2564,860,3281,3271,3292,0,0,0,0,0,0,15.28,14.58,15.28
$GC,1209,-0.58,-116.8,2563,860,3271,3293,175.8,-9.8,127,1215,0.00,2.38,0.00,0.000,3078,0.000,0.058,2555,2269,3281,3272,3291,0,0,0,0,0,0,15.04,14.90,15.06
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1421,begin apogee
$GC,1428,-0.13,0.0,2555,2078,3272,3291,200.5,-11.4,148,1533,0.38,0.10,95.32,1.073,10246,0.233,0.125,2700,2158,2798,2865,2732,0,0,0,0,0,0,14.47,14.60,13.89
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1537,0.58,116.8,2700,2157,2865,2732,205.8,0.0,159,1643,0.52,2.33,97.68,1.066,10500,0.126,0.060,2928,3518,2322,2405,2239,0,0,0,0,0,0,14.62,14.36,13.85
$GC,1915,0.59,142.5,2928,3518,2404,2239,183.3,8.6,196,1946,0.00,2.20,21.95,1.026,9222,0.000,0.044,2938,2165,2218,2303,2133,0,0,0,0,0,0,14.82,14.77,14.08
$GC,2186,0.59,142.5,2938,2165,2302,2127,157.2,10.4,223,2194,0.00,2.22,0.00,0.000,260,0.000,0.063,2939,3502,2214,2302,2127,0,0,0,0,0,0,15.21,14.73,15.22
$GC,2218,0.59,142.5,2938,3502,2302,2127,153.5,11.0,226,2228,0.00,2.25,0.00,0.000,5126,0.000,0.046,2949,2130,2214,2302,2127,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2473,0.62,186.8,2949,2130,2302,2125,131.4,7.6,251,2517,0.00,2.30,35.67,1.012,8452,0.000,0.062,2949,3507,2037,2123,1952,0,0,0,0,0,0,15.24,14.59,14.09
$GC,2617,0.62,188.4,2949,3507,2123,1952,117.0,10.0,265,2626,0.00,2.28,0.00,0.000,5126,0.000,0.047,2960,2131,2036,2123,1950,0,0,0,0,0,0,14.79,14.74,14.80
$GC,2868,0.63,203.1,2959,2130,2122,1948,94.6,9.3,290,2886,0.00,0.00,13.85,0.938,12806,0.000,0.000,2959,2130,1969,2050,1889,0,0,0,0,0,0,15.23,14.82,14.14
$GC,3129,0.68,281.8,2959,2130,2048,1886,75.7,5.6,316,3198,0.00,2.45,61.88,0.951,10756,0.000,0.061,2971,719,1648,1737,1560,0,0,0,0,0,0,15.23,14.73,14.08
$GC,3267,0.69,291.6,2970,718,1730,1560,65.0,9.5,329,3286,0.00,2.33,8.75,0.844,9222,0.000,0.058,2970,2089,1609,1699,1520,0,0,0,0,0,0,14.62,14.56,14.00
$GC,3526,0.69,298.1,2970,2090,1699,1515,36.7,9.7,355,3539,0.00,2.47,6.43,0.795,8452,0.000,0.066,2971,3544,1581,1674,1489,0,0,0,0,0,0,15.20,14.85,14.14
$GC,3579,0.69,298.1,2971,3544,1674,1489,30.8,11.1,360,3590,0.00,2.33,0.00,0.000,5126,0.000,0.048,2982,2129,1581,1673,1490,0,0,0,0,0,0,14.74,14.74,14.76
$STATE,3812,end climb,SURFACE_DEPTH_REACHED
$STATE,3812,begin surface coast
$FINISH,0.3,1.023176
$STATE,3836,end surface coast,CONTROL_FINISHED_OK
$STATE,3836,begin surface
$SM_CCo,3853,34.33,0.188,0,0,1247,380.21
$SM_GC,1.09,6.32,0.28,34.33,0.031,0.082,0.188,159,2286,1247,-7.92,-0.48,380.21,0,0,0,0,0,0,14.93,14.92,14.63
$IRIDIUM_FIX,2237.01,-15759.32,091021,214956
$TT8_MAMPS,0.020972,0.289114
$HUMID,53.62
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.23,180.338
$10V_AH,12.25,0.000
$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,15.775,42.525,341.525,34.325,0.000,35.444,57.776,122.851,0.500,0.000,18.232,1056.077,1423.781,388.121,1236.445,161.756,0.000,880.785,0.000,1010.161,0.000,0.556,0.000
$DEVICE_MAMPS,428.400,124.695,1072.530,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,268.729,294.325,552.173,501.827,583.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,37377,406
$CAP_FILE_SIZE,63208,0
$CFSIZE,1023623168,948617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,167.25,1
$GPS,091021,230042,2244.979,-15800.235,8,1.0,22,9.8,0.0,251.3,8,9.2