version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 820
start: 10 9 121 23 7 32
data:
$ID,626
$MISSION,3
$DIVE,820
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,091021,230042,2244.9790,-15800.2354,8,1.0,22,9.8,0.0,251.3,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.1
$GPS2,091021,230640,2244.9695,-15800.2793,4,1.1,26,9.8,1.0,247.3,8,9.9
$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,59.5,480,-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,-116.8,123,2292,1282,1195,0.0,0.0,0,82,0.00,0.00,-63.20,0.000,16390,0.000,0.000,123,2292,3277,3244,3311,0,0,0,0,0,0,15.18,13.04,15.14
$GC,86,-0.58,-116.8,123,2292,3244,3312,4.3,-8.2,9,100,8.52,0.00,0.00,0.000,2054,0.435,0.000,2558,2293,3279,3249,3309,0,0,0,0,0,0,14.14,14.55,14.42
$GC,347,-0.58,-116.8,2558,2292,3262,3296,68.9,-20.8,40,357,0.00,2.42,0.00,0.000,2564,0.000,0.059,2560,854,3278,3263,3293,0,0,0,0,0,0,15.23,14.59,15.23
$GC,435,-0.58,-116.8,2559,853,3265,3295,86.3,-19.1,48,443,0.00,2.45,0.00,0.000,3078,0.000,0.060,2550,2269,3279,3266,3293,0,0,0,0,0,0,14.97,14.81,15.00
$GC,684,-0.58,-116.8,2549,2270,3266,3293,123.1,-12.7,73,693,0.00,2.38,0.00,0.000,2564,0.000,0.054,2550,856,3280,3267,3294,0,0,0,0,0,0,15.27,14.74,15.27
$GC,768,-0.58,-116.8,2550,856,3267,3293,133.9,-12.3,81,778,0.05,2.35,0.00,0.000,3078,0.330,0.057,2557,2262,3279,3267,3292,0,0,0,0,0,0,14.45,14.71,14.60
$GC,1020,-0.58,-116.8,2557,2262,3267,3292,163.4,-11.7,106,1029,0.00,2.35,0.00,0.000,2564,0.000,0.054,2557,858,3279,3267,3292,0,0,0,0,0,0,15.28,14.73,15.28
$GC,1097,-0.58,-116.8,2557,858,3267,3292,171.6,-10.0,113,1104,0.00,2.38,0.00,0.000,3078,0.000,0.057,2548,2266,3279,3268,3291,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1346,-0.58,-116.8,2548,2266,3268,3291,198.8,-10.5,138,1356,0.03,2.35,0.00,0.000,2564,0.593,0.052,2557,859,3279,3267,3291,0,0,0,0,0,0,14.87,14.55,14.97
$STATE,1367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1367,begin apogee
$GC,1376,-0.13,0.0,2549,2129,3267,3290,201.4,-10.0,140,1480,0.40,0.00,94.68,1.077,10246,0.230,0.000,2702,2128,2798,2865,2732,0,0,0,0,0,0,14.47,14.33,13.84
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1484,0.58,116.8,2702,2129,2865,2732,205.2,0.0,151,1590,0.52,2.42,97.57,1.065,10756,0.124,0.052,2942,713,2320,2402,2239,0,0,0,0,0,0,14.52,14.36,13.84
$GC,1696,0.59,127.8,2942,712,2390,2238,197.7,9.5,172,1715,0.00,2.38,9.57,0.952,13318,0.000,0.053,2943,2126,2278,2359,2197,0,0,0,0,0,0,14.71,14.65,13.94
$GC,1956,0.60,154.8,2942,2126,2359,2194,172.3,8.6,198,1985,0.00,2.42,23.25,1.021,8452,0.000,0.065,2942,3540,2167,2254,2081,0,0,0,0,0,0,15.21,14.81,14.09
$GC,2092,0.60,154.8,2942,3540,2254,2082,158.3,11.0,211,2099,0.00,2.33,0.00,0.000,5126,0.000,0.043,2953,2120,2168,2255,2081,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2341,0.60,155.3,2954,2118,2255,2079,133.3,10.1,236,2351,0.00,2.35,0.00,0.000,4612,0.000,0.058,2965,719,2165,2252,2078,0,0,0,0,0,0,15.23,14.58,15.23
$GC,2398,0.60,155.4,2964,719,2248,2078,127.6,10.1,241,2406,0.08,2.38,0.00,0.000,5126,0.322,0.054,2937,2130,2163,2248,2078,0,0,0,0,0,0,14.64,14.90,14.89
$GC,2645,0.62,181.5,2937,2130,2248,2077,105.5,8.6,266,2675,0.00,2.38,22.48,0.970,10500,0.000,0.063,2937,3537,2057,2145,1970,0,0,0,0,0,0,15.27,14.54,14.07
$GC,2740,0.62,181.5,2937,3537,2145,1970,96.6,10.3,275,2744,0.00,2.33,0.00,0.000,1030,0.000,0.045,2946,2124,2057,2145,1970,0,0,0,0,0,0,14.98,14.89,15.00
$GC,2996,0.65,226.6,2946,2123,2145,1967,75.7,7.5,300,3034,0.00,0.00,35.90,0.948,10758,0.000,0.000,2946,2123,1875,1957,1793,0,0,0,0,0,0,15.23,14.76,14.14
$GC,3274,0.69,293.1,2946,2123,1956,1786,56.4,6.3,328,3334,0.00,0.00,52.80,0.920,10246,0.000,0.000,2946,2123,1602,1694,1510,0,0,0,0,0,0,15.21,14.49,14.06
$GC,3576,0.70,311.3,2946,2119,1693,1504,33.2,9.1,358,3593,0.00,0.00,14.90,0.858,10246,0.000,0.000,2947,2121,1528,1621,1436,0,0,0,0,0,0,15.19,14.80,14.17
$STATE,3844,end climb,SURFACE_DEPTH_REACHED
$STATE,3844,begin surface coast
$FINISH,0.3,1.023153
$STATE,3866,end surface coast,CONTROL_FINISHED_OK
$STATE,3866,begin surface
$SM_CCo,3883,28.60,0.187,0,0,1247,380.21
$SM_GC,1.61,6.32,0.25,28.60,0.046,0.076,0.187,173,2286,1247,-7.90,-1.02,380.21,0,0,0,0,0,0,14.92,14.92,14.62
$IRIDIUM_FIX,2237.01,-15759.32,091021,230214
$TT8_MAMPS,0.023219,0.289863
$HUMID,53.89
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,13.04,180.502
$10V_AH,12.08,0.000
$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,15.925,38.075,351.150,28.600,0.000,26.551,46.787,141.181,0.500,0.000,29.954,1042.057,1473.743,407.931,1218.752,164.818,0.000,875.297,0.000,987.674,0.000,0.555,0.000
$DEVICE_MAMPS,592.875,76.500,1077.120,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.520,294.867,562.161,512.573,602.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339140
$DATA_FILE_SIZE,37480,409
$CAP_FILE_SIZE,62785,0
$CFSIZE,1023623168,948551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,212.06,1
$GPS,101021,001356,2244.964,-15800.069,7,0.9,33,9.8,0.0,208.2,8,9.8