version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 839
start: 10 10 121 23 3 54
data:
$ID,626
$MISSION,3
$DIVE,839
$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,32
$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
$GPS1,101021,225726,2244.7959,-15800.0039,8,1.1,48,9.8,0.5,204.4,6,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.9
$GPS2,101021,230301,2244.7766,-15800.0234,8,1.0,29,9.8,0.6,263.3,9,9.1
$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,358.3,416,-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,-116.8,123,2296,1275,1198,0.0,0.0,0,76,0.00,0.00,-57.58,0.000,16386,0.000,0.000,122,2295,3115,3083,3147,0,0,0,0,0,0,15.19,28.83,15.19
$GC,80,-0.58,-116.8,122,2295,3082,3147,4.0,-8.7,8,102,8.45,2.28,-2.50,0.000,19204,0.430,0.067,2544,3669,3280,3255,3305,0,0,0,0,0,0,14.09,13.28,14.40
$GC,147,-0.58,-116.8,2543,3669,3261,3302,27.4,-16.5,19,157,0.05,2.40,0.00,0.000,3078,0.347,0.048,2562,2251,3280,3263,3298,0,0,0,0,0,0,14.61,14.81,14.83
$GC,401,-0.58,-116.8,2561,2248,3266,3296,70.6,-17.4,45,410,0.00,2.35,0.00,0.000,260,0.000,0.062,2553,3659,3281,3266,3296,0,0,0,0,0,0,15.23,14.51,15.24
$GC,550,-0.58,-116.8,2552,3660,3266,3297,89.9,-12.2,59,557,0.00,2.30,0.00,0.000,3078,0.000,0.047,2553,2261,3281,3266,3296,0,0,0,0,0,0,15.02,14.91,15.04
$GC,798,-0.58,-116.8,2552,2260,3267,3295,126.4,-13.3,84,802,0.00,2.35,0.00,0.000,2564,0.000,0.059,2553,858,3281,3268,3295,0,0,0,0,0,0,15.26,14.89,15.26
$GC,905,-0.58,-116.8,2553,857,3269,3295,137.8,-9.8,94,913,0.05,2.40,0.00,0.000,3078,0.378,0.059,2561,2252,3282,3270,3294,0,0,0,0,0,0,14.62,14.83,14.87
$GC,1153,-0.58,-116.8,2557,2253,3271,3294,164.9,-11.3,119,1162,0.00,2.33,0.00,0.000,2564,0.000,0.054,2561,860,3282,3271,3294,0,0,0,0,0,0,15.28,14.73,15.28
$GC,1198,-0.58,-116.8,2561,860,3272,3295,170.0,-11.7,123,1206,0.00,2.42,0.00,0.000,3078,0.000,0.058,2552,2273,3282,3272,3293,0,0,0,0,0,0,15.00,14.84,15.02
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1453,-0.13,0.0,2552,2085,3271,3293,200.6,-11.6,148,1556,0.40,0.05,94.70,1.073,10246,0.230,0.096,2705,2140,2799,2864,2734,0,0,0,0,0,0,14.45,14.37,13.86
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin climb
$GC,1560,0.58,116.8,2704,2142,2864,2733,206.1,0.0,159,1666,0.52,2.40,97.45,1.066,11012,0.125,0.051,2944,743,2320,2401,2240,0,0,0,0,0,0,14.59,14.33,13.83
$GC,1683,0.66,254.3,2944,743,2395,2240,208.2,2.3,171,1800,0.00,2.38,110.35,1.059,11270,0.000,0.053,2944,2124,1762,1842,1682,0,0,0,0,0,0,14.76,14.64,13.88
$GC,2040,0.66,254.3,2944,2124,1841,1677,164.1,13.1,207,2050,0.00,2.35,0.00,0.000,2308,0.000,0.065,2944,3533,1759,1841,1677,0,0,0,0,0,0,15.17,14.57,15.17
$GC,2137,0.66,254.3,2944,3533,1841,1676,151.6,13.0,216,2145,0.00,2.35,0.00,0.000,3078,0.000,0.052,2954,2164,1759,1841,1677,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2387,0.66,254.3,2954,2163,1841,1677,122.8,11.4,241,2393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2954,2163,1759,1841,1677,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2634,0.66,254.3,2954,2163,1841,1676,94.7,11.1,266,2639,0.00,2.47,0.00,0.000,2564,0.000,0.066,2966,706,1758,1841,1676,0,0,0,0,0,0,15.27,14.88,15.27
$GC,2660,0.66,254.3,2966,705,1838,1675,92.2,11.2,268,2668,0.00,2.47,0.00,0.000,5126,0.000,0.059,2964,2126,1756,1838,1674,0,0,0,0,0,0,14.88,14.82,14.90
$GC,2912,0.68,284.4,2966,2127,1838,1674,66.6,8.4,293,2944,0.00,2.40,24.95,0.925,8452,0.000,0.067,2966,3540,1637,1728,1547,0,0,0,0,0,0,15.25,14.83,14.12
$GC,2974,0.69,302.4,2966,3540,1728,1547,60.9,9.1,299,2996,0.00,2.35,15.55,0.889,13318,0.000,0.051,2977,2124,1566,1656,1476,0,0,0,0,0,0,14.65,14.60,14.09
$GC,3245,0.69,302.4,2977,2124,1655,1471,33.1,10.4,326,3249,0.00,2.40,0.00,0.000,4612,0.000,0.064,2989,712,1563,1655,1471,0,0,0,0,0,0,15.21,14.85,15.21
$GC,3268,0.69,302.4,2988,712,1653,1471,30.3,11.4,328,3274,0.05,2.40,0.00,0.000,5126,0.362,0.056,2970,2131,1562,1653,1471,0,0,0,0,0,0,14.64,14.86,14.88
$GC,3536,0.70,315.0,2970,2134,1653,1469,4.3,9.4,376,3551,0.00,2.40,5.05,0.210,10500,0.000,0.063,2970,3539,1511,1600,1422,0,0,0,0,0,0,15.20,14.52,14.59
$STATE,3557,end climb,SURFACE_DEPTH_REACHED
$STATE,3557,begin surface coast
$FINISH,0.4,1.023217
$STATE,3569,end surface coast,CONTROL_FINISHED_OK
$STATE,3569,begin surface
$SM_CCo,3589,27.23,0.184,0,0,1246,380.21
$SM_GC,1.55,6.50,2.10,27.23,0.060,0.031,0.184,149,2241,1246,-7.95,1.05,380.21,0,0,0,0,0,0,14.95,14.95,14.61
$IRIDIUM_FIX,2234.68,-15800.20,101021,225858
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.18
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,13.28,183.855
$10V_AH,11.64,0.000
$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,16.025,47.600,348.050,27.225,0.000,26.696,46.410,119.633,0.500,0.000,30.769,979.498,1310.657,396.525,1137.044,163.942,0.000,851.744,0.000,925.322,0.000,0.554,0.000
$DEVICE_MAMPS,429.930,96.390,1072.530,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,251.387,275.401,523.685,484.922,565.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,33963,381
$CAP_FILE_SIZE,61412,0
$CFSIZE,1023623168,947306496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.101,189.63,1
$GPS,111021,000507,2244.841,-15800.159,9,0.8,19,9.8,0.0,328.2,10,10.0