version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 844
start: 10 11 121 5 16 20
data:
$ID,626
$MISSION,3
$DIVE,844
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,111021,050950,2244.5867,-15801.2295,20,0.8,44,9.8,1.1,77.8,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.3
$GPS2,111021,051530,2244.5830,-15801.2715,7,0.9,15,9.8,0.0,1.5,9,9.2
$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,71.5,2305,-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,-116.8,112,2293,1169,1046,0.0,0.0,0,81,0.00,0.00,-62.22,0.000,16386,0.000,0.000,110,2294,3110,3078,3142,0,0,0,0,0,0,15.18,28.83,15.19
$GC,85,-0.55,-116.8,112,2294,3078,3143,3.7,-7.6,9,102,8.55,2.33,-2.72,0.000,18692,0.433,0.072,2553,3667,3279,3254,3305,0,0,0,0,0,0,14.11,13.29,14.42
$GC,116,-0.55,-116.8,2552,3667,3257,3303,16.7,-37.2,13,125,0.05,2.42,0.00,0.000,3078,0.307,0.057,2570,2273,3280,3261,3300,0,0,0,0,0,0,14.43,14.67,14.59
$GC,380,-0.55,-116.8,2570,2269,3266,3295,60.1,-15.2,46,384,0.00,2.38,0.00,0.000,2308,0.000,0.064,2561,3666,3280,3265,3295,0,0,0,0,0,0,15.22,14.84,15.22
$GC,413,-0.55,-116.8,2561,3666,3265,3294,65.5,-15.2,49,423,0.00,2.30,0.00,0.000,3078,0.000,0.045,2560,2259,3280,3266,3295,0,0,0,0,0,0,14.62,14.58,14.64
$GC,665,-0.55,-116.8,2561,2258,3266,3295,109.1,-17.0,74,669,0.00,2.38,0.00,0.000,2308,0.000,0.060,2551,3666,3280,3266,3295,0,0,0,0,0,0,15.25,14.88,15.26
$GC,759,-0.55,-116.8,2551,3666,3265,3296,120.5,-10.2,83,768,0.05,2.30,0.00,0.000,3078,0.272,0.044,2573,2249,3280,3266,3295,0,0,0,0,0,0,14.50,14.78,14.64
$GC,1009,-0.55,-116.8,2572,2245,3268,3294,149.6,-9.4,108,1014,0.00,2.42,0.00,0.000,260,0.000,0.070,2563,3668,3281,3268,3294,0,0,0,0,0,0,15.27,14.86,15.28
$GC,1114,-0.55,-116.8,2562,3668,3267,3294,158.1,-7.9,118,1118,0.00,2.28,0.00,0.000,3078,0.000,0.042,2562,2274,3280,3267,3294,0,0,0,0,0,0,15.06,14.95,15.07
$GC,1368,-0.55,-116.8,2562,2273,3267,3294,181.3,-10.0,143,1377,0.00,2.35,0.00,0.000,2564,0.000,0.055,2563,856,3280,3268,3293,0,0,0,0,0,0,15.28,14.72,15.28
$GC,1452,-0.55,-116.8,2562,856,3268,3293,189.7,-9.4,151,1461,0.05,2.33,0.00,0.000,3078,0.285,0.060,2573,2243,3280,3269,3291,0,0,0,0,0,0,14.47,14.72,14.62
$STATE,1578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1578,begin apogee
$GC,1585,-0.13,0.0,2573,2069,3269,3290,200.3,-8.3,164,1684,0.32,0.12,94.78,1.068,10246,0.227,0.105,2701,2168,2798,2862,2734,0,0,0,0,0,0,14.49,14.60,13.90
$STATE,1685,end apogee,CONTROL_FINISHED_OK
$STATE,1685,begin climb
$GC,1688,0.55,116.8,2701,2168,2862,2734,204.7,0.0,174,1793,0.52,2.53,97.12,1.056,10756,0.105,0.054,2951,716,2321,2405,2238,0,0,0,0,0,0,14.62,14.56,13.87
$GC,2306,0.61,211.6,2951,715,2390,2236,181.5,5.2,235,2395,0.00,2.30,75.65,1.049,13318,0.000,0.050,2951,2097,1935,2013,1858,0,0,0,0,0,0,15.02,14.90,13.99
$GC,2636,0.62,227.3,2951,2097,2012,1850,151.1,9.3,268,2655,0.00,2.40,13.30,0.972,12804,0.000,0.061,2962,717,1872,1952,1792,0,0,0,0,0,0,15.19,14.83,14.10
$GC,3169,0.65,282.1,2961,716,1941,1790,103.2,7.3,320,3219,0.00,2.38,44.35,0.969,13318,0.000,0.057,2961,2126,1647,1735,1559,0,0,0,0,0,0,14.63,14.58,14.12
$GC,3461,0.66,292.9,2961,2126,1735,1555,75.9,9.5,349,3481,0.00,2.40,9.43,0.877,8708,0.000,0.060,2972,714,1604,1694,1515,0,0,0,0,0,0,15.20,14.62,14.13
$GC,3971,0.66,292.9,2972,713,1688,1513,29.3,11.6,397,3980,0.00,2.45,0.00,0.000,5126,0.000,0.055,2972,2122,1600,1688,1512,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4243,0.66,306.6,2972,2123,1688,1512,9.6,9.4,446,4260,0.00,2.38,5.68,0.235,12548,0.000,0.060,2972,3535,1547,1637,1457,0,0,0,0,0,0,15.20,14.59,14.54
$STATE,4288,end climb,SURFACE_DEPTH_REACHED
$STATE,4288,begin surface coast
$FINISH,0.2,1.023313
$STATE,4306,end surface coast,CONTROL_FINISHED_OK
$STATE,4306,begin surface
$SM_CCo,4325,31.15,0.186,0,0,1247,380.21
$SM_GC,1.32,6.40,2.10,31.15,0.047,0.036,0.186,170,2263,1247,-7.89,1.10,380.21,0,0,0,0,0,0,14.95,14.88,14.59
$IRIDIUM_FIX,2234.68,-15802.37,111021,051125
$TT8_MAMPS,0.023219,0.313082
$HUMID,53.58
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.29,184.728
$10V_AH,12.65,0.000
$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,15.950,42.725,340.300,31.150,0.000,27.087,46.788,137.991,0.000,0.000,16.343,1221.129,1481.014,380.555,1472.309,174.348,0.000,955.610,0.000,1257.048,0.000,0.555,0.000
$DEVICE_MAMPS,432.990,104.805,1067.940,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.708,335.392,624.669,557.185,655.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339144
$DATA_FILE_SIZE,43890,456
$CAP_FILE_SIZE,70967,0
$CFSIZE,1023623168,946962432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.145,320.96,1
$GPS,111021,062959,2244.721,-15801.430,8,1.1,22,9.8,0.6,342.6,8,10.0