version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 845
start: 10 11 121 6 36 48
data:
$ID,626
$MISSION,3
$DIVE,845
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,111021,062959,2244.7209,-15801.4297,8,1.1,22,9.8,0.6,342.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.2
$GPS2,111021,063559,2244.7424,-15801.4766,7,1.2,20,9.8,1.2,14.9,8,10.0
$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,103.8,2567,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,124,2254,1279,1195,0.0,0.0,0,75,0.00,0.00,-55.62,0.000,16386,0.000,0.000,123,2254,3048,3019,3077,0,0,0,0,0,0,15.18,28.83,15.19
$GC,79,-0.55,-116.8,123,2255,3019,3078,4.0,-8.2,8,94,8.48,0.00,-3.62,0.000,19206,0.428,0.000,2565,2255,3279,3254,3304,0,0,0,0,0,0,14.11,13.34,14.40
$GC,342,-0.55,-116.8,2565,2255,3265,3296,70.7,-17.7,40,351,0.00,2.40,0.00,0.000,2308,0.000,0.068,2556,3671,3281,3266,3296,0,0,0,0,0,0,15.23,14.49,15.23
$GC,406,-0.55,-116.8,2555,3671,3266,3295,78.4,-10.2,46,416,0.05,2.30,0.00,0.000,3078,0.287,0.044,2575,2252,3280,3267,3294,0,0,0,0,0,0,14.30,14.57,14.44
$GC,658,-0.55,-116.8,2575,2251,3268,3294,109.5,-11.8,71,663,0.00,2.45,0.00,0.000,260,0.000,0.070,2565,3682,3280,3268,3293,0,0,0,0,0,0,15.25,14.85,15.26
$GC,723,-0.55,-116.8,2565,3682,3268,3294,117.3,-11.2,77,728,0.00,2.30,0.00,0.000,3078,0.000,0.042,2565,2269,3280,3268,3293,0,0,0,0,0,0,15.04,14.92,15.06
$GC,979,-0.55,-116.8,2565,2267,3268,3294,150.3,-12.4,102,988,0.00,2.38,0.00,0.000,2308,0.000,0.068,2555,3670,3281,3268,3294,0,0,0,0,0,0,15.27,14.54,15.26
$GC,1044,-0.55,-116.8,2555,3670,3268,3294,157.3,-10.1,108,1053,0.05,2.35,0.00,0.000,3078,0.348,0.036,2575,2255,3281,3268,3294,0,0,0,0,0,0,14.66,14.81,14.88
$GC,1293,-0.55,-116.8,2575,2254,3269,3293,178.3,-7.6,133,1298,0.00,2.40,0.00,0.000,260,0.000,0.072,2565,3674,3280,3268,3292,0,0,0,0,0,0,15.27,14.87,15.28
$GC,1397,-0.55,-116.8,2565,3675,3268,3293,185.7,-6.7,143,1401,0.00,2.28,0.00,0.000,3078,0.000,0.041,2565,2274,3280,3268,3292,0,0,0,0,0,0,15.06,14.95,15.07
$STATE,1567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1574,-0.13,0.0,2565,2094,3269,3291,200.3,-8.4,160,1678,0.35,0.00,94.85,1.071,10246,0.229,0.000,2701,2092,2798,2863,2734,0,0,0,0,0,0,14.46,14.60,13.89
$STATE,1679,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1682,0.55,116.8,2701,2092,2862,2734,203.6,0.0,171,1789,0.50,2.28,97.50,1.061,10756,0.111,0.053,2937,744,2320,2401,2240,0,0,0,0,0,0,14.61,14.56,13.85
$GC,2305,0.61,212.4,2937,744,2390,2237,178.2,5.2,232,2388,0.00,2.30,76.70,1.053,11270,0.000,0.051,2937,2127,1933,2011,1856,0,0,0,0,0,0,14.83,14.85,13.98
$GC,2630,0.61,212.4,2937,2127,2011,1849,146.4,10.3,264,2634,0.00,2.38,0.00,0.000,2564,0.000,0.060,2948,742,1929,2010,1849,0,0,0,0,0,0,15.19,14.84,15.19
$GC,3146,0.66,296.8,2948,741,1998,1849,102.9,5.7,314,3220,0.00,2.38,66.82,0.977,11270,0.000,0.055,2948,2125,1587,1675,1500,0,0,0,0,0,0,15.00,14.83,14.06
$GC,3462,0.68,338.0,2948,2125,1675,1494,75.6,8.0,346,3502,0.00,2.42,32.95,0.930,10756,0.000,0.059,2959,748,1418,1512,1325,0,0,0,0,0,0,15.19,14.78,14.12
$GC,3831,0.75,444.2,2958,747,1502,1325,53.8,4.6,381,3920,0.05,2.40,81.22,0.903,11270,0.260,0.063,3056,2132,988,1092,884,0,0,0,0,0,0,14.74,14.81,14.06
$GC,4166,0.75,444.2,3055,2132,1091,879,19.1,12.4,424,4174,0.15,2.40,0.00,0.000,4356,0.235,0.062,2990,3538,985,1091,879,0,0,0,0,0,0,14.43,14.64,14.55
$GC,4274,0.75,444.2,2990,3539,1091,879,5.6,14.6,443,4282,0.00,2.35,0.00,0.000,5126,0.000,0.040,2998,2148,985,1091,879,0,0,0,0,0,0,14.87,14.78,14.94
$STATE,4287,end climb,SURFACE_DEPTH_REACHED
$STATE,4287,begin surface coast
$FINISH,0.8,1.023187
$STATE,4305,end surface coast,CONTROL_FINISHED_OK
$STATE,4305,begin surface
$SM_CCo,4384,0.00,0.000,0,0,983,445.95
$SM_GC,1.28,6.53,0.22,0.00,0.058,0.075,0.000,178,2293,983,-7.90,-0.68,445.95,0,0,0,0,0,0,14.92,14.93,14.97
$IRIDIUM_FIX,2234.68,-15900.10,111021,063147
$TT8_MAMPS,0.02247,0.342293
$HUMID,53.18
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,13.34,184.923
$10V_AH,12.87,0.000
$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,16.150,38.200,450.050,0.000,0.000,32.961,56.623,129.441,0.500,0.000,21.380,1173.808,1554.282,408.084,1465.640,169.628,0.000,997.307,0.000,1226.201,0.000,0.557,0.000
$DEVICE_MAMPS,427.635,74.970,1071.000,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,296.213,325.559,608.043,534.482,627.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,40749,448
$CAP_FILE_SIZE,66333,0
$CFSIZE,1023623168,946896896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.202,350.89,1
$GPS,111021,075115,2245.166,-15801.577,8,1.3,48,9.8,0.0,322.3,7,7.1