version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 850
start: 10 11 121 13 19 0
data:
$ID,626
$MISSION,3
$DIVE,850
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,111021,131231,2245.2026,-15801.4717,9,1.0,32,9.8,0.0,185.9,8,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.9
$GPS2,111021,131810,2245.1775,-15801.4971,7,0.9,20,9.8,0.8,325.6,9,9.8
$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,70.1,2578,-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,-116.8,124,2286,973,844,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,16386,0.000,0.000,124,2286,3147,3106,3188,0,0,0,0,0,0,15.18,28.83,15.19
$GC,91,-0.55,-116.8,123,2286,3112,3184,3.8,-6.8,10,107,8.48,2.38,-2.10,0.000,18692,0.429,0.069,2553,3699,3280,3251,3310,0,0,0,0,0,0,14.11,13.28,14.40
$GC,121,-0.55,-116.8,2552,3699,3259,3303,18.0,-41.2,14,130,0.05,2.47,0.00,0.000,3078,0.300,0.054,2571,2265,3281,3262,3300,0,0,0,0,0,0,14.45,14.69,14.60
$GC,378,-0.55,-116.8,2570,2261,3266,3296,66.0,-19.1,44,382,0.00,2.40,0.00,0.000,2308,0.000,0.065,2562,3677,3281,3266,3296,0,0,0,0,0,0,15.23,14.85,15.23
$GC,404,-0.55,-116.8,2562,3677,3266,3297,70.2,-18.3,46,411,0.00,2.38,0.00,0.000,3078,0.000,0.047,2562,2260,3281,3266,3296,0,0,0,0,0,0,14.98,14.84,15.00
$GC,652,-0.55,-116.8,2562,2260,3267,3295,109.5,-14.4,71,660,0.00,2.33,0.00,0.000,2564,0.000,0.060,2562,863,3281,3267,3295,0,0,0,0,0,0,15.26,14.70,15.26
$GC,736,-0.55,-116.8,2562,863,3268,3296,120.3,-12.3,79,745,0.05,2.35,0.00,0.000,3078,0.306,0.055,2571,2269,3281,3268,3295,0,0,0,0,0,0,14.45,14.72,14.60
$GC,987,-0.55,-116.8,2571,2269,3269,3294,149.9,-11.1,104,992,0.00,2.38,0.00,0.000,2564,0.000,0.054,2571,857,3281,3269,3294,0,0,0,0,0,0,15.27,14.90,15.28
$GC,1051,-0.55,-116.8,2571,856,3269,3295,157.2,-10.3,110,1056,0.00,2.38,0.00,0.000,3078,0.000,0.055,2561,2269,3282,3270,3294,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1307,-0.55,-116.8,2561,2270,3270,3293,182.5,-8.9,135,1317,0.00,2.35,0.00,0.000,2564,0.000,0.051,2562,859,3282,3270,3294,0,0,0,0,0,0,15.27,14.77,15.28
$GC,1366,-0.55,-116.8,2561,858,3270,3294,187.4,-8.6,140,1373,0.05,2.38,0.00,0.000,3078,0.353,0.057,2571,2267,3282,3271,3293,0,0,0,0,0,0,14.68,14.89,14.90
$STATE,1520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1520,begin apogee
$GC,1527,-0.13,0.0,2572,2081,3271,3292,200.7,-8.5,156,1631,0.32,0.10,94.95,1.073,10246,0.204,0.122,2704,2169,2798,2864,2733,0,0,0,0,0,0,14.38,14.61,13.89
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1635,0.55,116.8,2704,2169,2864,2732,205.8,0.0,167,1742,0.52,2.45,97.30,1.066,10756,0.106,0.047,2953,750,2320,2400,2240,0,0,0,0,0,0,14.62,14.30,13.79
$GC,2259,0.64,259.7,2952,750,2390,2234,179.5,2.7,228,2381,0.00,2.22,114.03,1.061,9222,0.000,0.050,2953,2088,1738,1822,1655,0,0,0,0,0,0,14.71,14.65,13.93
$GC,2632,0.64,259.7,2953,2088,1822,1646,143.4,11.6,265,2641,0.00,2.22,0.00,0.000,516,0.000,0.057,2963,764,1733,1821,1646,0,0,0,0,0,0,15.17,14.71,15.18
$GC,3013,0.64,259.7,2963,764,1815,1646,98.7,11.4,301,3020,0.00,2.30,0.00,0.000,5126,0.000,0.058,2963,2121,1730,1815,1645,0,0,0,0,0,0,15.02,14.88,15.04
$GC,3265,0.66,298.0,2963,2121,1815,1645,77.0,8.1,326,3303,0.00,2.40,30.12,0.949,8452,0.000,0.060,2963,3545,1583,1675,1491,0,0,0,0,0,0,15.24,14.56,14.09
$GC,3556,0.66,298.0,2963,3545,1675,1491,51.6,10.5,353,3563,0.00,2.35,0.00,0.000,5126,0.000,0.048,2974,2170,1583,1675,1491,0,0,0,0,0,0,14.97,14.79,15.00
$GC,3806,0.67,317.9,2974,2170,1676,1490,33.5,9.1,378,3830,0.00,2.50,17.00,0.874,12804,0.000,0.064,2985,715,1501,1595,1407,0,0,0,0,0,0,15.23,14.85,14.19
$GC,3872,0.71,383.5,2985,714,1590,1408,28.4,6.7,386,3908,0.00,2.42,29.90,0.866,13318,0.000,0.053,2985,2129,1233,1328,1139,0,0,0,0,0,0,14.97,14.83,14.14
$STATE,4150,end climb,SURFACE_DEPTH_REACHED
$STATE,4150,begin surface coast
$FINISH,0.3,1.019702
$STATE,4172,end surface coast,CONTROL_FINISHED_OK
$STATE,4172,begin surface
$SM_CCo,4250,0.00,0.000,0,0,1228,385.61
$SM_GC,1.14,6.47,0.22,0.00,0.056,0.082,0.000,178,2287,1228,-7.89,-0.76,385.61,0,0,0,0,0,0,14.90,14.90,14.96
$IRIDIUM_FIX,2234.68,-15802.37,111021,131407
$TT8_MAMPS,0.023219,0.316078
$HUMID,53.85
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,13.28,185.859
$10V_AH,12.19,0.000
$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,15.950,43.200,383.300,0.000,0.000,28.098,44.537,131.341,0.250,0.000,21.337,1150.315,1539.517,382.668,1376.166,169.759,0.000,936.464,0.000,1156.524,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,121.635,1073.295,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.144,321.517,594.601,540.506,626.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,40693,440
$CAP_FILE_SIZE,65508,0
$CFSIZE,1023623168,946585600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113,230.49,1
$GPS,111021,143042,2244.991,-15801.488,7,1.0,17,9.8,0.0,75.9,8,10.0