version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 860
start: 10 12 121 1 29 51
data:
$ID,626
$MISSION,3
$DIVE,860
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,121021,012325,2244.8845,-15800.2812,10,0.9,39,9.8,0.0,99.2,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.0
$GPS2,121021,012859,2244.8569,-15800.3486,8,0.9,20,9.8,1.0,261.7,9,9.4
$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,41.6,652,-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,-116.8,122,2295,1281,1194,0.0,0.0,0,81,0.00,0.00,-62.75,0.000,16390,0.000,0.000,123,2296,3279,3242,3317,0,0,0,0,0,0,15.18,12.98,15.13
$GC,85,-0.55,-116.8,123,2296,3243,3315,4.4,-9.1,9,100,8.52,2.25,0.00,0.000,2308,0.431,0.040,2553,3679,3280,3250,3310,0,0,0,0,0,0,14.08,14.54,14.38
$GC,109,-0.55,-116.8,2553,3679,3253,3308,17.9,-42.6,12,118,0.05,2.40,0.00,0.000,3078,0.419,0.053,2567,2268,3280,3255,3305,0,0,0,0,0,0,14.52,14.78,14.79
$GC,362,-0.55,-116.8,2567,2264,3265,3296,64.7,-15.7,41,372,0.00,2.38,0.00,0.000,2564,0.000,0.060,2567,854,3281,3266,3296,0,0,0,0,0,0,15.23,14.50,15.23
$GC,491,-0.55,-116.8,2567,854,3267,3295,82.4,-11.5,53,500,0.00,2.33,0.00,0.000,3078,0.000,0.059,2558,2234,3281,3268,3295,0,0,0,0,0,0,14.75,14.69,14.77
$GC,742,-0.55,-116.8,2558,2235,3268,3295,115.4,-13.1,78,747,0.00,2.42,0.00,0.000,2308,0.000,0.066,2548,3676,3281,3267,3295,0,0,0,0,0,0,15.26,14.85,15.26
$GC,770,-0.55,-116.8,2547,3677,3267,3295,118.6,-12.7,80,779,0.08,2.38,0.00,0.000,3078,0.295,0.042,2577,2244,3281,3268,3295,0,0,0,0,0,0,14.64,14.86,14.87
$GC,1020,-0.55,-116.8,2576,2241,3268,3295,143.9,-9.6,105,1029,0.00,2.28,0.00,0.000,516,0.000,0.057,2576,864,3281,3268,3295,0,0,0,0,0,0,15.26,14.71,15.26
$GC,1106,-0.55,-116.8,2576,862,3269,3295,151.8,-8.9,113,1113,0.00,2.38,0.00,0.000,3078,0.000,0.057,2567,2268,3281,3269,3294,0,0,0,0,0,0,15.02,14.88,15.04
$GC,1354,-0.55,-116.8,2567,2268,3269,3293,177.2,-10.4,138,1359,0.00,2.40,0.00,0.000,2564,0.000,0.057,2567,854,3281,3269,3293,0,0,0,0,0,0,15.27,14.88,15.28
$GC,1398,-0.55,-116.8,2566,853,3269,3293,181.7,-10.0,142,1404,0.05,2.40,0.00,0.000,3078,0.380,0.057,2574,2276,3281,3269,3293,0,0,0,0,0,0,14.64,14.89,14.88
$STATE,1613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1613,begin apogee
$GC,1620,-0.13,0.0,2574,2084,3270,3292,200.9,-9.0,163,1723,0.32,0.08,95.62,1.076,10246,0.216,0.145,2704,2151,2797,2862,2732,0,0,0,0,0,0,14.48,14.59,13.86
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1724,begin climb
$GC,1727,0.55,116.8,2705,2150,2865,2732,205.2,0.0,174,1833,0.50,2.45,97.70,1.069,11012,0.125,0.051,2934,750,2321,2405,2238,0,0,0,0,0,0,14.57,14.55,13.85
$GC,2054,0.57,146.4,2934,750,2390,2236,193.6,8.6,206,2088,0.00,2.28,24.67,1.043,9222,0.000,0.053,2934,2100,2200,2286,2115,0,0,0,0,0,0,14.95,14.83,14.03
$GC,2330,0.59,182.1,2934,2100,2286,2111,168.9,8.3,234,2370,0.00,2.45,29.83,1.034,10500,0.000,0.064,2934,3528,2055,2142,1968,0,0,0,0,0,0,15.21,14.64,14.07
$GC,2484,0.59,190.0,2933,3529,2142,1968,154.0,9.7,249,2498,0.00,2.25,7.95,0.916,13318,0.000,0.050,2944,2171,2023,2108,1939,0,0,0,0,0,0,14.68,14.62,14.04
$GC,2748,0.61,224.1,2944,2171,2108,1936,129.9,8.3,275,2786,0.00,2.50,27.90,1.001,8708,0.000,0.061,2956,716,1883,1964,1803,0,0,0,0,0,0,15.22,14.69,14.09
$GC,2873,0.62,232.2,2956,716,1956,1803,117.9,9.7,287,2886,0.00,2.35,7.30,0.881,13318,0.000,0.054,2955,2116,1852,1931,1773,0,0,0,0,0,0,14.76,14.70,14.04
$GC,3135,0.62,232.2,2956,2116,1931,1771,88.0,11.6,313,3144,0.00,2.38,0.00,0.000,4356,0.000,0.065,2955,3531,1851,1931,1771,0,0,0,0,0,0,15.23,14.70,15.23
$GC,3219,0.62,232.2,2956,3531,1931,1771,77.5,13.1,321,3229,0.05,2.33,0.00,0.000,5126,0.304,0.047,2946,2119,1851,1931,1771,0,0,0,0,0,0,14.31,14.59,14.47
$GC,3470,0.66,299.5,2948,2118,1931,1770,56.5,6.6,346,3532,0.00,2.42,53.80,0.932,10756,0.000,0.061,2958,716,1576,1666,1487,0,0,0,0,0,0,15.24,14.72,14.09
$GC,3573,0.68,336.2,2958,716,1660,1487,48.8,8.2,356,3612,0.00,2.40,29.27,0.905,11270,0.000,0.054,2958,2126,1426,1518,1335,0,0,0,0,0,0,14.90,14.78,14.00
$GC,3856,0.71,378.0,2958,2127,1519,1330,24.1,7.9,390,3880,0.00,2.40,18.35,0.844,10500,0.000,0.060,2958,3535,1255,1346,1164,0,0,0,0,0,0,15.16,14.81,14.15
$GC,3904,0.71,378.0,2958,3535,1346,1164,19.6,11.7,397,3912,0.00,2.40,0.00,0.000,3078,0.000,0.044,2967,2112,1255,1346,1164,0,0,0,0,0,0,14.92,14.79,14.94
$STATE,4077,end climb,SURFACE_DEPTH_REACHED
$STATE,4077,begin surface coast
$FINISH,0.5,1.023168
$STATE,4113,end surface coast,CONTROL_FINISHED_OK
$STATE,4113,begin surface
$SM_CCo,4131,0.05,2.417,0,0,1248,380.21
$SM_GC,1.75,6.35,0.28,0.05,0.035,0.071,2.417,161,2281,1248,-7.93,-0.90,380.21,0,0,0,0,0,0,14.95,14.90,13.54
$IRIDIUM_FIX,2234.68,-15800.20,121021,012456
$TT8_MAMPS,0.02247,0.315329
$HUMID,54.17
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.98,187.537
$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,15.925,52.800,392.400,0.050,0.000,26.872,47.499,125.031,0.000,0.000,21.220,1121.266,1509.846,389.910,1298.733,182.234,0.000,933.100,0.000,1086.973,0.000,0.555,0.000
$DEVICE_MAMPS,431.460,145.350,1076.355,2417.400,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,287.455,316.718,598.989,543.421,626.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,40579,435
$CAP_FILE_SIZE,70538,0
$CFSIZE,1023623168,945913856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.147,212.83,1
$GPS,121021,024001,2244.802,-15800.365,8,0.9,40,9.8,0.7,102.4,9,5.0