version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 876
start: 10 12 121 22 17 15
data:
$ID,626
$MISSION,3
$DIVE,876
$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,47
$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
$GPS1,121021,221052,2245.8518,-15800.6992,8,0.9,21,9.8,1.1,36.5,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.8
$GPS2,121021,221623,2245.8872,-15800.7080,8,0.9,21,9.8,0.0,302.4,9,9.4
$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,156.6,2040,-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,-116.8,122,2296,1282,1190,0.0,0.0,0,74,0.00,0.00,-55.55,0.000,16386,0.000,0.000,122,2297,3006,2981,3032,0,0,0,0,0,0,15.18,28.83,15.19
$GC,78,-0.55,-116.8,122,2297,2982,3032,3.4,-6.6,8,101,8.43,2.47,-4.62,0.000,18948,0.425,0.068,2572,846,3280,3261,3300,0,0,0,0,0,0,14.03,13.24,14.33
$GC,185,-0.55,-116.8,2572,846,3268,3296,28.2,-15.2,26,193,0.00,2.45,0.00,0.000,3078,0.000,0.060,2564,2256,3281,3268,3294,0,0,0,0,0,0,14.94,14.79,14.96
$GC,444,-0.55,-116.8,2563,2257,3269,3294,76.1,-18.9,52,448,0.00,2.38,0.00,0.000,2564,0.000,0.057,2563,856,3281,3269,3294,0,0,0,0,0,0,15.23,14.86,15.23
$GC,507,-0.55,-116.8,2563,855,3270,3294,87.1,-15.2,58,513,0.05,2.40,0.00,0.000,3078,0.383,0.057,2570,2273,3282,3270,3294,0,0,0,0,0,0,14.63,14.87,14.87
$GC,764,-0.55,-116.8,2570,2274,3271,3293,120.2,-12.6,83,772,0.00,2.38,0.00,0.000,2564,0.000,0.052,2571,849,3282,3271,3293,0,0,0,0,0,0,15.26,14.71,15.26
$GC,820,-0.55,-116.8,2570,849,3272,3293,126.6,-11.2,88,828,0.00,2.42,0.00,0.000,3078,0.000,0.057,2561,2262,3282,3272,3292,0,0,0,0,0,0,15.00,14.84,15.02
$GC,1068,-0.55,-116.8,2561,2263,3271,3292,156.7,-11.5,113,1077,0.00,2.38,0.00,0.000,2564,0.000,0.055,2561,848,3282,3272,3293,0,0,0,0,0,0,15.27,14.71,15.27
$GC,1113,-0.55,-116.8,2561,849,3272,3293,161.6,-11.0,117,1121,0.08,2.45,0.00,0.000,3078,0.325,0.059,2578,2270,3281,3271,3292,0,0,0,0,0,0,14.60,14.84,14.85
$GC,1363,-0.55,-116.8,2578,2270,3272,3291,187.8,-10.8,142,1368,0.00,2.35,0.00,0.000,516,0.000,0.052,2578,853,3281,3272,3291,0,0,0,0,0,0,15.27,14.90,15.28
$GC,1427,-0.55,-116.8,2578,853,3270,3292,194.8,-10.3,148,1432,0.00,2.40,0.00,0.000,3078,0.000,0.059,2569,2268,3281,3271,3291,0,0,0,0,0,0,15.03,14.88,15.05
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1485,-0.13,0.0,2569,2074,3272,3291,200.3,-10.3,153,1584,0.35,0.10,94.88,1.077,10246,0.221,0.128,2705,2150,2798,2866,2731,0,0,0,0,0,0,14.33,14.59,13.86
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1588,0.55,116.8,2705,2150,2866,2731,204.4,0.0,163,1693,0.47,2.50,97.00,1.067,10756,0.123,0.053,2929,713,2322,2408,2236,0,0,0,0,0,0,14.58,14.56,13.85
$GC,1840,0.57,154.5,2929,713,2393,2236,195.0,8.2,188,1876,0.00,2.35,31.20,1.043,11270,0.000,0.054,2928,2102,2169,2259,2080,0,0,0,0,0,0,14.92,14.81,13.99
$GC,2117,0.58,162.8,2929,2102,2258,2075,170.1,9.7,216,2130,0.00,2.45,7.95,0.933,10500,0.000,0.066,2929,3538,2135,2226,2044,0,0,0,0,0,0,15.21,14.83,14.04
$GC,2226,0.58,162.8,2928,3538,2226,2045,159.3,10.3,226,2233,0.00,2.33,0.00,0.000,5126,0.000,0.046,2939,2121,2135,2226,2045,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2475,0.62,228.3,2939,2121,2226,2044,139.7,6.7,251,2534,0.00,2.47,52.90,1.021,10500,0.000,0.066,2940,3536,1867,1951,1783,0,0,0,0,0,0,15.23,14.73,14.04
$GC,2580,0.62,228.3,2939,3536,1951,1783,130.2,10.2,261,2588,0.00,2.35,0.00,0.000,1030,0.000,0.051,2950,2130,1867,1951,1783,0,0,0,0,0,0,14.71,14.66,14.72
$GC,2830,0.62,228.3,2950,2130,1951,1779,104.9,10.4,286,2840,0.00,2.38,0.00,0.000,516,0.000,0.061,2961,716,1862,1946,1779,0,0,0,0,0,0,15.21,14.54,15.21
$GC,2898,0.62,228.3,2961,716,1941,1779,97.4,11.7,292,2908,0.00,2.47,0.00,0.000,5126,0.000,0.060,2961,2123,1860,1941,1779,0,0,0,0,0,0,14.78,14.71,14.81
$GC,3150,0.64,269.5,2961,2123,1941,1779,71.1,8.0,317,3189,0.00,2.45,32.80,0.934,12548,0.000,0.063,2961,3550,1699,1788,1611,0,0,0,0,0,0,15.24,14.81,14.13
$GC,3260,0.65,276.5,2961,3550,1788,1611,61.2,9.7,327,3279,0.05,2.40,7.40,0.834,13318,0.372,0.047,2954,2118,1670,1761,1579,0,0,0,0,0,0,14.59,14.81,14.02
$GC,3519,0.65,291.1,2953,2118,1761,1574,37.6,9.4,353,3539,0.00,2.38,12.12,0.858,10756,0.000,0.060,2964,714,1612,1705,1520,0,0,0,0,0,0,15.21,14.57,14.09
$GC,3584,0.65,291.1,2963,713,1699,1519,30.9,10.5,359,3594,0.00,2.40,0.00,0.000,5126,0.000,0.056,2963,2129,1609,1699,1520,0,0,0,0,0,0,14.67,14.62,14.71
$GC,3854,0.68,335.1,2963,2129,1699,1518,4.3,7.8,408,3876,0.00,0.00,18.73,0.195,10502,0.000,0.000,2964,2129,1430,1528,1332,0,0,0,0,0,0,15.20,14.83,14.62
$STATE,3882,end climb,SURFACE_DEPTH_REACHED
$STATE,3882,begin surface coast
$FINISH,0.3,1.010797
$STATE,3911,end surface coast,CONTROL_FINISHED_OK
$STATE,3912,begin surface
$SM_CCo,3930,18.67,0.191,0,0,1247,380.21
$SM_GC,0.94,6.55,0.22,18.67,0.076,0.073,0.191,158,2305,1247,-7.91,-0.71,380.21,0,0,0,0,0,0,14.95,14.94,14.60
$IRIDIUM_FIX,2234.68,-15802.37,121021,221235
$TT8_MAMPS,0.02247,0.341544
$HUMID,52.91
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,13.24,190.418
$10V_AH,12.28,0.000
$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,15.975,53.575,354.975,18.675,0.000,36.308,46.942,114.978,0.750,0.000,22.398,1083.360,1419.504,387.993,1241.015,183.917,0.000,893.765,0.000,1030.993,0.000,0.556,0.000
$DEVICE_MAMPS,424.575,127.755,1077.120,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.516,360.835,573.471,527.493,611.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,37378,417
$CAP_FILE_SIZE,69235,0
$CFSIZE,1023623168,944865280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.036,22.86,1
$GPS,121021,232431,2245.605,-15800.495,8,0.8,48,9.8,0.4,292.2,11,5.2