version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 881
start: 10 13 121 4 26 43
data:
$ID,626
$MISSION,3
$DIVE,881
$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,51
$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
$GPS1,131021,041801,2244.9270,-15800.2988,8,1.0,16,9.8,0.7,293.4,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.3
$GPS2,131021,042553,2244.9060,-15800.3594,7,1.1,20,9.8,0.0,12.8,8,9.9
$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,46.8,639,-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,-116.8,122,2300,1285,1195,0.0,0.0,0,80,0.00,0.00,-61.80,0.000,16386,0.000,0.000,122,2300,3212,3172,3252,0,0,0,0,0,0,15.17,28.83,15.18
$GC,84,-0.55,-116.8,122,2301,3175,3251,3.6,-6.4,9,100,8.55,2.30,-1.02,0.000,18692,0.431,0.068,2555,3670,3280,3252,3308,0,0,0,0,0,0,14.04,13.24,14.35
$GC,162,-0.55,-116.8,2554,3670,3261,3301,25.9,-15.7,22,170,0.05,2.40,0.00,0.000,3078,0.344,0.046,2574,2247,3280,3263,3297,0,0,0,0,0,0,14.59,14.79,14.81
$GC,415,-0.55,-116.8,2574,2243,3267,3295,64.2,-16.8,49,424,0.00,2.40,0.00,0.000,260,0.000,0.069,2565,3649,3281,3267,3295,0,0,0,0,0,0,15.23,14.47,15.23
$GC,489,-0.55,-116.8,2565,3649,3267,3295,74.3,-12.2,56,494,0.00,2.28,0.00,0.000,3078,0.000,0.045,2565,2263,3280,3266,3295,0,0,0,0,0,0,15.01,14.89,15.03
$GC,743,-0.55,-116.8,2565,2263,3267,3295,107.8,-12.5,81,752,0.00,2.35,0.00,0.000,2308,0.000,0.068,2555,3648,3281,3267,3295,0,0,0,0,0,0,15.26,14.67,15.27
$GC,795,-0.55,-116.8,2555,3647,3268,3295,113.9,-11.2,86,801,0.05,2.28,0.00,0.000,3078,0.359,0.043,2574,2255,3281,3267,3295,0,0,0,0,0,0,14.66,14.91,14.88
$GC,1050,-0.55,-116.8,2573,2251,3267,3295,143.9,-11.9,111,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2251,3281,3267,3296,0,0,0,0,0,0,15.26,15.27,15.27
$GC,1290,-0.55,-116.8,2574,2251,3267,3296,171.1,-11.8,135,1299,0.00,2.38,0.00,0.000,260,0.000,0.066,2565,3652,3281,3267,3295,0,0,0,0,0,0,15.28,14.50,15.28
$GC,1334,-0.55,-116.8,2565,3652,3267,3295,175.7,-10.7,139,1342,0.00,2.25,0.00,0.000,3078,0.000,0.037,2564,2250,3281,3268,3294,0,0,0,0,0,0,15.00,14.96,15.00
$STATE,1551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1551,begin apogee
$GC,1560,-0.13,0.0,2565,2098,3268,3294,200.6,-11.1,161,1663,0.35,0.00,95.32,1.070,10246,0.231,0.000,2700,2094,2798,2865,2732,0,0,0,0,0,0,14.44,14.33,13.83
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1667,0.55,116.8,2700,2095,2865,2732,207.4,0.0,172,1773,0.50,2.45,97.47,1.067,10500,0.082,0.060,2942,3521,2322,2407,2238,0,0,0,0,0,0,14.64,14.34,13.83
$GC,1782,0.70,370.4,2942,3520,2407,2240,212.0,-3.0,183,1994,0.00,2.33,203.65,1.066,11270,0.000,0.038,2953,2147,1289,1381,1197,0,0,0,0,0,0,14.64,14.61,13.85
$GC,2243,0.70,370.4,2952,2147,1381,1193,159.9,12.7,229,2253,0.00,2.30,0.00,0.000,2308,0.000,0.062,2953,3513,1287,1381,1194,0,0,0,0,0,0,15.18,14.72,15.18
$GC,2318,0.70,370.4,2952,3513,1381,1193,149.9,13.2,236,2328,0.00,2.30,0.00,0.000,3078,0.000,0.051,2963,2133,1287,1381,1194,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2570,0.70,370.4,2963,2133,1381,1194,121.6,11.1,261,2579,0.00,2.40,0.00,0.000,2564,0.000,0.068,2974,718,1287,1381,1194,0,0,0,0,0,0,15.23,14.69,15.23
$GC,2769,0.70,370.4,2973,717,1378,1192,98.1,11.9,280,2776,0.00,2.40,0.00,0.000,1030,0.000,0.061,2974,2107,1285,1378,1193,0,0,0,0,0,0,14.98,14.84,15.00
$GC,3019,0.71,375.7,2974,2106,1378,1192,71.0,9.8,305,3031,0.00,2.42,5.62,0.818,8708,0.000,0.064,2985,716,1266,1364,1169,0,0,0,0,0,0,15.24,14.81,13.97
$GC,3098,0.72,390.6,2984,715,1361,1171,63.6,9.3,312,3119,0.00,2.38,13.73,0.894,13318,0.000,0.059,2984,2123,1205,1306,1104,0,0,0,0,0,0,14.70,14.63,14.09
$GC,3359,0.75,437.8,2984,2123,1306,1102,40.0,7.7,338,3401,0.00,2.38,37.12,0.897,10500,0.000,0.061,2985,3546,1014,1120,908,0,0,0,0,0,0,15.23,14.78,14.12
$GC,3422,0.76,460.2,2984,3546,1120,908,34.8,8.9,344,3451,0.00,2.35,18.73,0.858,9222,0.000,0.045,2995,2121,921,1034,809,0,0,0,0,0,0,14.66,14.57,14.00
$GC,3710,0.76,460.2,2994,2121,1033,805,7.9,10.7,393,3717,0.00,2.45,0.00,0.000,516,0.000,0.070,3006,716,919,1033,805,0,0,0,0,0,0,15.16,14.76,15.17
$STATE,3756,end climb,SURFACE_DEPTH_REACHED
$STATE,3756,begin surface coast
$FINISH,0.4,1.023216
$STATE,3783,end surface coast,CONTROL_FINISHED_OK
$STATE,3783,begin surface
$SM_CCo,3864,0.00,0.000,0,0,915,462.38
$SM_GC,1.35,6.45,2.67,0.00,0.045,0.048,0.000,169,2280,915,-7.91,-0.54,462.38,0,0,0,0,0,0,14.95,14.85,15.00
$IRIDIUM_FIX,2234.68,-15759.32,131021,042154
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.63
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,13.24,191.303
$10V_AH,11.65,0.000
$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,15.950,47.625,471.650,0.000,0.000,53.141,100.434,114.414,0.250,0.000,21.335,1014.316,1445.252,440.033,1296.381,170.422,0.000,962.329,0.000,1004.407,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,81.090,1070.235,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.853,292.784,551.547,521.515,607.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,37295,406
$CAP_FILE_SIZE,63074,0
$CFSIZE,1023623168,944553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.132,212.31,1
$GPS,131021,053225,2244.612,-15800.484,9,0.9,43,9.8,1.0,74.5,9,6.9