version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 887
start: 10 13 121 12 35 20
data:
$ID,626
$MISSION,3
$DIVE,887
$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,68
$R_STBD_OVSHOOT,28
$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
$GPS1,131021,122749,2244.7058,-15800.7031,8,0.9,21,9.8,0.0,308.4,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.7
$GPS2,131021,123431,2244.6912,-15800.7305,8,0.9,31,9.8,0.5,81.1,9,6.2
$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,55.6,1373,-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,17,-0.55,-116.8,122,2222,987,863,0.0,0.0,0,87,0.00,0.00,-67.40,0.000,16386,0.000,0.000,122,2220,3104,3067,3141,0,0,0,0,0,0,15.17,28.83,15.18
$GC,90,-0.55,-116.8,122,2220,3069,3139,3.7,-7.1,10,107,8.52,0.00,-2.80,0.000,18950,0.428,0.000,2567,2220,3279,3251,3308,0,0,0,0,0,0,14.07,13.31,14.38
$GC,358,-0.55,-116.8,2567,2220,3266,3295,56.5,-17.5,45,368,0.00,2.45,0.00,0.000,2308,0.000,0.064,2558,3673,3280,3266,3295,0,0,0,0,0,0,15.21,14.50,15.22
$GC,435,-0.55,-116.8,2557,3673,3266,3295,66.9,-12.3,52,441,0.03,2.25,0.00,0.000,3078,0.503,0.043,2569,2294,3280,3266,3295,0,0,0,0,0,0,14.71,14.90,14.88
$GC,694,-0.55,-116.8,2569,2289,3267,3294,104.5,-15.1,77,702,0.00,2.35,0.00,0.000,2308,0.000,0.070,2561,3671,3280,3267,3294,0,0,0,0,0,0,15.26,14.69,15.26
$GC,739,-0.55,-116.8,2560,3671,3267,3295,109.7,-11.1,81,746,0.00,2.30,0.00,0.000,3078,0.000,0.041,2561,2263,3281,3267,3295,0,0,0,0,0,0,15.03,14.92,15.04
$GC,989,-0.55,-116.8,2560,2261,3267,3294,138.0,-11.3,106,993,0.00,2.42,0.00,0.000,2308,0.000,0.073,2550,3672,3280,3267,3294,0,0,0,0,0,0,15.26,14.84,15.26
$GC,1084,-0.55,-116.8,2550,3672,3267,3294,147.6,-9.7,115,1094,0.05,2.28,0.00,0.000,3078,0.252,0.039,2573,2251,3281,3268,3294,0,0,0,0,0,0,14.51,14.78,14.64
$GC,1333,-0.55,-116.8,2573,2249,3268,3293,167.9,-7.1,140,1338,0.00,2.30,0.00,0.000,516,0.000,0.054,2573,861,3280,3269,3291,0,0,0,0,0,0,15.27,14.89,15.28
$GC,1418,-0.55,-116.8,2573,860,3269,3291,173.4,-6.3,148,1422,0.00,2.38,0.00,0.000,3078,0.000,0.055,2565,2273,3280,3269,3291,0,0,0,0,0,0,15.03,14.89,15.05
$GC,1673,-0.55,-116.8,2564,2273,3270,3290,192.4,-8.7,173,1679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2274,3279,3270,3289,0,0,0,0,0,0,15.27,15.28,15.27
$STATE,1757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1757,begin apogee
$GC,1765,-0.13,0.0,2564,2100,3270,3289,200.6,-9.1,182,1864,0.35,0.00,95.25,1.074,10246,0.203,0.000,2704,2097,2798,2864,2733,0,0,0,0,0,0,14.50,14.59,13.85
$STATE,1864,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1867,0.55,116.8,2704,2097,2864,2733,206.4,0.0,192,1973,0.52,2.30,97.72,1.068,10756,0.125,0.052,2943,755,2321,2404,2238,0,0,0,0,0,0,14.59,14.55,13.84
$GC,2486,0.61,223.3,2943,755,2390,2235,191.1,4.6,253,2577,0.00,2.30,85.05,1.070,9222,0.000,0.050,2943,2133,1888,1967,1809,0,0,0,0,0,0,15.00,14.90,13.92
$GC,2826,0.62,239.2,2942,2133,1966,1801,158.6,9.3,287,2846,0.00,2.35,13.68,0.986,10756,0.000,0.054,2954,747,1822,1904,1741,0,0,0,0,0,0,15.19,14.57,14.08
$GC,3064,0.62,239.2,2954,747,1895,1740,133.7,10.6,310,3073,0.00,2.30,0.00,0.000,5126,0.000,0.057,2954,2115,1817,1895,1740,0,0,0,0,0,0,14.62,14.56,14.64
$GC,3318,0.63,243.6,2954,2114,1895,1739,107.7,9.9,335,3329,0.00,2.42,4.32,0.786,12548,0.000,0.063,2954,3543,1804,1886,1723,0,0,0,0,0,0,15.24,14.82,13.98
$GC,3405,0.63,243.6,2954,3543,1886,1724,98.3,10.7,343,3414,0.00,2.28,0.00,0.000,5126,0.000,0.052,2964,2165,1805,1886,1724,0,0,0,0,0,0,14.81,14.76,14.82
$GC,3658,0.70,359.4,2964,2163,1884,1724,80.0,4.1,368,3753,0.00,0.00,91.82,0.959,10246,0.000,0.000,2964,2162,1332,1425,1240,0,0,0,0,0,0,15.26,14.62,14.00
$GC,3994,0.71,381.2,2964,2162,1423,1234,53.4,9.0,402,4025,0.00,2.42,17.70,0.892,10756,0.000,0.063,2975,714,1242,1337,1147,0,0,0,0,0,0,15.17,14.81,14.12
$GC,4156,0.71,383.7,2975,714,1332,1147,38.1,10.0,417,4165,0.00,2.38,0.00,0.000,1030,0.000,0.060,2975,2119,1239,1332,1146,0,0,0,0,0,0,14.64,14.58,14.69
$GC,4414,0.73,421.4,2975,2119,1332,1144,21.7,8.2,455,4437,0.00,2.42,17.45,0.821,10500,0.000,0.061,2975,3545,1080,1178,983,0,0,0,0,0,0,15.20,14.84,14.19
$GC,4484,0.73,421.4,2975,3545,1178,983,14.7,11.4,466,4491,0.00,2.42,0.00,0.000,1030,0.000,0.053,2986,2119,1080,1178,983,0,0,0,0,0,0,14.92,14.81,14.95
$STATE,4583,end climb,SURFACE_DEPTH_REACHED
$STATE,4583,begin surface coast
$FINISH,0.2,1.004163
$STATE,4611,end surface coast,CONTROL_FINISHED_OK
$STATE,4611,begin surface
$SM_CCo,4689,0.00,0.000,0,0,1078,422.40
$SM_GC,1.24,6.32,0.28,0.00,0.024,0.061,0.000,136,2317,1078,-7.93,-0.65,422.40,0,0,0,0,0,0,14.96,14.93,15.00
$IRIDIUM_FIX,2232.34,-15704.65,131021,122944
$TT8_MAMPS,0.02247,0.316827
$HUMID,53.30
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.31,192.442
$10V_AH,12.44,0.000
$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,15.800,42.950,423.000,0.000,0.000,32.949,71.786,149.960,0.000,0.000,32.331,1261.436,1733.607,419.211,1508.017,195.628,0.000,1005.656,0.000,1241.218,0.000,0.554,0.000
$DEVICE_MAMPS,502.605,90.270,1074.060,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,323.845,353.800,667.857,594.630,695.065,0.000,0.000,0.000,0.000,0.000
$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,43914,489
$CAP_FILE_SIZE,71891,0
$CFSIZE,1023623168,944144384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.131,206.65,1
$GPS,131021,135420,2244.346,-15800.688,8,1.1,16,9.8,0.0,76.0,8,9.7