version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 899
start: 10 14 121 4 3 54
data:
$ID,626
$MISSION,3
$DIVE,899
$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,54
$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
$GPS1,141021,035440,2245.0225,-15800.2148,8,0.8,18,9.8,0.8,239.2,10,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.0
$GPS2,141021,040301,2245.0059,-15800.2744,8,0.8,19,9.8,0.5,340.8,10,9.1
$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,70.3,469,-19.1,-10.101,-25.00,1808
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-116.8,122,2307,1283,1195,0.0,0.0,0,75,0.00,0.00,-55.75,0.000,16386,0.000,0.000,123,2306,3050,3021,3080,0,0,0,0,0,0,15.17,28.83,15.19
$GC,79,-0.58,-116.8,122,2306,3021,3080,3.9,-8.8,8,102,8.48,2.28,-3.60,0.000,19204,0.430,0.073,2535,3653,3279,3257,3302,0,0,0,0,0,0,14.07,13.24,14.37
$GC,133,-0.58,-116.8,2535,3653,3261,3299,22.7,-24.0,16,141,0.08,2.38,0.00,0.000,3078,0.301,0.050,2563,2269,3280,3264,3296,0,0,0,0,0,0,14.58,14.75,14.81
$GC,386,-0.58,-116.8,2563,2265,3267,3295,67.4,-17.3,44,396,0.00,2.33,0.00,0.000,260,0.000,0.065,2554,3644,3280,3267,3294,0,0,0,0,0,0,15.23,14.49,15.23
$GC,493,-0.58,-116.8,2554,3644,3266,3295,81.8,-12.6,54,501,0.00,2.35,0.00,0.000,3078,0.000,0.049,2554,2267,3280,3266,3294,0,0,0,0,0,0,14.97,14.78,15.00
$GC,741,-0.58,-116.8,2554,2267,3267,3294,119.5,-14.8,79,746,0.00,2.38,0.00,0.000,2308,0.000,0.068,2545,3648,3281,3268,3294,0,0,0,0,0,0,15.26,14.85,15.27
$GC,826,-0.58,-116.8,2544,3648,3267,3294,129.3,-10.4,87,831,0.05,2.28,0.00,0.000,3078,0.349,0.043,2564,2251,3281,3267,3295,0,0,0,0,0,0,14.67,14.92,14.90
$GC,1080,-0.58,-116.8,2563,2246,3268,3294,155.9,-10.4,112,1089,0.00,2.35,0.00,0.000,260,0.000,0.070,2555,3642,3280,3267,3293,0,0,0,0,0,0,15.26,14.67,15.27
$GC,1174,-0.58,-116.8,2554,3642,3268,3294,165.4,-10.1,121,1179,0.00,2.22,0.00,0.000,3078,0.000,0.034,2554,2249,3280,3268,3293,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1429,-0.58,-116.8,2555,2244,3269,3291,197.3,-13.6,146,1438,0.00,2.38,0.00,0.000,2308,0.000,0.067,2544,3651,3279,3268,3291,0,0,0,0,0,0,15.27,14.69,15.27
$STATE,1449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1449,begin apogee
$GC,1459,-0.13,0.0,2544,2113,3269,3290,200.3,-12.8,148,1561,0.40,0.00,94.78,1.072,10246,0.216,0.000,2700,2110,2798,2865,2732,0,0,0,0,0,0,14.43,14.59,13.87
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1565,0.58,116.8,2700,2110,2866,2732,207.7,0.0,159,1672,0.55,2.40,97.68,1.074,10500,0.110,0.060,2947,3515,2321,2403,2239,0,0,0,0,0,0,14.59,14.33,13.81
$GC,1761,0.66,246.0,2947,3515,2403,2239,213.4,2.8,178,1872,0.00,2.25,104.03,1.076,9222,0.000,0.039,2958,2130,1794,1873,1716,0,0,0,0,0,0,14.88,14.80,13.86
$GC,2121,0.66,246.0,2958,2130,1872,1709,183.6,10.1,214,2131,0.00,2.35,0.00,0.000,2564,0.000,0.057,2969,720,1790,1870,1710,0,0,0,0,0,0,15.18,14.71,15.19
$GC,2650,0.66,250.8,2969,720,1865,1710,130.3,9.8,265,2660,0.00,2.30,4.07,0.769,13318,0.000,0.050,2969,2109,1776,1856,1696,0,0,0,0,0,0,14.81,14.78,13.93
$GC,2898,0.69,297.0,2969,2108,1856,1696,109.3,7.5,290,2949,0.00,2.45,38.67,0.990,8452,0.000,0.067,2969,3536,1587,1675,1499,0,0,0,0,0,0,15.26,14.79,14.08
$GC,3184,0.70,307.7,2969,3537,1676,1498,78.6,9.5,317,3204,0.00,2.33,10.25,0.885,13318,0.000,0.049,2980,2129,1544,1635,1453,0,0,0,0,0,0,14.60,14.55,14.07
$GC,3444,0.70,312.2,2980,2128,1636,1448,55.8,9.8,343,3455,0.00,2.42,4.78,0.760,12804,0.000,0.060,2991,710,1525,1618,1432,0,0,0,0,0,0,15.23,14.83,14.07
$GC,3535,0.70,312.2,2991,709,1614,1433,45.6,12.6,351,3543,0.05,2.42,0.00,0.000,5126,0.355,0.058,2972,2123,1522,1613,1432,0,0,0,0,0,0,14.63,14.83,14.87
$GC,3792,0.70,320.2,2971,2126,1613,1431,21.4,9.6,384,3800,0.00,2.42,3.40,0.618,10500,0.000,0.063,2972,3539,1491,1584,1399,0,0,0,0,0,0,15.22,14.78,14.02
$GC,3824,0.70,320.2,2971,3540,1584,1399,17.8,10.6,389,3832,0.00,2.40,0.00,0.000,5126,0.000,0.044,2981,2104,1491,1584,1399,0,0,0,0,0,0,14.99,14.85,15.01
$STATE,3953,end climb,SURFACE_DEPTH_REACHED
$STATE,3954,begin surface coast
$FINISH,0.3,1.023212
$STATE,3981,end surface coast,CONTROL_FINISHED_OK
$STATE,3981,begin surface
$SM_CCo,4000,25.15,0.185,0,0,1247,380.21
$SM_GC,1.25,6.35,0.30,25.15,0.037,0.079,0.185,178,2278,1247,-7.90,-0.68,380.21,0,0,0,0,0,0,14.92,14.91,14.62
$IRIDIUM_FIX,2234.68,-15759.32,141021,035838
$TT8_MAMPS,0.023219,0.34454
$HUMID,53.78
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.24,194.555
$10V_AH,12.31,0.000
$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,15.950,47.475,357.650,25.150,0.000,65.730,98.562,136.238,0.250,0.000,20.839,1098.553,1486.257,398.638,1402.779,176.317,0.000,920.198,0.000,1089.845,0.000,0.555,0.000
$DEVICE_MAMPS,429.930,78.795,1076.355,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.863,312.670,564.439,508.045,587.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339096
$DATA_FILE_SIZE,40846,417
$CAP_FILE_SIZE,65042,0
$CFSIZE,1023623168,943374336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.132,208.68,1
$GPS,141021,051204,2244.709,-15800.354,8,1.0,26,9.8,0.6,309.7,8,9.2