version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 6
start: 7 24 121 22 18 50
data:
$ID,626
$MISSION,3
$DIVE,6
$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,150
$T_ABORT,300
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$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,400
$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,1
$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,2756
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,36
$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,2100
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2934
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,240721,221226,2148.8826,-15518.6514,8,1.1,22,9.9,0.0,232.2,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.1
$GPS2,240721,221825,2148.8440,-15518.7070,8,0.9,39,9.9,1.2,246.6,8,5.6
$SPEED_LIMITS,0.175,0.244
$TGT_NAME,A2
$TGT_LATLONG,2142.000,-15600.000
$TGT_RADIUS,1500.000
$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,295.0,72177,-19.8,-10.101,-22.47,1920
$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,15,-0.71,-126.5,128,2071,1327,1255,0.0,0.0,0,81,0.00,0.00,-63.90,0.000,16386,0.000,0.000,128,2071,3326,3301,3352,0,0,0,0,0,0,15.19,28.83,15.20
$GC,83,-0.71,-126.5,128,2072,3302,3352,4.3,-9.4,9,99,7.97,2.35,-1.90,0.000,18692,0.444,0.072,2510,3515,3452,3431,3473,0,0,0,0,0,0,14.64,13.99,14.85
$GC,285,-0.71,-126.5,2509,3515,3435,3467,65.4,-21.0,46,294,0.03,2.30,0.00,0.000,3078,0.402,0.051,2521,2124,3452,3440,3464,0,0,0,0,0,0,14.76,14.95,14.90
$GC,544,-0.71,-126.5,2521,2121,3443,3461,124.6,-21.8,95,552,0.00,2.25,0.00,0.000,2308,0.000,0.057,2513,3508,3452,3443,3461,0,0,0,0,0,0,15.28,15.02,15.28
$GC,595,-0.71,-126.5,2513,3508,3443,3461,135.2,-20.0,104,603,0.00,2.33,0.00,0.000,3078,0.000,0.050,2514,2096,3452,3443,3461,0,0,0,0,0,0,15.06,15.02,15.06
$GC,845,-0.71,-126.5,2514,2093,3443,3461,189.6,-19.8,135,849,0.00,2.30,0.00,0.000,2308,0.000,0.060,2505,3513,3452,3443,3461,0,0,0,0,0,0,15.34,15.07,15.34
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,910,-0.14,0.0,2506,2069,3443,3461,200.1,-16.8,141,1010,0.55,0.00,95.93,1.161,10246,0.243,0.000,2709,2065,2933,2984,2882,0,0,0,0,0,0,14.91,14.69,14.18
$STATE,1011,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1012,0.71,126.5,2708,2065,2983,2882,203.9,0.0,143,1120,0.62,2.38,99.62,1.145,11012,0.101,0.057,2992,3473,2417,2488,2346,0,0,0,0,0,0,14.68,14.57,14.09
$GC,1262,0.71,126.5,2992,3473,2486,2348,189.9,16.2,152,1270,0.08,2.25,0.00,0.000,5126,0.435,0.041,2982,2057,2416,2486,2347,0,0,0,0,0,0,14.69,14.91,14.92
$GC,1509,0.78,187.2,2981,2056,2486,2344,163.5,6.9,177,1562,0.00,2.35,48.12,1.111,10500,0.000,0.056,2978,3475,2169,2249,2089,0,0,0,0,0,0,15.27,14.69,14.30
$GC,1651,0.78,187.2,2978,3476,2249,2089,145.0,15.9,193,1658,0.00,2.25,0.00,0.000,3078,0.000,0.044,2988,2075,2169,2249,2089,0,0,0,0,0,0,15.01,14.92,15.02
$GC,1914,0.78,187.2,2988,2073,2248,2084,103.4,16.1,242,1922,0.00,2.33,0.00,0.000,2564,0.000,0.056,2999,660,2165,2248,2083,0,0,0,0,0,0,15.26,14.97,15.26
$GC,1977,0.78,187.2,2999,660,2241,2084,93.9,16.3,253,1984,0.00,2.28,0.00,0.000,3078,0.000,0.050,2999,2071,2162,2241,2084,0,0,0,0,0,0,15.12,15.02,15.14
$GC,2239,0.78,187.2,2998,2072,2241,2084,56.4,13.2,302,2247,0.00,2.33,0.00,0.000,2308,0.000,0.063,2999,3479,2162,2241,2084,0,0,0,0,0,0,15.28,15.00,15.28
$GC,2270,0.78,187.2,2998,3480,2241,2084,52.9,10.5,307,2278,0.00,2.30,0.00,0.000,5126,0.000,0.043,3010,2063,2163,2241,2085,0,0,0,0,0,0,15.07,15.02,15.09
$GC,2532,0.78,189.6,3010,2063,2241,2084,28.3,10.0,356,2541,0.00,2.28,0.00,0.000,4612,0.000,0.054,3020,673,2162,2241,2084,0,0,0,0,0,0,15.28,14.99,15.28
$GC,2583,0.78,189.6,3020,673,2241,2084,23.1,10.8,365,2590,0.00,2.30,0.00,0.000,5126,0.000,0.050,3020,2070,2162,2240,2084,0,0,0,0,0,0,15.07,15.02,15.08
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,0.3,1.023096
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2802,begin surface
$SM_CCo,2815,88.72,0.186,0,0,1302,400.08
$SM_GC,1.05,6.47,0.00,88.72,0.054,0.000,0.186,183,2073,1302,-7.92,-0.76,400.08,0,0,0,0,0,0,15.08,15.29,14.87
$IRIDIUM_FIX,2138.81,-15517.22,240721,221318
$TT8_MAMPS,0.021721,0.285369
$HUMID,47.55
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.99,8.488
$10V_AH,13.46,0.000
$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,15.725,36.900,243.675,88.725,0.000,26.954,43.192,176.296,0.000,0.000,40.906,1051.892,511.472,385.396,1288.816,43.863,0.000,795.939,0.000,985.345,0.000,0.556,0.000
$DEVICE_MAMPS,443.700,71.910,1161.270,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.529,283.889,528.217,548.137,662.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339332
$DATA_FILE_SIZE,37252,406
$CAP_FILE_SIZE,49976,0
$CFSIZE,1023623168,1020379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.320,191.93,1
$GPS,240721,230800,2148.579,-15519.018,7,0.9,15,9.9,0.5,191.7,9,9.8