version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 7
start: 7 24 121 23 13 59
data:
$ID,626
$MISSION,3
$DIVE,7
$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,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,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,46
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2834
$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
$GPS1,240721,230800,2148.5789,-15519.0176,7,0.9,15,9.9,0.5,191.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.3
$GPS2,240721,231334,2148.5381,-15519.0693,7,0.9,16,9.9,0.0,249.9,9,9.8
$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,295.3,71464,-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,14,-0.71,-126.5,129,2081,1327,1257,0.0,0.0,0,73,0.00,0.00,-55.83,0.000,16386,0.000,0.000,129,2081,3012,3000,3025,0,0,0,0,0,0,15.19,28.83,15.20
$GC,75,-0.71,-126.5,129,2081,3000,3025,3.0,-5.8,8,99,7.95,2.35,-6.12,0.000,19204,0.439,0.081,2510,3502,3352,3341,3363,0,0,0,0,0,0,14.59,13.91,14.83
$GC,359,-0.71,-126.5,2509,3502,3342,3363,74.1,-19.6,60,367,0.03,2.30,0.00,0.000,3078,0.410,0.050,2522,2111,3352,3341,3364,0,0,0,0,0,0,14.79,14.97,14.92
$GC,615,-0.71,-126.5,2521,2108,3342,3362,126.8,-19.1,109,622,0.00,2.28,0.00,0.000,2308,0.000,0.058,2513,3509,3352,3342,3362,0,0,0,0,0,0,15.28,15.02,15.29
$GC,660,-0.71,-126.5,2513,3509,3342,3362,135.8,-18.4,117,668,0.00,2.28,0.00,0.000,3078,0.000,0.050,2514,2094,3351,3342,3361,0,0,0,0,0,0,15.14,15.04,15.16
$GC,915,-0.71,-126.5,2514,2092,3342,3362,187.4,-18.4,149,919,0.00,2.30,0.00,0.000,2308,0.000,0.059,2505,3511,3352,3342,3362,0,0,0,0,0,0,15.34,15.07,15.35
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1002,-0.14,0.0,2505,2065,3342,3362,200.6,-15.7,157,1103,0.55,0.00,97.93,1.164,10246,0.254,0.000,2706,2062,2832,2895,2770,0,0,0,0,0,0,14.89,14.68,14.17
$STATE,1104,end apogee,CONTROL_FINISHED_OK
$STATE,1104,begin climb
$GC,1105,0.71,126.5,2706,2062,2895,2771,204.5,0.0,159,1216,0.62,2.35,100.20,1.144,10756,0.141,0.050,2981,658,2317,2390,2244,0,0,0,0,0,0,14.64,14.57,14.07
$GC,1220,0.71,126.5,2981,659,2386,2244,203.3,2.1,162,1225,0.00,2.38,0.00,0.000,1030,0.000,0.050,2980,2067,2314,2385,2244,0,0,0,0,0,0,14.66,14.62,14.67
$GC,1468,0.71,126.5,2980,2068,2385,2241,162.0,12.5,186,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2068,2313,2385,2241,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1715,0.71,126.5,2981,2068,2385,2239,132.8,12.2,223,1722,0.00,2.30,0.00,0.000,260,0.000,0.062,2981,3490,2312,2385,2240,0,0,0,0,0,0,15.26,15.02,15.28
$GC,1836,0.71,126.5,2980,3490,2385,2241,117.5,12.4,245,1843,0.00,2.28,0.00,0.000,5126,0.000,0.043,2993,2058,2313,2385,2241,0,0,0,0,0,0,15.14,15.05,15.16
$GC,2098,0.71,126.5,2993,2056,2385,2240,87.3,10.7,294,2107,0.00,2.28,0.00,0.000,4612,0.000,0.054,3003,666,2312,2385,2239,0,0,0,0,0,0,15.30,15.01,15.30
$GC,2113,0.71,126.5,3003,666,2385,2238,85.8,10.6,296,2121,0.05,2.33,0.00,0.000,5126,0.375,0.050,2974,2085,2311,2383,2239,0,0,0,0,0,0,14.85,15.03,15.08
$GC,2375,0.79,191.8,2974,2085,2383,2239,64.5,6.6,345,2433,0.05,2.33,50.40,1.026,10756,0.276,0.049,3050,664,2050,2129,1972,0,0,0,0,0,0,15.00,14.71,14.34
$GC,2451,0.79,191.8,3049,664,2124,1972,56.6,13.9,356,2459,0.08,2.33,0.00,0.000,5126,0.344,0.052,3011,2060,2047,2123,1972,0,0,0,0,0,0,14.69,14.84,14.89
$GC,2711,0.79,191.8,3011,2062,2123,1968,21.5,14.3,405,2720,0.00,2.33,0.00,0.000,4612,0.000,0.054,3020,663,2045,2123,1968,0,0,0,0,0,0,15.21,14.92,15.22
$GC,2747,0.79,191.8,3019,662,2121,1968,16.4,14.6,411,2755,0.00,2.33,0.00,0.000,5126,0.000,0.047,3020,2074,2044,2120,1968,0,0,0,0,0,0,15.01,14.97,15.03
$STATE,2849,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,0.3,1.023032
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2885,87.35,0.184,0,0,1200,400.08
$SM_GC,1.15,6.65,0.00,87.35,0.083,0.000,0.184,183,2076,1200,-7.92,-0.68,400.08,0,0,0,0,0,0,15.04,15.25,14.85
$IRIDIUM_FIX,2138.81,-15519.33,240721,230853
$TT8_MAMPS,0.02247,0.280875
$HUMID,47.28
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.91,8.636
$10V_AH,13.48,0.000
$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,15.975,37.050,248.525,87.350,0.000,26.531,44.333,176.214,0.000,0.000,17.340,1106.940,512.837,389.123,1272.514,44.617,0.000,803.369,0.000,996.737,0.000,0.555,0.000
$DEVICE_MAMPS,439.110,81.090,1163.565,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.325,307.853,567.976,574.980,689.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339328
$DATA_FILE_SIZE,37364,434
$CAP_FILE_SIZE,51018,0
$CFSIZE,1023623168,1020313600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.309,196.44,1
$GPS,250721,000422,2148.268,-15519.380,7,0.9,17,9.9,0.0,289.5,8,9.9