version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 8
start: 7 25 121 0 9 26
data:
$ID,626
$MISSION,3
$DIVE,8
$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,44
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2634
$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
$GPS1,250721,000422,2148.2676,-15519.3799,7,0.9,17,9.9,0.0,289.5,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.0
$GPS2,250721,000901,2148.2456,-15519.4316,7,0.8,30,9.9,0.7,183.1,10,5.2
$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,295.7,70759,-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,-126.5,131,2083,1228,1155,0.0,0.0,0,79,0.00,0.00,-61.95,0.000,16390,0.000,0.000,130,2084,3152,3130,3174,0,0,0,0,0,0,15.21,13.90,15.19
$GC,81,-0.71,-126.5,130,2084,3130,3173,3.7,-7.6,9,96,7.97,2.30,0.00,0.000,2308,0.444,0.044,2510,3529,3152,3131,3174,0,0,0,0,0,0,14.63,14.91,14.84
$GC,374,-0.71,-126.5,2510,3529,3135,3170,82.9,-19.6,64,383,0.03,2.35,0.00,0.000,3078,0.416,0.049,2521,2100,3152,3135,3170,0,0,0,0,0,0,14.76,14.95,14.91
$GC,634,-0.71,-126.5,2521,2097,3140,3164,131.7,-18.2,113,640,0.00,2.30,0.00,0.000,2308,0.000,0.059,2512,3510,3152,3140,3165,0,0,0,0,0,0,15.29,15.02,15.29
$GC,718,-0.71,-126.5,2512,3511,3140,3165,146.3,-16.0,129,725,0.00,2.25,0.00,0.000,3078,0.000,0.046,2514,2099,3152,3140,3165,0,0,0,0,0,0,15.15,15.05,15.16
$GC,972,-0.71,-126.5,2514,2096,3140,3165,188.6,-15.3,156,983,0.00,2.30,0.00,0.000,2308,0.000,0.060,2505,3515,3152,3140,3165,0,0,0,0,0,0,15.34,15.07,15.35
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1051,-0.14,0.0,2506,2064,3140,3165,200.2,-15.2,163,1154,0.57,0.00,99.85,1.162,10246,0.273,0.000,2711,2061,2632,2718,2547,0,0,0,0,0,0,14.88,14.68,14.18
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1156,0.71,126.5,2712,2061,2718,2547,203.9,0.0,165,1269,0.62,2.30,100.32,1.141,10756,0.156,0.055,2980,659,2116,2196,2036,0,0,0,0,0,0,14.62,14.56,14.07
$GC,1334,0.71,126.5,2981,658,2186,2038,180.5,19.2,176,1342,0.00,2.35,0.00,0.000,1030,0.000,0.050,2981,2064,2111,2186,2037,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1585,0.71,126.5,2981,2065,2186,2036,137.1,16.3,208,1594,0.00,2.35,0.00,0.000,260,0.000,0.062,2982,3482,2110,2185,2036,0,0,0,0,0,0,15.21,14.90,15.22
$GC,1618,0.71,126.5,2981,3482,2186,2036,131.7,17.4,213,1624,0.00,2.28,0.00,0.000,5126,0.000,0.044,2993,2061,2111,2186,2036,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1880,0.71,126.5,2993,2058,2186,2036,87.1,16.9,262,1888,0.00,2.30,0.00,0.000,4612,0.000,0.056,3004,661,2111,2186,2036,0,0,0,0,0,0,15.28,14.99,15.28
$GC,1953,0.71,126.5,3004,662,2186,2035,76.3,15.5,275,1961,0.05,2.33,0.00,0.000,5126,0.355,0.050,2972,2074,2110,2186,2034,0,0,0,0,0,0,14.85,15.00,15.07
$GC,2214,0.71,128.5,2973,2075,2186,2034,47.4,10.0,324,2222,0.00,2.35,0.00,0.000,2564,0.000,0.054,2983,656,2110,2186,2034,0,0,0,0,0,0,15.28,14.97,15.28
$GC,2265,0.71,128.5,2982,656,2185,2034,42.1,10.5,333,2273,0.00,2.33,0.00,0.000,1030,0.000,0.050,2982,2066,2110,2186,2034,0,0,0,0,0,0,15.05,15.00,15.08
$GC,2525,0.72,139.7,2982,2066,2186,2033,14.6,9.5,382,2534,0.00,0.00,5.20,0.269,10246,0.000,0.000,2983,2067,2061,2142,1981,0,0,0,0,0,0,15.28,15.06,14.85
$STATE,2633,end climb,SURFACE_DEPTH_REACHED
$STATE,2633,begin surface coast
$FINISH,0.2,1.015299
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2662,begin surface
$SM_CCo,2674,111.93,0.177,0,0,1001,400.08
$SM_GC,1.14,6.60,0.00,111.93,0.095,0.000,0.177,179,2068,1001,-7.91,-0.90,400.08,0,0,0,0,0,0,15.05,15.28,14.86
$IRIDIUM_FIX,2138.81,-15520.30,250721,000512
$TT8_MAMPS,0.02247,0.283122
$HUMID,46.81
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.90,8.765
$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,15.850,32.425,205.375,111.925,0.000,26.660,45.259,105.327,0.000,0.000,31.402,1044.798,433.888,384.241,1181.242,39.083,0.000,771.324,0.000,957.081,0.000,0.555,0.000
$DEVICE_MAMPS,444.465,61.965,1162.035,177.480,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.504,286.521,534.833,559.652,677.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339368
$DATA_FILE_SIZE,37324,407
$CAP_FILE_SIZE,47098,0
$CFSIZE,1023623168,1020264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.283,204.14,1
$GPS,250721,005640,2148.097,-15519.750,7,0.8,17,9.9,0.9,221.3,10,9.7