version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 10
start: 7 25 121 1 53 51
data:
$ID,626
$MISSION,3
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,220
$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,2250
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,38
$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
$GPS1,250721,014912,2147.9954,-15520.1094,8,1.0,19,9.9,0.7,14.8,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.8
$GPS2,250721,015325,2147.9934,-15520.1455,8,1.0,16,9.9,0.6,288.8,8,9.4
$SPEED_LIMITS,0.173,0.243
$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,295.9,69473,-19.7,-10.000,-22.33,1939
$D_GRID,300
$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,-0.70,-126.5,129,2256,1022,965,0.0,0.0,0,86,0.00,0.00,-68.32,0.000,16390,0.000,0.000,127,2257,3152,3125,3179,0,0,0,0,0,0,15.21,13.88,15.19
$GC,88,-0.70,-126.5,127,2257,3125,3179,3.5,-5.6,10,103,7.95,2.28,0.00,0.000,2820,0.440,0.046,2530,835,3151,3127,3176,0,0,0,0,0,0,14.64,14.91,14.84
$GC,261,-0.70,-126.5,2530,834,3139,3167,52.2,-22.2,42,270,0.00,2.35,0.00,0.000,3078,0.000,0.054,2521,2240,3152,3139,3166,0,0,0,0,0,0,14.97,14.92,14.99
$GC,525,-0.70,-126.5,2521,2243,3140,3165,113.4,-20.4,91,531,0.00,2.30,0.00,0.000,2308,0.000,0.060,2510,3667,3152,3140,3165,0,0,0,0,0,0,15.28,15.02,15.28
$GC,581,-0.70,-126.5,2510,3668,3140,3165,124.0,-18.1,101,588,0.05,2.28,0.00,0.000,3078,0.402,0.045,2527,2242,3152,3140,3165,0,0,0,0,0,0,14.83,15.04,15.06
$GC,844,-0.70,-126.5,2527,2239,3141,3164,171.7,-18.0,139,853,0.00,2.30,0.00,0.000,2308,0.000,0.060,2519,3669,3153,3142,3164,0,0,0,0,0,0,15.33,14.98,15.33
$GC,888,-0.70,-126.5,2518,3669,3142,3164,179.6,-18.1,143,897,0.00,2.30,0.00,0.000,3078,0.000,0.044,2518,2245,3152,3141,3164,0,0,0,0,0,0,15.09,15.04,15.11
$GC,1137,-0.70,-126.5,2518,2241,3141,3164,218.8,-14.9,159,1141,0.00,2.30,0.00,0.000,2308,0.000,0.061,2508,3664,3152,3141,3164,0,0,0,0,0,0,15.37,15.08,15.38
$GC,1226,-0.70,-126.5,2508,3665,3141,3164,230.6,-14.5,161,1231,0.05,2.28,0.00,0.000,3078,0.316,0.043,2526,2244,3152,3141,3164,0,0,0,0,0,0,14.88,15.09,15.04
$GC,1498,-0.70,-126.5,2526,2241,3141,3163,266.5,-12.6,168,1502,0.00,2.33,0.00,0.000,2308,0.000,0.063,2518,3673,3152,3141,3164,0,0,0,0,0,0,15.41,15.11,15.41
$GC,1552,-0.70,-126.5,2517,3673,3141,3163,271.0,-12.8,169,1556,0.00,2.25,0.00,0.000,3078,0.000,0.043,2518,2241,3152,3141,3163,0,0,0,0,0,0,15.24,15.15,15.26
$STATE,1772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1772,begin apogee
$GC,1776,-0.14,0.0,2517,1951,3140,3163,300.1,-12.2,175,1882,0.52,0.08,101.47,1.314,10246,0.256,0.156,2710,2013,2632,2719,2546,0,0,0,0,0,0,14.95,14.61,14.12
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1884,0.70,126.5,2710,2013,2720,2546,302.3,0.0,177,1994,0.65,2.35,102.25,1.291,10756,0.139,0.054,2994,612,2117,2201,2034,0,0,0,0,0,0,14.62,14.42,14.00
$GC,2044,0.70,126.5,2994,612,2191,2035,285.8,14.9,181,2052,0.00,2.30,0.00,0.000,5126,0.000,0.052,2994,1973,2113,2191,2035,0,0,0,0,0,0,14.76,14.72,14.78
$GC,2291,0.70,126.5,2993,1974,2191,2032,226.9,21.1,188,2295,0.00,2.33,0.00,0.000,4356,0.000,0.064,2994,3403,2111,2191,2032,0,0,0,0,0,0,15.23,14.97,15.23
$GC,2407,0.70,126.5,2994,3403,2191,2033,203.6,20.1,191,2414,0.08,2.22,0.00,0.000,5126,0.431,0.046,2982,2025,2111,2191,2032,0,0,0,0,0,0,14.79,15.02,15.04
$GC,2657,0.70,126.5,2982,2024,2191,2031,162.5,14.8,213,2661,0.00,2.22,0.00,0.000,260,0.000,0.061,2982,3403,2111,2191,2031,0,0,0,0,0,0,15.30,15.04,15.32
$GC,2705,0.70,126.5,2981,3403,2191,2031,155.1,15.8,217,2714,0.00,2.28,0.00,0.000,5126,0.000,0.047,2991,1981,2111,2191,2031,0,0,0,0,0,0,15.16,15.07,15.18
$GC,2960,0.70,126.5,2990,1980,2191,2029,114.0,17.2,263,2967,0.00,2.28,0.00,0.000,4612,0.000,0.058,3002,572,2110,2191,2029,0,0,0,0,0,0,15.30,15.05,15.30
$GC,2979,0.70,126.5,3001,572,2190,2029,110.7,17.2,266,2988,0.05,2.35,0.00,0.000,5126,0.383,0.051,2986,1995,2109,2190,2028,0,0,0,0,0,0,14.78,15.00,14.95
$GC,3238,0.70,126.5,2985,1995,2191,2028,72.3,11.6,315,3246,0.00,2.35,0.00,0.000,4612,0.000,0.055,2994,576,2109,2191,2028,0,0,0,0,0,0,15.30,15.02,15.30
$GC,3252,0.70,126.5,2994,575,2191,2028,70.6,11.4,317,3261,0.00,2.35,0.00,0.000,5126,0.000,0.051,2994,1992,2109,2190,2028,0,0,0,0,0,0,15.07,15.02,15.14
$GC,3512,0.73,148.3,2994,1992,2191,2027,46.8,8.8,366,3534,0.00,2.35,17.00,1.034,12804,0.000,0.055,3005,581,2027,2114,1941,0,0,0,0,0,0,15.28,14.96,14.47
$GC,3582,0.73,148.3,3004,577,2107,1944,39.2,12.2,378,3590,0.03,2.35,0.00,0.000,5126,0.278,0.052,2982,1993,2025,2107,1944,0,0,0,0,0,0,14.80,14.95,15.00
$GC,3841,0.73,148.3,2982,1994,2107,1942,8.3,11.8,427,3849,0.00,2.33,0.00,0.000,2308,0.000,0.060,2982,3392,2024,2107,1942,0,0,0,0,0,0,15.24,14.96,15.24
$STATE,3881,end climb,SURFACE_DEPTH_REACHED
$STATE,3881,begin surface coast
$FINISH,0.4,1.023029
$STATE,3898,end surface coast,CONTROL_FINISHED_OK
$STATE,3898,begin surface
$SM_CCo,3912,106.45,0.185,0,0,1001,400.08
$SM_GC,1.05,6.50,1.85,106.45,0.068,0.037,0.185,175,2247,1001,-7.93,1.16,400.08,0,0,0,0,0,0,15.02,15.02,14.83
$IRIDIUM_FIX,2138.81,-15520.30,250721,015002
$TT8_MAMPS,0.02247,0.282373
$HUMID,48.38
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.88,9.039
$10V_AH,13.47,0.000
$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,15.875,55.575,220.725,106.450,0.000,24.951,41.733,98.975,0.250,0.000,17.195,1168.452,1370.534,409.170,1297.808,44.191,0.000,881.769,0.000,1094.660,0.000,0.555,0.000
$DEVICE_MAMPS,439.875,156.060,1313.505,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.405,292.410,543.056,551.951,668.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339300
$DATA_FILE_SIZE,40527,437
$CAP_FILE_SIZE,62344,0
$CFSIZE,1023623168,1020116992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.148,210.59,1
$GPS,250721,030201,2147.995,-15520.688,10,1.0,39,9.9,0.2,185.7,9,7.6