version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 11
start: 7 25 121 3 7 3
data:
$ID,626
$MISSION,3
$DIVE,11
$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,110
$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,2740
$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,39
$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
$GPS1,250721,030201,2147.9949,-15520.6885,10,1.0,39,9.9,0.2,185.7,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.6
$GPS2,250721,030639,2148.0105,-15520.7197,8,1.0,19,9.9,0.0,223.1,9,9.7
$SPEED_LIMITS,0.173,0.225
$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,281.0,68503,-21.4,-10.000,-23.94,1642
$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,-0.73,-107.1,127,2239,1029,959,0.0,0.0,0,88,0.00,0.00,-66.57,0.000,16390,0.000,0.000,126,2240,3073,3050,3096,0,0,0,0,0,0,15.19,14.20,15.16
$GC,91,-0.73,-107.1,126,2239,3051,3095,4.0,-8.0,10,105,7.85,2.30,0.00,0.000,2820,0.435,0.047,2492,3677,3073,3053,3094,0,0,0,0,0,0,14.60,14.90,14.82
$GC,452,-0.73,-107.1,2491,3677,3060,3090,98.0,-18.6,78,459,0.00,2.35,0.00,0.000,3078,0.000,0.047,2494,2248,3075,3060,3090,0,0,0,0,0,0,15.03,14.97,15.10
$GC,715,-0.73,-107.1,2493,2245,3067,3084,152.3,-20.6,126,719,0.00,2.30,0.00,0.000,2308,0.000,0.058,2484,3663,3075,3066,3084,0,0,0,0,0,0,15.29,15.02,15.30
$GC,793,-0.73,-107.1,2484,3663,3067,3084,168.0,-19.5,133,802,0.08,2.28,0.00,0.000,3078,0.354,0.047,2509,2247,3075,3067,3084,0,0,0,0,0,0,14.84,15.05,15.07
$GC,1062,-0.73,-107.1,2509,2244,3068,3082,212.7,-15.0,154,1069,0.00,2.28,0.00,0.000,260,0.000,0.060,2501,3662,3075,3068,3082,0,0,0,0,0,0,15.34,15.07,15.35
$GC,1124,-0.73,-107.1,2500,3662,3068,3083,219.3,-15.3,155,1129,0.00,2.28,0.00,0.000,3078,0.000,0.044,2501,2251,3075,3068,3083,0,0,0,0,0,0,15.12,15.07,15.14
$GC,1382,-0.73,-107.1,2501,2248,3067,3082,261.7,-14.7,162,1388,0.00,2.28,0.00,0.000,2308,0.000,0.061,2492,3655,3075,3068,3082,0,0,0,0,0,0,15.39,15.10,15.40
$GC,1422,-0.73,-107.1,2492,3656,3069,3082,267.5,-14.3,163,1426,0.00,2.22,0.00,0.000,3078,0.000,0.045,2492,2249,3075,3068,3082,0,0,0,0,0,0,15.23,15.13,15.24
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1657,begin apogee
$GC,1661,-0.14,0.0,2492,1944,3068,3080,302.5,-14.5,169,1752,0.55,0.05,86.88,1.324,10246,0.278,0.200,2690,1998,2633,2717,2550,0,0,0,0,0,0,14.91,14.63,14.14
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1754,0.73,107.1,2690,1998,2717,2550,305.7,0.0,171,1851,0.65,2.33,88.12,1.301,10756,0.163,0.053,2967,622,2196,2280,2113,0,0,0,0,0,0,14.62,14.52,14.00
$GC,1926,0.73,107.1,2967,622,2267,2116,286.9,14.8,175,1930,0.00,2.28,0.00,0.000,3078,0.000,0.051,2967,1980,2191,2267,2116,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2178,0.73,107.1,2966,1981,2267,2113,235.8,18.2,182,2182,0.00,2.33,0.00,0.000,2308,0.000,0.063,2967,3399,2190,2266,2114,0,0,0,0,0,0,15.23,14.97,15.23
$GC,2247,0.73,107.1,2966,3399,2267,2114,229.9,17.6,183,2255,0.00,2.20,0.00,0.000,5126,0.000,0.045,2977,2027,2190,2267,2114,0,0,0,0,0,0,15.11,15.02,15.12
$GC,2495,0.73,107.1,2977,2025,2267,2112,183.9,15.0,196,2504,0.00,2.25,0.00,0.000,4356,0.000,0.062,2977,3406,2190,2267,2113,0,0,0,0,0,0,15.31,15.04,15.32
$GC,2578,0.73,107.1,2977,3406,2267,2113,171.0,15.3,204,2588,0.05,2.33,0.00,0.000,5126,0.390,0.045,2976,1978,2190,2267,2113,0,0,0,0,0,0,14.76,14.97,14.94
$GC,2830,0.73,107.1,2976,1978,2267,2110,137.7,12.9,238,2837,0.00,0.00,0.00,0.000,4102,0.000,0.000,2977,1978,2188,2267,2110,0,0,0,0,0,0,15.32,15.33,15.33
$GC,3087,0.73,107.1,2976,1978,2267,2109,104.5,12.9,287,3093,0.00,2.33,0.00,0.000,4356,0.000,0.062,2975,3401,2188,2267,2110,0,0,0,0,0,0,15.30,15.04,15.31
$GC,3151,0.73,107.1,2975,3402,2267,2110,95.1,14.7,299,3158,0.00,2.25,0.00,0.000,5126,0.000,0.044,2987,1991,2188,2267,2109,0,0,0,0,0,0,15.16,15.06,15.17
$GC,3409,0.75,122.7,2987,1989,2267,2109,64.5,9.0,348,3426,0.00,2.35,12.55,1.041,12804,0.000,0.057,2998,576,2131,2216,2047,0,0,0,0,0,0,15.29,14.99,14.48
$GC,3542,0.76,138.7,2998,575,2208,2049,51.8,9.0,372,3564,0.00,2.35,13.65,1.017,13318,0.000,0.051,2998,1992,2065,2151,1980,0,0,0,0,0,0,15.02,14.97,14.42
$GC,3818,0.76,138.7,2998,1992,2151,1979,22.1,10.1,423,3826,0.00,2.33,0.00,0.000,4612,0.000,0.049,3009,584,2065,2151,1979,0,0,0,0,0,0,15.22,14.96,15.22
$GC,3843,0.77,139.0,3008,584,2149,1979,19.6,10.0,427,3851,0.05,2.33,0.00,0.000,5126,0.359,0.047,2979,1996,2064,2150,1979,0,0,0,0,0,0,14.79,14.96,15.01
$STATE,3994,end climb,SURFACE_DEPTH_REACHED
$STATE,3994,begin surface coast
$FINISH,0.4,1.023051
$STATE,4016,end surface coast,CONTROL_FINISHED_OK
$STATE,4017,begin surface
$SM_CCo,4029,110.72,0.185,0,0,1000,400.08
$SM_GC,1.07,6.50,0.40,110.72,0.072,0.059,0.185,181,2278,1000,-7.87,-0.90,400.08,0,0,0,0,0,0,15.02,15.02,14.83
$IRIDIUM_FIX,2138.81,-15522.41,250721,030253
$TT8_MAMPS,0.02247,0.339297
$HUMID,48.14
$INTERNAL_PRESSURE,9.23826
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,14.00,9.182
$10V_AH,13.49,0.000
$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,15.725,46.750,201.200,110.725,0.000,26.609,44.545,114.814,0.500,0.000,20.561,1213.602,1433.343,390.650,1352.234,45.816,0.000,861.503,0.000,1124.613,0.000,0.554,0.000
$DEVICE_MAMPS,434.520,199.665,1324.215,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,307.483,307.504,575.734,578.794,699.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339356
$DATA_FILE_SIZE,40717,459
$CAP_FILE_SIZE,63390,0
$CFSIZE,1023623168,1020051456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,718.00,0x2131ca,0,24
$CURRENT,0.100,227.48,1
$GPS,250721,041658,2148.065,-15521.259,9,1.0,22,9.9,1.0,313.0,8,10.0