version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 12
start: 7 25 121 4 21 45
data:
$ID,626
$MISSION,3
$DIVE,12
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,250721,041658,2148.0647,-15521.2588,9,1.0,22,9.9,1.0,313.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.9
$GPS2,250721,042121,2148.0752,-15521.2871,8,1.0,17,9.9,0.6,262.3,9,9.4
$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,264.6,67559,-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,14,-0.73,-107.1,127,2286,1031,959,0.0,0.0,0,81,0.00,0.00,-63.95,0.000,16386,0.000,0.000,126,2287,2999,2983,3016,0,0,0,0,0,0,15.17,28.83,15.19
$GC,83,-0.73,-107.1,126,2287,2983,3017,3.1,-5.6,9,99,7.88,2.22,-1.33,0.000,18692,0.438,0.076,2491,3644,3074,3058,3090,0,0,0,0,0,0,14.59,13.96,14.81
$GC,444,-0.73,-107.1,2490,3644,3062,3087,93.1,-18.5,77,451,0.00,2.25,0.00,0.000,3078,0.000,0.047,2491,2252,3074,3062,3086,0,0,0,0,0,0,15.09,15.00,15.10
$GC,703,-0.73,-107.1,2490,2249,3068,3082,146.6,-21.0,126,710,0.00,2.30,0.00,0.000,2308,0.000,0.059,2481,3631,3075,3068,3082,0,0,0,0,0,0,15.27,14.97,15.28
$GC,833,-0.73,-107.1,2480,3631,3068,3083,173.5,-20.6,140,842,0.08,2.20,0.00,0.000,3078,0.366,0.046,2506,2246,3076,3069,3083,0,0,0,0,0,0,14.83,15.04,15.06
$GC,1110,-0.73,-107.1,2505,2243,3070,3081,219.0,-15.1,159,1114,0.00,2.28,0.00,0.000,260,0.000,0.061,2498,3638,3075,3070,3081,0,0,0,0,0,0,15.35,15.07,15.35
$GC,1203,-0.73,-107.1,2497,3639,3069,3081,230.3,-15.4,161,1208,0.00,2.25,0.00,0.000,3078,0.000,0.044,2498,2243,3075,3070,3081,0,0,0,0,0,0,15.11,15.07,15.14
$GC,1465,-0.73,-107.1,2497,2240,3070,3081,273.0,-14.7,168,1470,0.00,2.28,0.00,0.000,2308,0.000,0.061,2488,3646,3075,3070,3081,0,0,0,0,0,0,15.40,15.11,15.40
$GC,1479,-0.73,-107.1,2488,3646,3070,3081,273.0,-14.7,168,1484,0.03,2.25,0.00,0.000,3078,0.398,0.044,2498,2244,3075,3070,3081,0,0,0,0,0,0,14.90,15.09,15.04
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1669,-0.14,0.0,2498,1955,3070,3081,301.6,-14.0,173,1760,0.55,0.00,87.10,1.320,10246,0.276,0.000,2698,1954,2634,2717,2551,0,0,0,0,0,0,14.92,14.68,14.14
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1762,0.73,107.1,2697,1954,2717,2551,304.8,0.0,175,1859,0.65,2.28,88.32,1.300,10756,0.156,0.055,2976,615,2196,2279,2114,0,0,0,0,0,0,14.62,14.52,14.00
$GC,1907,0.73,107.1,2975,615,2268,2115,286.5,14.5,179,1911,0.00,2.25,0.00,0.000,1030,0.000,0.051,2976,1972,2191,2268,2115,0,0,0,0,0,0,14.80,14.72,14.82
$GC,2182,0.73,107.1,2975,1973,2267,2113,235.1,18.5,186,2187,0.00,2.33,0.00,0.000,4356,0.000,0.062,2976,3407,2190,2267,2113,0,0,0,0,0,0,15.23,14.97,15.23
$GC,2271,0.73,107.1,2975,3406,2267,2114,221.0,18.0,188,2276,0.00,2.20,0.00,0.000,5126,0.000,0.044,2986,2026,2190,2267,2114,0,0,0,0,0,0,15.11,15.01,15.12
$GC,2519,0.73,107.1,2986,2024,2267,2113,179.2,13.9,202,2528,0.00,2.25,0.00,0.000,4356,0.000,0.062,2986,3403,2190,2267,2113,0,0,0,0,0,0,15.31,15.04,15.31
$GC,2550,0.73,107.1,2986,3403,2267,2113,174.1,16.0,205,2555,0.08,2.28,0.00,0.000,5126,0.412,0.047,2975,1983,2190,2267,2113,0,0,0,0,0,0,14.83,15.06,15.08
$GC,2803,0.73,107.1,2975,1982,2267,2111,142.4,12.9,235,2810,0.00,2.33,0.00,0.000,4356,0.000,0.060,2972,3408,2189,2267,2111,0,0,0,0,0,0,15.32,15.05,15.32
$GC,2827,0.73,107.1,2972,3408,2267,2111,138.9,13.7,239,2834,0.00,2.28,0.00,0.000,5126,0.000,0.046,2982,1988,2189,2267,2111,0,0,0,0,0,0,15.16,15.07,15.18
$GC,3091,0.73,107.1,2982,1987,2267,2110,103.3,13.1,288,3099,0.00,2.38,0.00,0.000,4356,0.000,0.060,2982,3428,2188,2267,2110,0,0,0,0,0,0,15.30,15.04,15.30
$GC,3144,0.73,107.1,2981,3427,2267,2111,95.8,15.3,297,3152,0.05,2.30,0.00,0.000,5126,0.461,0.045,2979,1988,2189,2267,2111,0,0,0,0,0,0,14.81,15.06,15.09
$GC,3408,0.74,118.3,2978,1986,2267,2110,62.9,9.3,346,3422,0.00,0.00,9.15,1.001,8198,0.000,0.000,2977,1987,2149,2234,2065,0,0,0,0,0,0,15.28,15.00,14.49
$GC,3676,0.79,157.1,2978,1987,2234,2065,41.8,7.6,396,3713,0.00,2.33,30.92,1.032,10756,0.000,0.057,2988,582,1991,2079,1904,0,0,0,0,0,0,15.25,14.86,14.39
$GC,3740,0.79,157.1,2988,582,2071,1908,35.7,11.1,406,3747,0.00,2.35,0.00,0.000,3078,0.000,0.050,2988,1988,1989,2070,1908,0,0,0,0,0,0,14.92,14.87,14.98
$STATE,3983,end climb,SURFACE_DEPTH_REACHED
$STATE,3983,begin surface coast
$FINISH,0.3,1.023062
$STATE,4006,end surface coast,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$SM_CCo,4019,104.28,0.184,0,0,1001,400.08
$SM_GC,1.12,6.57,0.43,104.28,0.080,0.075,0.184,184,2260,1001,-7.87,-0.85,400.08,0,0,0,0,0,0,14.98,14.97,14.81
$IRIDIUM_FIX,2141.13,-15521.44,250721,041751
$TT8_MAMPS,0.023219,0.277879
$HUMID,48.42
$INTERNAL_PRESSURE,9.22849
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.96,9.327
$10V_AH,13.51,0.000
$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,15.875,46.350,215.500,104.275,0.000,27.256,42.106,105.082,0.250,0.000,18.813,1207.020,1418.638,389.038,1342.313,45.581,0.000,853.316,0.000,1129.611,0.000,0.555,0.000
$DEVICE_MAMPS,460.530,76.500,1320.390,184.365,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.433,303.444,570.951,578.810,706.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339284
$DATA_FILE_SIZE,40634,456
$CAP_FILE_SIZE,62236,0
$CFSIZE,1023623168,1019985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,249.04,1
$GPS,250721,053123,2148.176,-15521.822,8,0.8,23,9.9,0.0,313.7,9,9.9