version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 13
start: 7 25 121 5 36 30
data:
$ID,626
$MISSION,3
$DIVE,13
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,300
$T_ABORT,350
$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,2350
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,35
$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
$GPS1,250721,053123,2148.1758,-15521.8223,8,0.8,23,9.9,0.0,313.7,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.6
$GPS2,250721,053607,2148.1870,-15521.8447,8,0.8,21,9.9,0.5,67.5,9,9.5
$SPEED_LIMITS,0.174,0.225
$TGT_NAME,A3
$TGT_LATLONG,2136.000,-15609.000
$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,246.0,84277,-21.4,-10.025,-23.97,1639
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.73,-107.1,127,2417,1030,958,0.0,0.0,0,87,0.00,0.10,-66.07,0.000,16390,0.000,0.669,126,2325,3071,3047,3096,0,0,0,0,0,0,15.16,13.88,15.14
$GC,89,-0.73,-107.1,126,2325,3048,3096,3.4,-6.4,10,104,7.93,2.17,0.00,0.000,2564,0.442,0.041,2510,936,3072,3052,3093,0,0,0,0,0,0,14.61,14.88,14.81
$GC,267,-0.73,-107.1,2509,936,3065,3082,53.1,-23.8,43,275,0.00,2.35,0.00,0.000,3078,0.000,0.055,2502,2339,3073,3067,3080,0,0,0,0,0,0,14.98,14.93,15.05
$GC,527,-0.73,-107.1,2501,2339,3068,3079,111.1,-20.4,92,536,0.00,2.35,0.00,0.000,2308,0.000,0.063,2491,3748,3073,3068,3079,0,0,0,0,0,0,15.25,14.92,15.26
$GC,646,-0.73,-107.1,2490,3750,3068,3080,134.2,-18.9,113,653,0.00,2.20,0.00,0.000,3078,0.000,0.044,2490,2368,3074,3069,3080,0,0,0,0,0,0,15.11,15.02,15.13
$GC,905,-0.73,-107.1,2490,2364,3069,3079,185.8,-17.9,145,907,0.05,0.00,0.00,0.000,2054,0.441,0.000,2506,2363,3074,3069,3079,0,0,0,0,0,0,14.86,15.12,15.07
$GC,1153,-0.73,-107.1,2505,2363,3069,3079,223.7,-14.7,158,1157,0.00,2.25,0.00,0.000,260,0.000,0.062,2497,3763,3074,3070,3079,0,0,0,0,0,0,15.35,15.07,15.35
$GC,1207,-0.73,-107.1,2497,3763,3069,3079,229.1,-15.0,159,1211,0.00,2.22,0.00,0.000,3078,0.000,0.044,2498,2348,3074,3069,3079,0,0,0,0,0,0,15.20,15.11,15.21
$GC,1469,-0.73,-107.1,2497,2345,3070,3078,270.8,-14.8,166,1473,0.00,2.30,0.00,0.000,2308,0.000,0.062,2488,3762,3073,3069,3078,0,0,0,0,0,0,15.39,15.11,15.39
$GC,1498,-0.73,-107.1,2488,3762,3069,3078,270.8,-14.8,166,1506,0.05,2.22,0.00,0.000,3078,0.394,0.044,2505,2346,3074,3069,3079,0,0,0,0,0,0,14.92,15.13,15.14
$GC,1744,-0.73,-107.1,2504,2342,3070,3077,308.7,-12.9,173,1749,0.00,2.20,0.00,0.000,516,0.000,0.053,2505,945,3073,3070,3077,0,0,0,0,0,0,15.40,15.14,15.41
$GC,1785,-0.73,-107.1,2505,943,3070,3076,313.6,-12.7,174,1790,0.00,2.28,0.00,0.000,3078,0.000,0.056,2496,2352,3073,3071,3076,0,0,0,0,0,0,15.24,15.13,15.24
$GC,2066,-0.73,-107.1,2496,2352,3071,3075,349.1,-13.2,181,2071,0.00,2.28,0.00,0.000,2308,0.000,0.067,2485,3756,3073,3071,3075,0,0,0,0,0,0,15.42,15.13,15.42
$GC,2143,-0.73,-107.1,2485,3757,3071,3075,359.0,-13.3,183,2149,0.05,2.22,0.00,0.000,3078,0.399,0.044,2502,2341,3073,3071,3075,0,0,0,0,0,0,14.93,15.16,15.17
$GC,2422,-0.73,-107.1,2502,2338,3071,3071,390.0,-10.6,190,2426,0.00,2.22,0.00,0.000,2564,0.000,0.055,2502,945,3071,3071,3071,0,0,0,0,0,0,15.42,15.15,15.42
$GC,2498,-0.73,-107.1,2502,945,3071,3069,397.8,-10.2,192,2502,0.00,2.30,0.00,0.000,3078,0.000,0.057,2492,2351,3070,3071,3069,0,0,0,0,0,0,15.25,15.14,15.26
$STATE,2533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2533,begin apogee
$GC,2537,-0.14,0.0,2492,1978,3071,3069,401.5,-10.2,193,2628,0.55,0.00,88.32,1.526,10246,0.275,0.000,2690,1977,2633,2718,2549,0,0,0,0,0,0,14.92,14.62,14.03
$STATE,2629,end apogee,CONTROL_FINISHED_OK
$STATE,2629,begin climb
$GC,2631,0.73,107.1,2691,1977,2717,2549,403.3,0.0,195,2729,0.65,2.28,90.72,1.492,10756,0.158,0.057,2967,626,2195,2280,2111,0,0,0,0,0,0,14.57,14.34,13.89
$GC,2743,0.73,107.1,2967,625,2276,2113,398.0,10.4,197,2748,0.00,2.35,0.00,0.000,3078,0.000,0.052,2965,1995,2194,2275,2113,0,0,0,0,0,0,14.61,14.55,14.63
$GC,3011,0.73,107.1,2965,1995,2275,2108,336.8,19.2,204,3012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2965,1996,2191,2275,2107,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3251,0.73,107.1,2965,1996,2275,2104,292.9,18.3,210,3255,0.00,2.33,0.00,0.000,2308,0.000,0.065,2965,3419,2189,2275,2104,0,0,0,0,0,0,15.28,15.01,15.28
$GC,3325,0.73,107.1,2965,3419,2276,2104,285.2,18.1,211,3332,0.00,2.30,0.00,0.000,1030,0.000,0.049,2974,1998,2189,2274,2104,0,0,0,0,0,0,15.12,15.03,15.14
$GC,3572,0.73,107.1,2974,1997,2274,2103,239.8,15.9,218,3576,0.00,2.33,0.00,0.000,260,0.000,0.067,2974,3409,2189,2275,2103,0,0,0,0,0,0,15.33,15.05,15.34
$GC,3615,0.73,107.1,2974,3409,2274,2103,233.9,15.8,219,3620,0.00,2.33,0.00,0.000,5126,0.000,0.048,2985,1992,2188,2274,2103,0,0,0,0,0,0,15.11,15.05,15.13
$GC,3867,0.73,107.1,2985,1991,2274,2101,193.4,15.7,227,3872,0.00,2.33,0.00,0.000,4356,0.000,0.065,2986,3409,2188,2275,2102,0,0,0,0,0,0,15.36,15.08,15.37
$GC,3952,0.73,107.1,2985,3410,2275,2102,180.3,16.2,235,3960,0.05,2.30,0.00,0.000,5126,0.413,0.047,2982,2003,2188,2275,2101,0,0,0,0,0,0,14.81,15.02,15.00
$GC,4201,0.73,107.1,2981,2001,2274,2101,148.5,11.6,261,4208,0.00,2.28,0.00,0.000,4612,0.000,0.060,2990,590,2188,2275,2101,0,0,0,0,0,0,15.34,15.08,15.35
$GC,4220,0.73,107.1,2990,590,2269,2102,146.2,12.0,264,4228,0.03,2.35,0.00,0.000,5126,0.288,0.054,2968,2004,2185,2269,2102,0,0,0,0,0,0,14.85,15.04,15.12
$GC,4484,0.73,107.1,2967,2005,2269,2102,113.2,12.8,313,4491,0.00,2.30,0.00,0.000,2308,0.000,0.067,2967,3415,2185,2269,2102,0,0,0,0,0,0,15.32,15.04,15.32
$GC,4502,0.73,107.1,2967,3414,2269,2103,110.7,13.4,316,4509,0.00,2.33,0.00,0.000,5126,0.000,0.048,2976,2007,2186,2269,2104,0,0,0,0,0,0,15.08,15.02,15.10
$GC,4764,0.73,107.1,2976,2007,2269,2103,77.5,11.7,365,4772,0.00,2.35,0.00,0.000,4356,0.000,0.063,2976,3402,2186,2269,2104,0,0,0,0,0,0,15.29,15.00,15.30
$GC,4857,0.73,107.1,2975,3402,2269,2104,65.5,12.4,382,4866,0.05,2.33,0.00,0.000,5126,0.383,0.047,2960,1996,2186,2269,2104,0,0,0,0,0,0,14.79,15.00,15.07
$GC,5120,0.83,189.0,2960,1995,2269,2104,45.0,4.9,431,5189,0.08,2.42,62.12,1.095,10500,0.193,0.063,3039,3409,1861,1945,1778,0,0,0,0,0,0,14.95,14.71,14.25
$GC,5207,0.83,189.0,3039,3409,1945,1778,36.3,15.1,443,5215,0.15,2.38,0.00,0.000,5126,0.376,0.049,3005,2000,1861,1944,1778,0,0,0,0,0,0,14.59,14.75,14.79
$STATE,5406,end climb,SURFACE_DEPTH_REACHED
$STATE,5407,begin surface coast
$FINISH,0.2,1.021149
$STATE,5424,end surface coast,CONTROL_FINISHED_OK
$STATE,5424,begin surface
$SM_CCo,5437,92.57,0.194,0,0,1002,400.08
$SM_GC,1.10,6.68,0.60,92.57,0.081,0.064,0.194,177,2371,1002,-7.89,-0.88,400.08,0,0,0,0,0,0,14.92,14.92,14.75
$IRIDIUM_FIX,2138.81,-15524.52,250721,053227
$TT8_MAMPS,0.02247,0.287616
$HUMID,49.96
$INTERNAL_PRESSURE,9.1699
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,13.88,9.494
$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,16.300,70.200,241.175,92.575,0.000,32.892,50.990,110.102,0.250,0.000,22.543,1306.321,2619.011,411.050,1441.735,50.609,0.000,957.682,0.000,1209.108,0.000,0.555,0.000
$DEVICE_MAMPS,442.170,669.375,1526.175,194.310,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,322.935,304.864,568.332,555.789,676.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339260
$DATA_FILE_SIZE,43908,483
$CAP_FILE_SIZE,75533,0
$CFSIZE,1023623168,1019904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085,277.55,1
$GPS,250721,070959,2148.069,-15522.766,43,0.8,47,9.9,0.8,88.3,9,9.0