version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 14
start: 7 25 121 7 15 4
data:
$ID,626
$MISSION,3
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,350
$T_ABORT,400
$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,100
$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,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2734
$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
$GPS1,250721,070959,2148.0693,-15522.7656,43,0.8,47,9.9,0.8,88.3,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.9
$GPS2,250721,071440,2148.0664,-15522.7920,8,0.8,15,9.9,0.5,296.2,9,10.0
$SPEED_LIMITS,0.173,0.215
$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,235.4,82646,-22.4,-10.000,-24.92,1493
$D_GRID,450
$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,-0.74,-97.3,125,2379,1020,965,0.0,0.0,0,87,0.00,0.00,-67.55,0.000,16390,0.000,0.000,125,2379,3132,3105,3159,0,0,0,0,0,0,15.13,13.87,15.11
$GC,89,-0.74,-97.3,125,2379,3105,3159,4.3,-9.2,10,104,7.82,2.22,0.00,0.000,2564,0.433,0.036,2501,963,3132,3107,3158,0,0,0,0,0,0,14.57,14.85,14.77
$GC,287,-0.74,-97.3,2500,959,3121,3144,63.0,-24.6,47,296,0.00,2.38,0.00,0.000,3078,0.000,0.054,2492,2377,3133,3123,3144,0,0,0,0,0,0,14.92,14.88,14.95
$GC,551,-0.74,-97.3,2492,2377,3124,3143,125.3,-22.7,96,559,0.00,2.30,0.00,0.000,2308,0.000,0.063,2482,3755,3134,3124,3144,0,0,0,0,0,0,15.22,14.93,15.23
$GC,660,-0.74,-97.3,2481,3755,3123,3144,149.0,-20.4,116,669,0.05,2.22,0.00,0.000,3078,0.352,0.045,2498,2393,3134,3124,3144,0,0,0,0,0,0,14.76,14.94,14.92
$GC,916,-0.74,-97.3,2498,2390,3125,3144,200.0,-17.7,142,918,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,2390,3134,3125,3144,0,0,0,0,0,0,15.29,15.28,15.29
$GC,1166,-0.74,-97.3,2498,2390,3125,3144,241.1,-16.2,149,1170,0.00,2.22,0.00,0.000,2308,0.000,0.061,2490,3760,3134,3125,3144,0,0,0,0,0,0,15.35,15.07,15.35
$GC,1210,-0.74,-97.3,2490,3760,3125,3144,246.9,-15.9,150,1214,0.00,2.17,0.00,0.000,3078,0.000,0.042,2490,2403,3134,3125,3144,0,0,0,0,0,0,15.11,15.05,15.13
$GC,1482,-0.74,-97.3,2488,2399,3125,3144,290.7,-15.1,157,1486,0.00,2.25,0.00,0.000,2564,0.000,0.054,2489,986,3135,3126,3144,0,0,0,0,0,0,15.38,15.11,15.38
$GC,1496,-0.74,-97.3,2489,985,3126,3144,290.7,-15.1,157,1501,0.08,2.30,0.00,0.000,3078,0.389,0.055,2503,2409,3134,3126,3143,0,0,0,0,0,0,14.88,15.10,15.13
$GC,1752,-0.74,-97.3,2503,2410,3126,3143,326.3,-13.3,164,1756,0.00,2.20,0.00,0.000,260,0.000,0.068,2495,3756,3134,3126,3142,0,0,0,0,0,0,15.39,15.10,15.40
$GC,1881,-0.74,-97.3,2494,3756,3126,3142,341.7,-13.4,167,1886,0.00,2.17,0.00,0.000,3078,0.000,0.043,2495,2372,3134,3126,3142,0,0,0,0,0,0,15.23,15.13,15.24
$GC,2148,-0.74,-97.3,2494,2369,3126,3139,376.9,-12.4,174,2152,0.00,2.20,0.00,0.000,2564,0.000,0.056,2495,995,3132,3126,3139,0,0,0,0,0,0,15.40,15.13,15.41
$GC,2217,-0.74,-97.3,2495,995,3126,3138,381.5,-12.4,175,2225,0.05,2.30,0.00,0.000,3078,0.428,0.058,2501,2405,3132,3126,3138,0,0,0,0,0,0,14.90,15.12,15.15
$GC,2464,-0.74,-97.3,2500,2407,3126,3135,414.3,-11.7,182,2468,0.00,2.20,0.00,0.000,260,0.000,0.071,2492,3756,3131,3126,3136,0,0,0,0,0,0,15.40,15.11,15.41
$GC,2492,-0.74,-97.3,2492,3756,3126,3136,414.3,-11.7,182,2497,0.00,2.17,0.00,0.000,3078,0.000,0.045,2492,2409,3130,3126,3135,0,0,0,0,0,0,15.16,15.11,15.19
$GC,2745,-0.74,-97.3,2492,2405,3126,3131,449.0,-12.3,189,2749,0.00,2.28,0.00,0.000,2564,0.000,0.058,2492,992,3129,3127,3131,0,0,0,0,0,0,15.42,15.14,15.42
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2785,-0.14,0.0,2484,2005,3126,3130,453.6,-12.4,190,2869,0.57,0.00,80.55,1.642,10246,0.278,0.000,2690,2004,2733,2804,2662,0,0,0,0,0,0,14.91,14.60,13.98
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2871,0.74,97.3,2690,2005,2804,2662,456.1,0.0,192,2959,0.73,0.00,84.85,1.601,10758,0.140,0.000,2984,2005,2335,2414,2257,0,0,0,0,0,0,14.57,14.40,13.81
$GC,3180,0.74,97.3,2984,2005,2410,2252,409.4,18.3,200,3184,0.00,2.35,0.00,0.000,4356,0.000,0.066,2985,3416,2330,2410,2251,0,0,0,0,0,0,15.11,14.85,15.11
$GC,3194,0.74,97.3,2984,3416,2410,2251,409.4,18.3,200,3199,0.05,2.35,0.00,0.000,5126,0.438,0.047,2983,2002,2330,2410,2251,0,0,0,0,0,0,14.63,14.85,14.82
$GC,3456,0.74,97.3,2982,2001,2410,2249,362.5,16.7,207,3461,0.00,2.35,0.00,0.000,4356,0.000,0.066,2982,3417,2329,2410,2249,0,0,0,0,0,0,15.23,14.97,15.24
$GC,3537,0.74,97.3,2982,3418,2410,2249,348.5,16.7,209,3542,0.00,2.30,0.00,0.000,5126,0.000,0.050,2992,2000,2329,2410,2249,0,0,0,0,0,0,15.10,15.00,15.11
$GC,3818,0.74,97.3,2991,1998,2410,2246,303.6,15.6,216,3822,0.00,2.33,0.00,0.000,4356,0.000,0.067,2992,3406,2328,2410,2246,0,0,0,0,0,0,15.31,15.03,15.31
$GC,4002,0.74,97.3,2991,3407,2410,2246,281.0,14.5,220,4007,0.08,2.33,0.00,0.000,5126,0.415,0.050,2979,1997,2328,2410,2247,0,0,0,0,0,0,14.77,15.04,14.97
$GC,4254,0.74,97.3,2979,1996,2410,2244,248.2,11.5,227,4258,0.00,2.33,0.00,0.000,260,0.000,0.066,2978,3409,2327,2410,2244,0,0,0,0,0,0,15.34,15.07,15.35
$GC,4332,0.74,97.3,2978,3409,2410,2244,239.3,11.4,229,4337,0.00,2.33,0.00,0.000,5126,0.000,0.048,2987,1994,2327,2410,2244,0,0,0,0,0,0,15.11,15.07,15.14
$GC,4610,0.75,101.3,2987,1993,2407,2243,211.2,9.7,236,4614,0.00,2.35,0.00,0.000,4356,0.000,0.066,2987,3413,2326,2408,2244,0,0,0,0,0,0,15.37,15.08,15.37
$GC,4963,0.75,105.3,2987,3413,2407,2245,175.0,9.7,262,4978,0.05,2.30,6.35,1.170,13318,0.481,0.050,2985,1987,2301,2383,2219,0,0,0,0,0,0,14.82,15.09,14.44
$GC,5225,0.82,156.7,2985,1987,2383,2219,154.3,6.5,288,5275,0.00,2.33,41.53,1.300,10756,0.000,0.060,2993,595,2093,2180,2007,0,0,0,0,0,0,15.32,14.77,14.28
$GC,5326,0.82,156.7,2993,595,2174,2008,144.3,13.4,301,5333,0.00,2.33,0.00,0.000,3078,0.000,0.054,2992,2001,2091,2174,2008,0,0,0,0,0,0,14.95,14.86,14.96
$GC,5590,0.82,156.7,2991,2002,2174,2005,103.7,14.1,350,5598,0.00,2.38,0.00,0.000,2308,0.000,0.068,2992,3402,2089,2174,2005,0,0,0,0,0,0,15.16,14.89,15.17
$GC,5611,0.82,156.7,2991,3401,2174,2005,100.9,14.8,353,5618,0.00,2.28,0.00,0.000,1030,0.000,0.049,3000,2004,2089,2174,2005,0,0,0,0,0,0,15.02,14.94,15.04
$GC,5874,0.82,156.7,3000,2002,2174,2005,62.1,12.5,402,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2003,2089,2174,2005,0,0,0,0,0,0,15.19,15.20,15.19
$GC,6134,0.82,156.7,3000,2002,2174,2005,34.0,10.3,451,6142,0.00,2.35,0.00,0.000,260,0.000,0.063,3000,3418,2089,2174,2005,0,0,0,0,0,0,15.19,14.92,15.19
$GC,6154,0.82,156.7,3000,3418,2174,2005,31.7,11.3,454,6162,0.00,2.38,0.00,0.000,5126,0.000,0.048,3009,1990,2089,2174,2005,0,0,0,0,0,0,15.05,14.92,15.07
$STATE,6414,end climb,SURFACE_DEPTH_REACHED
$STATE,6415,begin surface coast
$FINISH,0.3,1.023216
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6451,110.40,0.200,0,0,1100,400.08
$SM_GC,1.32,6.72,0.70,110.40,0.093,0.062,0.200,176,2414,1100,-7.87,-0.85,400.08,0,0,0,0,0,0,14.98,14.96,14.76
$IRIDIUM_FIX,2138.81,-15524.52,250721,071051
$TT8_MAMPS,0.02247,0.279377
$HUMID,50.07
$INTERNAL_PRESSURE,9.15037
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.81,9.663
$10V_AH,13.93,0.000
$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,16.200,73.300,213.275,110.400,0.000,24.643,44.782,124.921,0.000,0.000,16.166,1415.096,3379.826,428.176,1579.695,54.736,0.000,1018.934,0.000,1346.854,0.000,0.553,0.000
$DEVICE_MAMPS,481.185,71.145,1642.455,199.665,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,340.177,306.246,575.044,548.284,666.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339316
$DATA_FILE_SIZE,43932,507
$CAP_FILE_SIZE,83371,0
$CFSIZE,1023623168,1019822080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,259.44,1
$GPS,250721,090531,2147.693,-15523.746,7,0.8,32,9.9,0.4,271.4,10,6.2