version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 16
start: 7 25 121 11 6 37
data:
$ID,626
$MISSION,3
$DIVE,16
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,250721,110131,2147.0427,-15524.6680,9,0.9,41,9.9,0.8,238.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.8
$GPS2,250721,110614,2147.0476,-15524.6982,8,0.8,15,9.9,0.0,203.0,10,9.2
$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,269.3,78981,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.74,-97.3,127,2407,1127,1061,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,16390,0.000,0.000,125,2408,3133,3104,3163,0,0,0,0,0,0,15.08,13.82,15.07
$GC,85,-0.74,-97.3,126,2408,3105,3163,3.7,-7.8,9,100,7.90,2.20,0.00,0.000,2308,0.438,0.049,2484,3769,3133,3107,3159,0,0,0,0,0,0,14.52,14.80,14.73
$GC,404,-0.74,-97.3,2483,3769,3112,3158,91.4,-20.2,69,412,0.05,2.22,0.00,0.000,3078,0.402,0.047,2502,2392,3135,3117,3154,0,0,0,0,0,0,14.73,14.92,14.95
$GC,659,-0.74,-97.3,2502,2389,3121,3150,147.8,-21.4,118,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2389,3135,3121,3150,0,0,0,0,0,0,15.19,15.20,15.19
$GC,915,-0.74,-97.3,2502,2389,3122,3150,194.5,-17.0,144,924,0.00,2.22,0.00,0.000,516,0.000,0.056,2503,986,3136,3125,3148,0,0,0,0,0,0,15.24,14.88,15.26
$GC,968,-0.74,-97.3,2503,986,3126,3147,202.1,-17.6,148,973,0.00,2.35,0.00,0.000,3078,0.000,0.057,2494,2398,3136,3126,3147,0,0,0,0,0,0,15.02,14.97,15.05
$GC,1236,-0.74,-97.3,2494,2398,3127,3147,246.8,-15.8,155,1240,0.00,2.22,0.00,0.000,2308,0.000,0.067,2484,3764,3137,3127,3147,0,0,0,0,0,0,15.32,15.04,15.32
$GC,1361,-0.74,-97.3,2483,3764,3127,3147,263.0,-14.3,158,1366,0.05,2.15,0.00,0.000,3078,0.392,0.044,2500,2397,3136,3127,3146,0,0,0,0,0,0,14.87,15.07,15.09
$GC,1633,-0.74,-97.3,2500,2393,3127,3146,302.4,-14.0,165,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2393,3136,3127,3146,0,0,0,0,0,0,15.35,15.35,15.35
$GC,1873,-0.74,-97.3,2500,2393,3127,3145,333.7,-12.7,171,1877,0.00,2.25,0.00,0.000,260,0.000,0.067,2491,3765,3136,3127,3145,0,0,0,0,0,0,15.36,15.09,15.38
$GC,1916,-0.74,-97.3,2491,3765,3127,3145,338.4,-12.5,172,1921,0.00,2.20,0.00,0.000,3078,0.000,0.044,2492,2403,3136,3127,3145,0,0,0,0,0,0,15.13,15.08,15.16
$GC,2188,-0.74,-97.3,2491,2400,3127,3143,374.3,-12.9,179,2192,0.00,2.28,0.00,0.000,2564,0.000,0.057,2492,989,3135,3127,3143,0,0,0,0,0,0,15.39,15.11,15.39
$GC,2232,-0.74,-97.3,2491,988,3127,3143,379.2,-13.2,180,2238,0.05,2.35,0.00,0.000,3078,0.353,0.060,2509,2401,3134,3127,3142,0,0,0,0,0,0,14.90,15.07,15.14
$GC,2504,-0.74,-97.3,2509,2401,3127,3139,413.6,-12.2,187,2505,0.00,0.00,0.00,0.000,4102,0.000,0.000,2509,2401,3133,3127,3139,0,0,0,0,0,0,15.39,15.40,15.40
$GC,2744,-0.74,-97.3,2508,2401,3127,3136,441.7,-11.8,193,2748,0.00,2.30,0.00,0.000,4612,0.000,0.058,2511,992,3131,3127,3136,0,0,0,0,0,0,15.40,15.12,15.40
$GC,2808,-0.74,-97.3,2511,992,3127,3135,445.8,-11.6,194,2812,0.00,2.38,0.00,0.000,1030,0.000,0.061,2503,2405,3130,3127,3134,0,0,0,0,0,0,15.12,15.09,15.17
$STATE,2819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2819,begin apogee
$GC,2823,-0.14,0.0,2502,1978,3127,3135,450.1,-11.4,195,2909,0.52,0.00,82.10,1.642,10246,0.273,0.000,2691,1975,2732,2803,2662,0,0,0,0,0,0,14.91,14.57,13.94
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin climb
$GC,2911,0.74,97.3,2691,1975,2803,2663,452.2,0.0,197,3003,0.70,2.30,85.15,1.594,10756,0.142,0.058,2989,617,2336,2413,2260,0,0,0,0,0,0,14.52,14.37,13.77
$GC,3043,0.74,97.3,2988,617,2404,2261,441.7,11.5,200,3048,0.00,2.40,0.00,0.000,5126,0.000,0.053,2989,2007,2332,2403,2261,0,0,0,0,0,0,14.62,14.57,14.63
$GC,3300,0.74,97.3,2989,2008,2404,2257,390.7,18.1,207,3302,0.00,0.00,0.00,0.000,4102,0.000,0.000,2989,2007,2330,2403,2257,0,0,0,0,0,0,15.12,15.13,15.13
$GC,3541,0.74,97.3,2989,2007,2403,2254,349.9,16.8,213,3547,0.00,2.33,0.00,0.000,4356,0.000,0.070,2989,3409,2329,2404,2254,0,0,0,0,0,0,15.22,14.95,15.23
$GC,3689,0.74,97.3,2989,3409,2403,2255,329.3,17.3,216,3694,0.08,2.25,0.00,0.000,5126,0.448,0.050,2978,2024,2329,2403,2255,0,0,0,0,0,0,14.74,15.00,15.03
$GC,3940,0.74,97.3,2978,2021,2402,2251,290.5,13.3,223,3945,0.00,2.30,0.00,0.000,260,0.000,0.067,2978,3410,2327,2403,2251,0,0,0,0,0,0,15.28,15.02,15.29
$GC,4130,0.74,97.3,2978,3410,2403,2251,269.1,13.7,227,4137,0.00,2.30,0.00,0.000,5126,0.000,0.050,2987,1991,2327,2403,2252,0,0,0,0,0,0,15.14,15.04,15.16
$GC,4376,0.74,97.3,2987,1990,2403,2250,235.9,10.9,234,4381,0.00,2.35,0.00,0.000,4356,0.000,0.066,2987,3412,2326,2403,2250,0,0,0,0,0,0,15.33,15.04,15.33
$GC,4555,0.74,97.3,2986,3412,2402,2250,219.4,10.3,238,4561,0.05,2.35,0.00,0.000,5126,0.437,0.050,2984,1992,2326,2403,2250,0,0,0,0,0,0,14.77,15.04,14.98
$GC,4810,0.78,125.9,2984,1990,2403,2248,196.2,8.0,247,4840,0.00,2.38,22.92,1.362,10500,0.000,0.063,2982,3411,2217,2300,2135,0,0,0,0,0,0,15.34,14.81,14.35
$GC,4993,0.78,125.9,2981,3411,2300,2136,172.1,14.8,265,4998,0.00,2.33,0.00,0.000,1030,0.000,0.049,2990,1993,2218,2300,2136,0,0,0,0,0,0,15.06,14.97,15.07
$GC,5244,0.79,135.8,2990,1991,2300,2133,143.9,9.3,295,5259,0.00,2.35,9.38,1.195,8708,0.000,0.062,3001,588,2177,2261,2094,0,0,0,0,0,0,15.23,14.93,14.36
$GC,5308,0.79,135.8,3001,588,2256,2096,137.0,11.5,306,5316,0.00,2.38,0.00,0.000,5126,0.000,0.056,3002,1996,2176,2256,2096,0,0,0,0,0,0,15.04,14.92,15.06
$GC,5574,0.79,135.8,3001,1996,2256,2096,103.7,13.4,355,5580,0.00,2.35,0.00,0.000,4356,0.000,0.068,3002,3412,2175,2256,2095,0,0,0,0,0,0,15.21,14.95,15.21
$GC,5609,0.79,135.8,3001,3412,2256,2097,98.7,15.1,361,5616,0.05,2.30,0.00,0.000,5126,0.481,0.047,2997,1997,2176,2256,2096,0,0,0,0,0,0,14.73,14.97,14.99
$GC,5871,0.79,135.8,2997,1997,2256,2096,65.1,10.9,410,5878,0.00,0.00,0.00,0.000,4102,0.000,0.000,2998,1997,2176,2256,2096,0,0,0,0,0,0,15.19,15.20,15.20
$GC,6133,0.87,199.7,2997,1996,2256,2096,42.0,5.6,459,6190,0.00,2.35,50.38,1.099,10756,0.000,0.058,3007,591,1917,1998,1837,0,0,0,0,0,0,15.19,14.59,14.19
$GC,6213,0.87,199.7,3006,591,1994,1839,35.1,11.9,471,6221,0.00,2.40,0.00,0.000,3078,0.000,0.054,3005,2018,1915,1994,1837,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,6421,end climb,SURFACE_DEPTH_REACHED
$STATE,6421,begin surface coast
$FINISH,0.4,1.023085
$STATE,6439,end surface coast,CONTROL_FINISHED_OK
$STATE,6439,begin surface
$SM_CCo,6452,91.78,0.197,0,0,1101,400.08
$SM_GC,0.99,6.70,0.62,91.78,0.082,0.069,0.197,178,2406,1101,-7.88,-1.05,400.08,0,0,0,0,0,0,14.89,14.87,14.70
$IRIDIUM_FIX,2138.81,-15525.49,250721,110226
$TT8_MAMPS,0.02247,0.282373
$HUMID,49.37
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.77,10.018
$10V_AH,13.39,0.000
$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,16.150,65.800,249.925,91.775,0.000,26.678,45.362,125.432,0.000,0.000,16.174,1418.169,3353.769,413.827,1599.794,55.000,0.000,1024.983,0.000,1365.172,0.000,0.554,0.000
$DEVICE_MAMPS,481.185,70.380,1642.455,196.605,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,343.670,312.069,581.078,553.848,668.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339268
$DATA_FILE_SIZE,47390,513
$CAP_FILE_SIZE,82520,0
$CFSIZE,1023623168,1019691008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,6930.98,0x2131c2,7,24
$CURRENT,0.140,194.86,1
$GPS,250721,125636,2146.565,-15525.461,9,0.8,22,9.9,0.5,283.7,9,9.5