version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 17
start: 7 25 121 13 1 46
data:
$ID,626
$MISSION,3
$DIVE,17
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,250721,125636,2146.5652,-15525.4609,9,0.8,22,9.9,0.5,283.7,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.2
$GPS2,250721,130122,2146.5686,-15525.4766,9,0.8,21,9.9,0.0,345.6,9,9.4
$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,279.9,77458,-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,14,-0.74,-97.3,124,2415,1120,1065,0.0,0.0,0,79,0.00,0.00,-62.20,0.000,16386,0.000,0.000,124,2414,3019,2998,3041,0,0,0,0,0,0,15.07,28.83,15.08
$GC,81,-0.74,-97.3,124,2413,2998,3041,3.1,-5.0,9,97,7.95,2.22,-2.03,0.000,19204,0.441,0.075,2486,3757,3133,3111,3155,0,0,0,0,0,0,14.52,13.88,14.73
$GC,464,-0.74,-97.3,2486,3758,3115,3154,101.0,-19.8,81,471,0.00,2.20,0.00,0.000,3078,0.000,0.048,2490,2403,3135,3116,3154,0,0,0,0,0,0,15.02,14.91,15.02
$GC,725,-0.74,-97.3,2490,2401,3122,3148,160.4,-23.1,127,729,0.00,2.30,0.00,0.000,2564,0.000,0.058,2490,986,3134,3122,3147,0,0,0,0,0,0,15.21,14.95,15.21
$GC,766,-0.74,-97.3,2488,985,3126,3145,169.2,-20.7,131,771,0.05,2.33,0.00,0.000,3078,0.451,0.057,2496,2401,3135,3126,3145,0,0,0,0,0,0,14.76,14.95,14.99
$GC,1048,-0.74,-97.3,2496,2401,3127,3144,221.1,-17.5,150,1052,0.00,2.20,0.00,0.000,2308,0.000,0.066,2487,3755,3136,3127,3145,0,0,0,0,0,0,15.28,15.01,15.28
$GC,1122,-0.74,-97.3,2487,3756,3127,3145,228.3,-17.4,151,1129,0.00,2.17,0.00,0.000,3078,0.000,0.046,2487,2389,3136,3127,3145,0,0,0,0,0,0,15.13,15.03,15.14
$GC,1369,-0.74,-97.3,2486,2386,3126,3145,274.3,-16.3,158,1373,0.00,2.25,0.00,0.000,2308,0.000,0.063,2476,3763,3136,3127,3145,0,0,0,0,0,0,15.33,15.05,15.33
$GC,1423,-0.74,-97.3,2476,3763,3127,3145,280.0,-15.7,159,1428,0.08,2.17,0.00,0.000,3078,0.359,0.044,2501,2389,3136,3127,3145,0,0,0,0,0,0,14.88,15.08,15.09
$GC,1684,-0.74,-97.3,2501,2386,3127,3145,318.9,-13.5,166,1689,0.00,2.22,0.00,0.000,516,0.000,0.055,2501,985,3136,3127,3145,0,0,0,0,0,0,15.35,15.09,15.35
$GC,1703,-0.74,-97.3,2501,985,3128,3144,318.9,-13.5,166,1707,0.00,2.35,0.00,0.000,3078,0.000,0.057,2493,2401,3136,3128,3144,0,0,0,0,0,0,15.12,15.06,15.14
$GC,1960,-0.74,-97.3,2493,2401,3128,3143,356.3,-13.6,173,1964,0.00,2.22,0.00,0.000,2308,0.000,0.069,2483,3764,3135,3128,3143,0,0,0,0,0,0,15.37,15.09,15.37
$GC,2059,-0.74,-97.3,2482,3765,3128,3143,367.7,-14.1,175,2064,0.05,2.20,0.00,0.000,3078,0.327,0.044,2500,2400,3135,3128,3143,0,0,0,0,0,0,14.89,15.09,15.05
$GC,2321,-0.74,-97.3,2500,2396,3128,3140,403.8,-12.9,182,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2396,3134,3128,3140,0,0,0,0,0,0,15.38,15.38,15.38
$GC,2561,-0.74,-97.3,2500,2396,3128,3137,433.1,-12.1,188,2565,0.00,2.25,0.00,0.000,516,0.000,0.058,2500,991,3132,3128,3137,0,0,0,0,0,0,15.38,15.11,15.40
$GC,2642,-0.74,-97.3,2500,991,3128,3136,443.1,-12.1,190,2646,0.00,2.33,0.00,0.000,3078,0.000,0.060,2492,2407,3132,3128,3136,0,0,0,0,0,0,15.23,15.11,15.24
$STATE,2722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2722,begin apogee
$GC,2726,-0.14,0.0,2492,1983,3128,3135,453.2,-12.4,192,2811,0.55,0.00,81.65,1.630,10246,0.274,0.000,2690,1982,2733,2803,2663,0,0,0,0,0,0,14.92,14.57,13.95
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2813,0.74,97.3,2690,1982,2802,2663,455.5,0.0,194,2906,0.73,2.35,85.68,1.587,10756,0.144,0.059,2992,621,2335,2412,2259,0,0,0,0,0,0,14.53,14.36,13.78
$GC,2923,0.74,97.3,2991,621,2407,2260,444.9,11.4,197,2929,0.00,2.35,0.00,0.000,5126,0.000,0.053,2992,2000,2333,2406,2260,0,0,0,0,0,0,14.59,14.50,14.60
$GC,3203,0.74,97.3,2991,2000,2406,2253,392.7,18.7,204,3207,0.00,2.35,0.00,0.000,4356,0.000,0.068,2992,3413,2330,2406,2254,0,0,0,0,0,0,15.12,14.86,15.12
$GC,3292,0.74,97.3,2991,3413,2406,2254,378.4,18.7,206,3297,0.08,2.28,0.00,0.000,5126,0.463,0.047,2981,2021,2329,2405,2254,0,0,0,0,0,0,14.69,14.92,14.94
$GC,3554,0.74,97.3,2981,2020,2406,2251,333.1,15.6,213,3555,0.00,0.00,0.00,0.000,4102,0.000,0.000,2981,2020,2328,2406,2251,0,0,0,0,0,0,15.24,15.25,15.25
$GC,3794,0.74,97.3,2981,2020,2406,2249,300.0,13.5,219,3800,0.00,2.33,0.00,0.000,4356,0.000,0.067,2980,3419,2327,2406,2249,0,0,0,0,0,0,15.28,15.02,15.29
$GC,4132,0.74,97.3,2980,3419,2406,2250,259.9,11.2,227,4137,0.00,2.30,0.00,0.000,5126,0.000,0.050,2990,1997,2328,2406,2250,0,0,0,0,0,0,15.15,15.05,15.17
$GC,4389,0.75,101.9,2989,1995,2406,2246,232.6,9.7,234,4393,0.00,2.35,0.00,0.000,4356,0.000,0.067,2989,3411,2326,2406,2246,0,0,0,0,0,0,15.33,15.06,15.33
$GC,4633,0.76,108.4,2989,3412,2406,2246,210.8,9.6,240,4649,0.05,2.28,8.60,1.269,13318,0.502,0.049,2986,1995,2291,2372,2210,0,0,0,0,0,0,14.82,15.08,14.40
$GC,4895,0.76,108.4,2986,1995,2372,2209,181.2,10.3,258,4897,0.00,0.00,0.00,0.000,4102,0.000,0.000,2987,1995,2291,2373,2209,0,0,0,0,0,0,15.30,15.30,15.30
$GC,5136,0.82,158.7,2986,1995,2372,2210,161.4,6.5,282,5186,0.00,2.35,41.60,1.291,10756,0.000,0.061,2995,598,2084,2169,1999,0,0,0,0,0,0,15.30,14.75,14.26
$GC,5249,0.82,158.7,2995,598,2163,2000,149.2,13.7,293,5256,0.00,2.33,0.00,0.000,3078,0.000,0.054,2995,2000,2081,2163,2000,0,0,0,0,0,0,14.95,14.85,14.95
$GC,5505,0.82,158.7,2995,2001,2163,1997,109.2,16.8,342,5513,0.00,2.40,0.00,0.000,2308,0.000,0.067,2995,3430,2080,2163,1997,0,0,0,0,0,0,15.15,14.88,15.15
$GC,5540,0.82,158.7,2995,3431,2160,1997,103.4,16.1,348,5547,0.00,2.40,0.00,0.000,1030,0.000,0.049,3004,1978,2080,2163,1997,0,0,0,0,0,0,15.00,14.91,15.01
$GC,5799,0.82,158.7,3004,1977,2163,1997,62.2,15.9,397,5807,0.00,2.30,0.00,0.000,516,0.000,0.061,3015,598,2080,2163,1997,0,0,0,0,0,0,15.16,14.92,15.16
$GC,5850,0.82,158.7,3015,598,2160,1998,55.2,12.1,406,5859,0.00,2.38,0.00,0.000,5126,0.000,0.054,3015,2005,2079,2160,1998,0,0,0,0,0,0,14.93,14.88,14.95
$GC,6112,0.82,161.9,3015,2006,2160,1997,26.8,9.8,455,6120,0.00,2.40,0.00,0.000,4612,0.000,0.058,3026,588,2079,2160,1998,0,0,0,0,0,0,15.17,14.90,15.18
$GC,6174,0.82,161.9,3025,588,2160,1998,20.2,11.2,466,6183,0.08,2.38,0.00,0.000,5126,0.389,0.054,3003,2001,2079,2160,1998,0,0,0,0,0,0,14.72,14.91,14.96
$STATE,6319,end climb,SURFACE_DEPTH_REACHED
$STATE,6320,begin surface coast
$FINISH,0.2,1.000020
$STATE,6341,end surface coast,CONTROL_FINISHED_OK
$STATE,6341,begin surface
$SM_CCo,6355,109.72,0.195,0,0,1100,400.08
$SM_GC,1.26,6.60,0.65,109.72,0.073,0.062,0.195,180,2416,1100,-7.86,-0.96,400.08,0,0,0,0,0,0,14.98,14.96,14.75
$IRIDIUM_FIX,2136.49,-15527.60,250721,125729
$TT8_MAMPS,0.023219,0.281624
$HUMID,49.09
$INTERNAL_PRESSURE,9.12107
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.78,10.188
$10V_AH,13.85,0.000
$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,16.200,70.225,217.525,109.725,0.000,24.017,41.450,125.793,0.000,0.000,22.296,1404.378,3281.718,428.481,1595.695,53.708,0.000,1017.785,0.000,1356.817,0.000,0.552,0.000
$DEVICE_MAMPS,501.840,74.970,1630.215,195.075,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,333.705,299.591,562.079,538.532,652.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339328
$DATA_FILE_SIZE,43920,497
$CAP_FILE_SIZE,82852,0
$CFSIZE,1023623168,1019625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110,203.39,1
$GPS,250721,145032,2146.417,-15526.206,13,0.8,29,9.9,0.3,310.9,10,8.7