version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 18
start: 7 25 121 14 55 53
data:
$ID,626
$MISSION,3
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,450
$T_ABORT,550
$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,2475
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2784
$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
$GPS1,250721,145032,2146.4170,-15526.2061,13,0.8,29,9.9,0.3,310.9,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.6
$GPS2,250721,145530,2146.4314,-15526.2207,8,0.8,18,9.9,1.3,286.4,10,9.7
$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,269.0,76154,-22.4,-10.000,-24.92,1493
$D_GRID,600
$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,-97.3,124,2422,1122,1064,0.0,0.0,0,80,0.00,0.00,-62.55,0.000,16386,0.000,0.000,124,2423,3054,3030,3078,0,0,0,0,0,0,15.09,28.83,15.09
$GC,82,-0.74,-97.3,124,2422,3030,3078,3.1,-5.8,9,98,7.88,2.20,-2.22,0.000,18692,0.435,0.075,2483,3753,3182,3156,3209,0,0,0,0,0,0,14.52,13.88,14.73
$GC,300,-0.74,-97.3,2482,3753,3158,3208,67.8,-24.5,49,308,0.00,2.12,0.00,0.000,3078,0.000,0.050,2485,2478,3183,3160,3207,0,0,0,0,0,0,14.88,14.85,14.90
$GC,556,-0.74,-97.3,2484,2475,3165,3204,131.1,-24.0,98,564,0.05,2.33,0.00,0.000,2564,0.467,0.057,2501,1060,3184,3165,3204,0,0,0,0,0,0,14.74,14.90,14.90
$GC,613,-0.74,-97.3,2500,1060,3168,3201,144.0,-21.4,108,621,0.00,2.35,0.00,0.000,3078,0.000,0.057,2492,2455,3184,3168,3201,0,0,0,0,0,0,14.97,14.90,15.04
$GC,862,-0.74,-97.3,2492,2455,3170,3201,199.8,-19.2,135,867,0.00,2.28,0.00,0.000,2564,0.000,0.053,2492,1054,3185,3169,3201,0,0,0,0,0,0,15.25,14.98,15.25
$GC,911,-0.74,-97.3,2491,1054,3170,3201,207.3,-18.5,137,916,0.05,2.33,0.00,0.000,3078,0.444,0.055,2496,2478,3185,3170,3201,0,0,0,0,0,0,14.79,14.99,15.02
$GC,1183,-0.74,-97.3,2496,2478,3170,3201,256.4,-17.2,144,1187,0.00,2.08,0.00,0.000,2308,0.000,0.065,2488,3756,3185,3170,3201,0,0,0,0,0,0,15.30,15.04,15.31
$GC,1242,-0.74,-97.3,2487,3756,3170,3201,263.2,-17.0,145,1246,0.00,2.10,0.00,0.000,3078,0.000,0.047,2488,2465,3185,3170,3201,0,0,0,0,0,0,15.09,15.04,15.11
$GC,1504,-0.74,-97.3,2487,2461,3170,3201,307.2,-15.1,152,1505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2487,2460,3186,3171,3201,0,0,0,0,0,0,15.35,15.35,15.35
$GC,1744,-0.74,-97.3,2487,2460,3170,3201,342.5,-14.6,158,1745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2487,2461,3185,3170,3201,0,0,0,0,0,0,15.36,15.37,15.37
$GC,1984,-0.74,-97.3,2487,2461,3170,3199,374.8,-13.1,164,1988,0.00,2.25,0.00,0.000,2564,0.000,0.055,2488,1059,3185,3171,3199,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2052,-0.74,-97.3,2487,1058,3171,3198,380.1,-12.8,165,2058,0.05,2.35,0.00,0.000,3078,0.360,0.057,2494,2474,3184,3171,3198,0,0,0,0,0,0,14.88,15.09,15.04
$GC,2304,-0.74,-97.3,2494,2475,3171,3195,414.5,-12.2,172,2308,0.00,2.10,0.00,0.000,2308,0.000,0.070,2486,3761,3182,3170,3195,0,0,0,0,0,0,15.39,15.11,15.40
$GC,2323,-0.74,-97.3,2486,3762,3170,3195,414.5,-12.2,172,2327,0.00,2.08,0.00,0.000,3078,0.000,0.044,2486,2475,3182,3170,3195,0,0,0,0,0,0,15.16,15.11,15.18
$GC,2580,-0.74,-97.3,2485,2472,3171,3191,452.3,-14.0,179,2584,0.00,2.28,0.00,0.000,2564,0.000,0.058,2485,1066,3180,3170,3191,0,0,0,0,0,0,15.40,15.11,15.40
$GC,2689,-0.74,-97.3,2485,1066,3171,3190,462.8,-13.9,181,2697,0.08,2.33,0.00,0.000,3078,0.382,0.060,2500,2486,3179,3170,3189,0,0,0,0,0,0,14.92,15.11,15.16
$GC,2936,-0.74,-97.3,2500,2486,3170,3187,497.6,-12.1,188,2940,0.00,2.30,0.00,0.000,516,0.000,0.058,2503,1062,3178,3170,3187,0,0,0,0,0,0,15.39,15.11,15.40
$GC,2995,-0.74,-97.3,2503,1062,3170,3186,502.5,-12.1,189,3000,0.00,2.38,0.00,0.000,3078,0.000,0.062,2494,2478,3178,3170,3186,0,0,0,0,0,0,15.15,15.09,15.16
$GC,3257,-0.74,-97.3,2494,2478,3170,3181,536.1,-12.1,196,3261,0.00,2.30,0.00,0.000,2564,0.000,0.059,2494,1072,3175,3170,3181,0,0,0,0,0,0,15.40,15.11,15.40
$GC,3333,-0.74,-97.3,2494,1072,3170,3180,545.3,-12.1,198,3339,0.05,2.33,0.00,0.000,3078,0.419,0.067,2500,2475,3175,3170,3180,0,0,0,0,0,0,14.91,15.11,15.15
$GC,3612,-0.74,-97.3,2500,2475,3169,3176,577.0,-11.1,205,3617,0.00,2.30,0.00,0.000,516,0.000,0.059,2500,1060,3173,3170,3176,0,0,0,0,0,0,15.40,15.10,15.40
$GC,3626,-0.74,-97.3,2500,1060,3170,3176,577.0,-11.1,205,3630,0.00,2.38,0.00,0.000,3078,0.000,0.064,2491,2467,3173,3170,3176,0,0,0,0,0,0,15.15,15.09,15.17
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3807,begin apogee
$GC,3811,-0.14,0.0,2491,1978,3170,3173,600.2,-11.9,210,3896,0.55,0.00,81.55,1.910,10246,0.268,0.000,2690,1977,2783,2850,2717,0,0,0,0,0,0,14.92,14.48,13.81
$STATE,3897,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3898,0.74,97.3,2690,1977,2850,2717,602.4,0.0,212,3990,0.73,0.00,88.85,1.846,10246,0.127,0.000,2986,1977,2385,2461,2310,0,0,0,0,0,0,14.47,14.28,13.64
$GC,4208,0.74,97.3,2986,1977,2452,2307,558.6,17.6,220,4212,0.00,2.47,0.00,0.000,4356,0.000,0.073,2986,3418,2380,2454,2307,0,0,0,0,0,0,15.03,14.78,15.04
$GC,4338,0.74,97.3,2986,3418,2452,2308,537.5,18.0,223,4343,0.08,2.33,0.00,0.000,5126,0.471,0.051,2978,2011,2380,2453,2308,0,0,0,0,0,0,14.63,14.87,14.90
$GC,4599,0.74,97.3,2978,2010,2453,2302,492.3,16.1,230,4604,0.00,2.38,0.00,0.000,260,0.000,0.070,2978,3418,2377,2453,2302,0,0,0,0,0,0,15.20,14.94,15.21
$GC,4638,0.74,97.3,2978,3418,2452,2302,486.2,16.1,231,4642,0.00,2.38,0.00,0.000,5126,0.000,0.050,2987,1998,2377,2452,2302,0,0,0,0,0,0,15.00,14.94,15.02
$GC,4915,0.74,97.3,2986,1997,2451,2301,441.2,15.6,238,4920,0.00,2.38,0.00,0.000,4356,0.000,0.070,2987,3412,2375,2450,2301,0,0,0,0,0,0,15.26,15.00,15.27
$GC,4930,0.74,97.3,2986,3412,2451,2302,441.2,15.6,238,4934,0.08,2.30,0.00,0.000,5126,0.464,0.050,2977,1998,2376,2451,2302,0,0,0,0,0,0,14.76,15.01,15.05
$GC,5196,0.74,97.3,2977,1997,2451,2297,401.8,13.6,245,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1997,2374,2451,2298,0,0,0,0,0,0,15.29,15.30,15.30
$GC,5436,0.74,97.3,2977,1997,2450,2297,371.0,12.6,251,5441,0.00,2.38,0.00,0.000,260,0.000,0.072,2977,3413,2373,2450,2297,0,0,0,0,0,0,15.31,15.04,15.32
$GC,5566,0.74,97.3,2976,3413,2449,2297,353.3,14.3,254,5570,0.00,2.33,0.00,0.000,5126,0.000,0.052,2986,1991,2373,2449,2298,0,0,0,0,0,0,15.16,15.05,15.18
$GC,5838,0.74,97.3,2985,1989,2448,2296,318.9,11.8,261,5842,0.00,2.38,0.00,0.000,4356,0.000,0.070,2986,3412,2372,2448,2296,0,0,0,0,0,0,15.34,15.05,15.34
$GC,5896,0.74,97.3,2985,3411,2448,2297,314.6,11.3,262,5902,0.05,2.35,0.00,0.000,5126,0.437,0.051,2981,2000,2372,2448,2297,0,0,0,0,0,0,14.77,15.04,14.98
$GC,6154,0.76,113.8,2981,1998,2448,2294,287.9,8.9,269,6171,0.00,2.38,12.62,1.516,10500,0.000,0.070,2972,3421,2317,2396,2238,0,0,0,0,0,0,15.35,14.99,14.35
$GC,6446,0.76,113.8,2971,3420,2396,2240,259.9,10.0,276,6451,0.00,2.38,0.00,0.000,3078,0.000,0.054,2980,2001,2318,2396,2240,0,0,0,0,0,0,15.05,15.00,15.07
$GC,6714,0.80,139.9,2980,2000,2396,2239,236.3,8.2,283,6742,0.00,2.40,23.08,1.458,10500,0.000,0.067,2972,3420,2210,2294,2127,0,0,0,0,0,0,15.31,14.77,14.29
$GC,6917,0.80,139.9,2972,3421,2293,2127,212.7,13.1,288,6921,0.00,2.40,0.00,0.000,3078,0.000,0.054,2980,1998,2211,2294,2128,0,0,0,0,0,0,14.97,14.92,15.00
$GC,7171,0.80,139.9,2980,1997,2294,2126,176.4,12.4,305,7175,0.00,2.35,0.00,0.000,2564,0.000,0.067,2992,580,2210,2294,2126,0,0,0,0,0,0,15.23,14.97,15.23
$GC,7275,0.81,149.7,2992,580,2286,2126,164.6,9.3,315,7293,0.00,2.40,9.12,1.242,11270,0.000,0.056,2984,2007,2170,2253,2088,0,0,0,0,0,0,14.96,14.90,14.31
$GC,7537,0.81,149.7,2984,2008,2253,2088,133.8,12.4,353,7544,0.00,2.35,0.00,0.000,2308,0.000,0.069,2984,3408,2170,2253,2088,0,0,0,0,0,0,15.19,14.93,15.19
$GC,7583,0.81,149.7,2984,3408,2253,2089,127.1,15.0,361,7591,0.00,2.33,0.00,0.000,3078,0.000,0.050,2993,1992,2171,2253,2089,0,0,0,0,0,0,15.05,14.95,15.06
$GC,7840,0.81,149.7,2993,1991,2253,2089,92.6,13.3,410,7848,0.00,2.40,0.00,0.000,2308,0.000,0.066,2992,3409,2170,2251,2089,0,0,0,0,0,0,15.19,14.92,15.19
$GC,7865,0.81,149.7,2993,3409,2253,2090,89.2,14.2,414,7872,0.00,2.38,0.00,0.000,5126,0.000,0.050,3003,1994,2171,2253,2090,0,0,0,0,0,0,14.97,14.92,15.00
$GC,8124,0.83,165.4,3003,1992,2253,2089,58.6,8.9,463,8149,0.00,2.38,14.07,1.121,8708,0.000,0.059,3014,584,2107,2190,2025,0,0,0,0,0,0,15.16,14.70,14.28
$GC,8239,0.83,165.4,3014,584,2185,2026,46.5,10.8,483,8246,0.00,2.40,0.00,0.000,5126,0.000,0.054,3014,2000,2105,2185,2026,0,0,0,0,0,0,14.89,14.84,14.92
$GC,8498,0.85,180.7,3014,2000,2185,2026,24.7,8.9,532,8513,0.00,0.00,7.57,0.945,12806,0.000,0.000,3014,2000,2044,2126,1962,0,0,0,0,0,0,15.12,14.69,14.31
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$FINISH,0.4,1.023089
$STATE,8718,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8732,103.12,0.200,0,0,1149,400.08
$SM_GC,1.25,6.72,0.77,103.12,0.083,0.055,0.200,172,2483,1149,-7.88,-1.02,400.08,0,0,0,0,0,0,14.93,14.90,14.71
$IRIDIUM_FIX,2136.49,-15527.60,250721,145128
$TT8_MAMPS,0.023219,0.310086
$HUMID,48.50
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.64,10.387
$10V_AH,13.45,0.000
$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,16.350,98.850,236.875,103.125,0.000,26.621,42.203,134.076,0.250,0.000,19.160,1660.071,5118.413,462.494,1842.503,63.344,0.000,1175.082,0.000,1585.540,0.000,0.553,0.000
$DEVICE_MAMPS,471.240,74.970,1910.205,199.665,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,385.507,322.432,600.585,576.850,702.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339312
$DATA_FILE_SIZE,50665,573
$CAP_FILE_SIZE,104050,0
$CFSIZE,1023623168,1019527168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3259.29,0x2131ca,0,24
$CURRENT,0.091,247.84,1
$GPS,250721,172425,2146.242,-15527.564,20,0.8,43,9.9,0.5,87.3,10,6.4