version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 19
start: 7 25 121 17 29 48
data:
$ID,626
$MISSION,3
$DIVE,19
$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,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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,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
$GPS1,250721,172425,2146.2422,-15527.5645,20,0.8,43,9.9,0.5,87.3,10,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.4
$GPS2,250721,172924,2146.2463,-15527.5820,8,0.7,16,9.9,0.0,246.5,11,9.6
$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,248.4,73800,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-97.3,126,2278,1176,1109,0.0,0.0,0,81,0.00,0.00,-63.15,0.000,16386,0.000,0.000,126,2279,3123,3094,3153,0,0,0,0,0,0,15.05,28.83,15.06
$GC,83,-0.74,-97.3,126,2279,3094,3153,3.1,-5.2,9,98,7.93,2.28,-0.98,0.000,18948,0.438,0.066,2505,887,3181,3154,3208,0,0,0,0,0,0,14.50,13.85,14.71
$GC,189,-0.74,-97.3,2505,888,3164,3198,40.6,-27.7,28,197,0.00,2.40,0.00,0.000,3078,0.000,0.057,2497,2295,3181,3165,3198,0,0,0,0,0,0,14.87,14.81,14.90
$GC,450,-0.74,-97.3,2496,2295,3166,3198,109.8,-25.2,77,457,0.00,2.35,0.00,0.000,2308,0.000,0.063,2486,3713,3181,3166,3197,0,0,0,0,0,0,15.14,14.88,15.14
$GC,525,-0.74,-97.3,2485,3713,3166,3199,127.0,-20.4,91,533,0.00,2.28,0.00,0.000,3078,0.000,0.047,2486,2312,3182,3166,3199,0,0,0,0,0,0,15.00,14.92,15.02
$GC,777,-0.74,-97.3,2485,2308,3167,3199,185.1,-20.5,125,782,0.05,2.30,0.00,0.000,2564,0.453,0.055,2500,889,3182,3167,3198,0,0,0,0,0,0,14.77,14.95,14.97
$GC,806,-0.74,-97.3,2500,889,3169,3197,190.2,-19.8,127,815,0.00,2.35,0.00,0.000,3078,0.000,0.054,2492,2300,3183,3169,3197,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1064,-0.74,-97.3,2491,2300,3170,3197,239.3,-19.1,138,1068,0.00,2.30,0.00,0.000,2308,0.000,0.065,2481,3709,3183,3170,3197,0,0,0,0,0,0,15.27,15.00,15.28
$GC,1219,-0.74,-97.3,2480,3709,3170,3197,266.1,-17.3,142,1224,0.05,2.25,0.00,0.000,3078,0.413,0.044,2496,2296,3183,3170,3197,0,0,0,0,0,0,14.84,15.04,15.06
$GC,1496,-0.74,-97.3,2496,2293,3170,3197,306.6,-13.7,149,1500,0.00,2.33,0.00,0.000,2308,0.000,0.065,2487,3708,3183,3170,3197,0,0,0,0,0,0,15.32,15.05,15.33
$GC,1611,-0.74,-97.3,2487,3708,3170,3197,321.7,-13.2,152,1616,0.00,2.25,0.00,0.000,3078,0.000,0.044,2487,2298,3183,3170,3197,0,0,0,0,0,0,15.17,15.09,15.19
$GC,1887,-0.74,-97.3,2487,2293,3170,3196,360.9,-14.2,159,1891,0.00,2.28,0.00,0.000,2564,0.000,0.057,2487,885,3183,3170,3196,0,0,0,0,0,0,15.35,15.09,15.35
$GC,1951,-0.74,-97.3,2487,885,3170,3196,366.1,-14.3,160,1957,0.08,2.33,0.00,0.000,3078,0.390,0.057,2501,2309,3183,3170,3196,0,0,0,0,0,0,14.89,15.09,15.12
$GC,2203,-0.74,-97.3,2501,2309,3170,3193,402.9,-13.0,167,2207,0.00,2.28,0.00,0.000,260,0.000,0.070,2492,3709,3181,3170,3192,0,0,0,0,0,0,15.36,15.08,15.37
$GC,2268,-0.74,-97.3,2492,3709,3170,3192,408.4,-13.0,168,2272,0.00,2.25,0.00,0.000,3078,0.000,0.045,2492,2297,3181,3170,3192,0,0,0,0,0,0,15.21,15.12,15.22
$GC,2520,-0.74,-97.3,2491,2293,3170,3189,443.3,-12.6,175,2525,0.00,2.28,0.00,0.000,2564,0.000,0.059,2492,893,3180,3171,3189,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2572,-0.74,-97.3,2491,892,3170,3189,448.4,-12.6,176,2578,0.05,2.35,0.00,0.000,3078,0.355,0.059,2509,2300,3179,3170,3189,0,0,0,0,0,0,14.91,15.08,15.14
$GC,2839,-0.74,-97.3,2509,2301,3170,3186,479.7,-11.2,183,2843,0.00,2.33,0.00,0.000,4356,0.000,0.074,2500,3709,3177,3170,3185,0,0,0,0,0,0,15.38,15.09,15.39
$GC,2868,-0.74,-97.3,2500,3709,3168,3185,479.7,-11.2,183,2876,0.00,2.25,0.00,0.000,1030,0.000,0.047,2501,2302,3177,3170,3185,0,0,0,0,0,0,15.21,15.12,15.23
$GC,3115,-0.74,-97.3,2500,2299,3170,3181,512.6,-12.2,190,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2299,3175,3170,3181,0,0,0,0,0,0,15.38,15.39,15.38
$GC,3355,-0.74,-97.3,2500,2299,3170,3177,542.1,-12.2,196,3359,0.00,2.28,0.00,0.000,516,0.000,0.063,2500,893,3173,3170,3177,0,0,0,0,0,0,15.38,15.11,15.40
$GC,3393,-0.74,-97.3,2500,892,3170,3177,546.6,-12.2,197,3398,0.00,2.30,0.00,0.000,3078,0.000,0.063,2491,2291,3173,3170,3177,0,0,0,0,0,0,15.15,15.09,15.18
$GC,3671,-0.74,-97.3,2490,2291,3170,3173,580.8,-12.0,204,3672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2490,2291,3171,3170,3173,0,0,0,0,0,0,15.39,15.40,15.40
$STATE,3869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3870,begin apogee
$GC,3874,-0.14,0.0,2490,1980,3170,3170,604.1,-11.6,209,3959,0.57,0.00,81.75,1.912,10246,0.271,0.000,2697,1978,2783,2850,2717,0,0,0,0,0,0,14.92,14.47,13.80
$STATE,3960,end apogee,CONTROL_FINISHED_OK
$STATE,3960,begin climb
$GC,3961,0.74,97.3,2697,1978,2850,2717,605.7,0.0,211,4059,0.68,2.42,88.35,1.847,10756,0.120,0.062,2991,614,2384,2459,2309,0,0,0,0,0,0,14.46,14.28,13.62
$GC,4138,0.74,97.3,2991,614,2446,2311,588.9,13.1,215,4143,0.00,2.42,0.00,0.000,5126,0.000,0.059,2991,2004,2378,2446,2311,0,0,0,0,0,0,14.64,14.59,14.67
$GC,4391,0.74,97.3,2991,2005,2446,2309,535.0,19.1,222,4395,0.00,2.38,0.00,0.000,4356,0.000,0.071,2991,3415,2377,2446,2309,0,0,0,0,0,0,15.09,14.83,15.10
$GC,4414,0.74,97.3,2991,3414,2446,2309,535.0,19.1,222,4420,0.08,2.35,0.00,0.000,5126,0.437,0.052,2981,2023,2378,2446,2310,0,0,0,0,0,0,14.62,14.84,14.81
$GC,4667,0.74,97.3,2980,2021,2446,2305,487.1,16.4,229,4671,0.00,2.35,0.00,0.000,4356,0.000,0.071,2981,3412,2375,2446,2305,0,0,0,0,0,0,15.19,14.92,15.20
$GC,4771,0.74,97.3,2980,3412,2446,2305,473.0,16.8,231,4776,0.00,2.35,0.00,0.000,5126,0.000,0.053,2990,1989,2375,2446,2305,0,0,0,0,0,0,15.06,14.96,15.07
$GC,5023,0.74,97.3,2990,1988,2445,2302,428.4,16.2,238,5025,0.00,0.00,0.00,0.000,4102,0.000,0.000,2990,1988,2374,2446,2302,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5263,0.74,97.3,2990,1988,2446,2299,393.0,14.4,244,5267,0.00,2.40,0.00,0.000,4356,0.000,0.070,2990,3416,2372,2446,2299,0,0,0,0,0,0,15.28,15.01,15.29
$GC,5522,0.74,97.3,2990,3416,2446,2301,357.7,14.8,250,5527,0.08,2.33,0.00,0.000,5126,0.464,0.054,2980,1999,2373,2446,2300,0,0,0,0,0,0,14.77,15.03,15.07
$GC,5779,0.74,97.3,2979,1998,2446,2296,323.5,11.8,257,5783,0.00,2.33,0.00,0.000,516,0.000,0.065,2988,585,2371,2446,2297,0,0,0,0,0,0,15.30,15.04,15.32
$GC,5813,0.74,97.3,2988,584,2440,2298,323.5,11.8,257,5820,0.00,2.40,0.00,0.000,5126,0.000,0.058,2987,2005,2369,2440,2298,0,0,0,0,0,0,15.08,15.03,15.10
$GC,6060,0.74,97.3,2987,2005,2440,2298,292.0,10.8,264,6064,0.00,2.35,0.00,0.000,4356,0.000,0.073,2987,3419,2368,2439,2298,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6469,0.76,110.9,2986,3419,2439,2299,254.4,9.1,274,6484,0.00,2.33,10.10,1.407,13318,0.000,0.051,2996,1994,2329,2406,2253,0,0,0,0,0,0,15.16,15.06,14.35
$GC,6731,0.81,150.1,2995,1994,2404,2251,231.8,7.3,281,6772,0.00,2.42,34.05,1.460,8452,0.000,0.068,2995,3413,2166,2249,2083,0,0,0,0,0,0,15.28,14.68,14.21
$GC,6862,0.81,153.5,2995,3413,2250,2083,218.3,9.8,284,6867,0.00,2.35,0.00,0.000,5126,0.000,0.053,3005,1999,2165,2249,2082,0,0,0,0,0,0,14.95,14.85,14.96
$GC,7115,0.81,153.5,3004,1997,2249,2081,177.1,16.8,301,7124,0.00,2.40,0.00,0.000,4356,0.000,0.067,3004,3418,2165,2250,2081,0,0,0,0,0,0,15.16,14.90,15.17
$GC,7155,0.81,153.5,3004,3417,2250,2081,170.0,17.2,305,7160,0.05,2.38,0.00,0.000,5126,0.499,0.054,3003,1995,2165,2249,2081,0,0,0,0,0,0,14.69,14.92,14.95
$GC,7408,0.81,153.5,3003,1993,2250,2081,136.7,12.4,339,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1993,2165,2249,2081,0,0,0,0,0,0,15.18,15.19,15.19
$GC,7670,0.81,153.5,3003,1993,2250,2081,101.5,14.6,388,7677,0.00,2.42,0.00,0.000,260,0.000,0.065,3001,3421,2165,2250,2081,0,0,0,0,0,0,15.18,14.92,15.19
$GC,7690,0.81,153.5,3000,3421,2250,2081,98.8,13.7,391,7697,0.00,2.35,0.00,0.000,5126,0.000,0.050,3009,1991,2165,2250,2081,0,0,0,0,0,0,15.04,14.94,15.05
$GC,7953,0.81,153.5,3009,1990,2250,2080,63.5,15.1,440,7960,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1990,2165,2250,2081,0,0,0,0,0,0,15.16,15.17,15.17
$GC,8214,0.94,260.5,3009,1989,2250,2081,43.1,2.6,489,8308,0.05,2.40,85.20,1.111,10756,0.278,0.060,3083,585,1719,1800,1638,0,0,0,0,0,0,14.85,14.38,14.00
$GC,8408,0.94,260.5,3083,585,1794,1639,10.7,24.4,521,8416,0.12,2.40,0.00,0.000,5126,0.352,0.052,3043,2008,1716,1794,1638,0,0,0,0,0,0,14.52,14.69,14.72
$STATE,8443,end climb,SURFACE_DEPTH_REACHED
$STATE,8443,begin surface coast
$FINISH,0.3,1.023059
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8455,begin surface
$SM_CCo,8468,66.05,0.198,0,0,1149,400.08
$SM_GC,1.11,6.85,0.47,66.05,0.083,0.066,0.198,179,2303,1149,-7.86,-0.99,400.08,0,0,0,0,0,0,14.78,14.73,14.62
$IRIDIUM_FIX,2136.49,-15527.60,250721,172524
$TT8_MAMPS,0.02247,0.280126
$HUMID,49.64
$INTERNAL_PRESSURE,9.07224
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.62,10.600
$10V_AH,13.37,0.000
$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,16.625,94.750,299.450,66.050,0.000,27.248,41.477,133.991,0.000,0.000,17.165,1533.662,5009.051,446.116,1794.736,61.122,0.000,1185.721,0.000,1539.771,0.000,0.552,0.000
$DEVICE_MAMPS,498.780,74.205,1911.735,198.135,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,354.577,291.104,540.691,500.214,607.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339276
$DATA_FILE_SIZE,47412,529
$CAP_FILE_SIZE,99821,0
$CFSIZE,1023623168,1019478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.116,269.33,1
$GPS,250721,195319,2146.084,-15529.080,14,0.8,43,9.9,0.5,336.9,10,5.3