version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 21
start: 7 25 121 22 30 50
data:
$ID,626
$MISSION,3
$DIVE,21
$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,39
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2884
$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
$GPS1,250721,222532,2145.5920,-15530.3320,18,0.8,35,9.9,0.9,302.6,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.6
$GPS2,250721,223027,2145.5750,-15530.3770,8,0.8,16,9.9,1.0,254.3,10,9.4
$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,250.4,68829,-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,-97.3,126,2316,1275,1209,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,16386,0.000,0.000,125,2318,2963,2946,2981,0,0,0,0,0,0,15.02,28.83,15.03
$GC,75,-0.74,-97.3,125,2318,2946,2981,3.1,-6.0,8,99,7.95,2.40,-5.72,0.000,18948,0.438,0.070,2506,885,3282,3264,3300,0,0,0,0,0,0,14.48,14.12,14.69
$GC,251,-0.74,-97.3,2505,880,3269,3296,55.8,-28.7,40,259,0.00,2.40,0.00,0.000,3078,0.000,0.063,2497,2296,3283,3270,3296,0,0,0,0,0,0,14.92,14.81,14.94
$GC,514,-0.74,-97.3,2497,2297,3271,3296,126.6,-26.5,89,521,0.00,2.35,0.00,0.000,2308,0.000,0.064,2486,3716,3283,3271,3296,0,0,0,0,0,0,15.13,14.88,15.13
$GC,582,-0.74,-97.3,2486,3716,3271,3296,143.3,-22.5,101,589,0.00,2.30,0.00,0.000,3078,0.000,0.048,2487,2306,3283,3271,3296,0,0,0,0,0,0,15.00,14.90,15.01
$GC,865,-0.74,-97.3,2486,2303,3272,3296,210.4,-22.4,129,867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2487,2303,3284,3272,3296,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1106,-0.74,-97.3,2486,2303,3272,3296,260.4,-20.5,135,1111,0.00,2.33,0.00,0.000,2308,0.000,0.061,2477,3716,3284,3272,3297,0,0,0,0,0,0,15.26,15.00,15.27
$GC,1173,-0.74,-97.3,2477,3716,3272,3297,267.5,-19.6,136,1178,0.08,2.28,0.00,0.000,3078,0.362,0.044,2503,2295,3284,3272,3297,0,0,0,0,0,0,14.83,15.03,15.04
$GC,1425,-0.74,-97.3,2502,2292,3273,3297,312.6,-15.1,143,1429,0.00,2.35,0.00,0.000,260,0.000,0.066,2493,3715,3285,3273,3297,0,0,0,0,0,0,15.30,15.04,15.30
$GC,1555,-0.74,-97.3,2493,3715,3273,3296,328.7,-14.1,146,1559,0.00,2.25,0.00,0.000,3078,0.000,0.045,2493,2300,3284,3273,3296,0,0,0,0,0,0,15.16,15.07,15.17
$GC,1816,-0.74,-97.3,2493,2297,3272,3296,366.6,-14.3,153,1820,0.00,2.30,0.00,0.000,2564,0.000,0.058,2493,889,3284,3273,3296,0,0,0,0,0,0,15.33,15.07,15.34
$GC,1860,-0.74,-97.3,2493,889,3274,3296,371.6,-14.5,154,1866,0.03,2.38,0.00,0.000,3078,0.436,0.058,2492,2306,3285,3274,3296,0,0,0,0,0,0,14.86,15.05,15.00
$GC,2132,-0.74,-97.3,2492,2306,3275,3293,411.9,-14.7,161,2137,0.00,2.33,0.00,0.000,2308,0.000,0.070,2483,3710,3283,3274,3293,0,0,0,0,0,0,15.35,15.07,15.35
$GC,2197,-0.74,-97.3,2483,3710,3274,3292,417.9,-14.7,162,2202,0.05,2.28,0.00,0.000,3078,0.394,0.047,2500,2295,3282,3272,3292,0,0,0,0,0,0,14.92,15.10,15.13
$GC,2449,-0.74,-97.3,2500,2291,3274,3287,453.5,-12.7,169,2455,0.00,2.28,0.00,0.000,516,0.000,0.060,2500,889,3282,3275,3289,0,0,0,0,0,0,15.35,15.09,15.36
$GC,2476,-0.74,-97.3,2500,889,3274,3289,453.5,-12.7,169,2481,0.00,2.38,0.00,0.000,3078,0.000,0.060,2491,2299,3281,3274,3289,0,0,0,0,0,0,15.13,15.07,15.15
$GC,2728,-0.74,-97.3,2491,2300,3274,3285,492.2,-13.9,176,2733,0.00,2.35,0.00,0.000,2308,0.000,0.073,2481,3717,3279,3274,3285,0,0,0,0,0,0,15.37,15.09,15.37
$GC,2772,-0.74,-97.3,2480,3717,3274,3285,497.2,-13.9,177,2778,0.05,2.33,0.00,0.000,3078,0.330,0.049,2499,2297,3279,3274,3285,0,0,0,0,0,0,14.90,15.09,15.16
$GC,3045,-0.74,-97.3,2498,2293,3274,3281,530.7,-11.5,184,3046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,2291,3277,3273,3281,0,0,0,0,0,0,15.38,15.38,15.38
$GC,3285,-0.74,-97.3,2497,2293,3274,3277,559.6,-12.3,190,3289,0.00,2.30,0.00,0.000,2564,0.000,0.064,2499,895,3275,3274,3277,0,0,0,0,0,0,15.38,15.11,15.39
$GC,3333,-0.74,-97.3,2498,895,3272,3278,564.3,-12.5,191,3338,0.00,2.38,0.00,0.000,3078,0.000,0.064,2490,2297,3275,3272,3278,0,0,0,0,0,0,15.13,15.08,15.16
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3599,begin apogee
$GC,3603,-0.14,0.0,2490,1974,3272,3274,601.8,-13.5,198,3688,0.57,0.00,81.12,1.863,10246,0.267,0.000,2698,1971,2883,2935,2831,0,0,0,0,0,0,14.92,14.47,13.81
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3690,0.74,97.3,2698,1971,2934,2830,604.5,0.0,200,3785,0.68,2.38,88.20,1.815,10756,0.103,0.060,3001,607,2485,2569,2401,0,0,0,0,0,0,14.47,14.14,13.62
$GC,3821,0.74,97.3,3001,606,2559,2402,604.1,1.5,203,3826,0.08,2.42,0.00,0.000,5126,0.421,0.057,2979,2010,2480,2558,2402,0,0,0,0,0,0,14.33,14.48,14.54
$GC,4073,0.74,97.3,2979,2011,2558,2396,567.1,13.4,210,4079,0.00,2.38,0.00,0.000,260,0.000,0.071,2979,3416,2477,2558,2396,0,0,0,0,0,0,15.04,14.80,15.05
$GC,4154,0.74,97.3,2979,3416,2558,2396,555.8,13.4,212,4160,0.00,2.30,0.00,0.000,5126,0.000,0.049,2989,2023,2477,2558,2396,0,0,0,0,0,0,14.89,14.84,14.90
$GC,4433,0.74,97.3,2988,2021,2558,2392,516.9,13.8,219,4437,0.00,2.35,0.00,0.000,4356,0.000,0.070,2989,3412,2475,2558,2392,0,0,0,0,0,0,15.19,14.92,15.19
$GC,4588,0.74,97.3,2988,3412,2558,2393,494.5,14.4,223,4593,0.08,2.33,0.00,0.000,5126,0.474,0.049,2979,1999,2475,2558,2393,0,0,0,0,0,0,14.72,14.97,15.00
$GC,4865,0.74,97.3,2979,1997,2558,2388,460.3,12.0,230,4869,0.00,2.40,0.00,0.000,260,0.000,0.071,2979,3412,2473,2558,2389,0,0,0,0,0,0,15.25,14.99,15.26
$GC,4903,0.74,97.3,2979,3412,2558,2389,455.9,11.8,231,4908,0.00,2.38,0.00,0.000,5126,0.000,0.050,2988,1998,2473,2558,2389,0,0,0,0,0,0,15.04,14.99,15.06
$GC,5180,0.74,97.3,2988,1997,2558,2386,423.2,11.3,238,5185,0.00,2.38,0.00,0.000,4356,0.000,0.070,2988,3412,2472,2558,2386,0,0,0,0,0,0,15.29,15.02,15.30
$GC,5325,0.74,97.3,2988,3412,2558,2386,409.4,11.3,241,5330,0.08,2.33,0.00,0.000,5126,0.467,0.051,2979,1997,2472,2558,2386,0,0,0,0,0,0,14.78,15.04,15.08
$GC,5578,0.75,100.6,2978,1997,2558,2384,381.2,9.8,248,5584,0.00,2.38,0.00,0.000,260,0.000,0.070,2978,3419,2471,2558,2384,0,0,0,0,0,0,15.30,15.04,15.30
$GC,5930,0.77,122.4,2978,3419,2558,2384,350.5,8.5,256,5956,0.00,2.33,19.52,1.590,9222,0.000,0.051,2987,1998,2382,2461,2303,0,0,0,0,0,0,15.14,15.05,14.25
$GC,6218,0.77,122.4,2987,1999,2457,2302,315.6,11.4,264,6222,0.00,2.33,0.00,0.000,516,0.000,0.065,2998,589,2379,2457,2302,0,0,0,0,0,0,15.21,14.97,15.23
$GC,6253,0.77,122.4,2997,589,2452,2303,312.2,10.8,265,6258,0.00,2.38,0.00,0.000,5126,0.000,0.059,2998,2010,2377,2452,2303,0,0,0,0,0,0,15.07,14.97,15.09
$GC,6530,0.81,153.4,2997,2010,2452,2303,288.1,7.9,272,6562,0.00,2.40,26.85,1.519,8452,0.000,0.070,2998,3406,2255,2336,2174,0,0,0,0,0,0,15.26,14.78,14.20
$GC,6692,0.81,153.4,2997,3406,2336,2174,269.4,11.7,276,6698,0.00,2.38,0.00,0.000,5126,0.000,0.053,3008,2008,2255,2336,2175,0,0,0,0,0,0,14.91,14.86,14.92
$GC,6970,0.81,153.4,3008,2006,2336,2172,236.3,11.1,283,6976,0.00,2.38,0.00,0.000,4356,0.000,0.069,3008,3407,2254,2336,2172,0,0,0,0,0,0,15.20,14.94,15.21
$GC,7192,0.81,153.4,3008,3408,2336,2172,210.1,13.3,288,7197,0.05,2.38,0.00,0.000,5126,0.450,0.051,3005,1997,2254,2336,2172,0,0,0,0,0,0,14.72,14.96,14.91
$GC,7440,0.81,153.4,3005,1995,2336,2172,175.6,11.6,309,7450,0.00,2.38,0.00,0.000,4356,0.000,0.067,3005,3409,2254,2336,2172,0,0,0,0,0,0,15.23,14.97,15.24
$GC,7564,0.81,153.4,3005,3409,2336,2172,159.6,11.8,321,7574,0.00,2.33,0.00,0.000,5126,0.000,0.049,3014,1989,2253,2336,2171,0,0,0,0,0,0,15.09,15.00,15.11
$GC,7819,0.82,156.5,3013,1989,2336,2172,134.2,9.8,362,7827,0.00,2.35,0.00,0.000,4612,0.000,0.061,3025,600,2253,2335,2172,0,0,0,0,0,0,15.21,14.92,15.21
$GC,7906,0.82,160.9,3024,599,2330,2173,125.7,9.7,378,7922,0.05,2.38,7.15,1.115,13318,0.398,0.056,3010,2003,2225,2305,2145,0,0,0,0,0,0,14.73,14.95,14.34
$GC,8169,0.82,160.9,3010,2004,2305,2145,97.7,10.9,428,8177,0.00,2.40,0.00,0.000,4356,0.000,0.065,2999,3431,2225,2306,2145,0,0,0,0,0,0,15.16,14.91,15.17
$GC,8203,0.82,160.9,2999,3431,2305,2147,93.8,11.4,434,8211,0.00,2.40,0.00,0.000,5126,0.000,0.048,3008,1982,2226,2305,2147,0,0,0,0,0,0,15.02,14.92,15.04
$GC,8464,0.89,214.1,3007,1980,2305,2147,68.5,6.3,483,8514,0.00,2.45,43.35,1.135,10500,0.000,0.060,3005,3410,2009,2090,1928,0,0,0,0,0,0,15.15,14.54,14.15
$GC,8601,0.89,214.1,3005,3410,2089,1928,54.0,12.9,506,8609,0.00,2.40,0.00,0.000,3078,0.000,0.050,3014,1985,2009,2090,1928,0,0,0,0,0,0,14.84,14.74,14.85
$GC,8860,0.89,214.1,3014,1985,2089,1927,19.2,12.4,555,8869,0.00,2.38,0.00,0.000,2564,0.000,0.061,3025,592,2007,2088,1927,0,0,0,0,0,0,15.05,14.80,15.06
$GC,8944,0.89,214.1,3025,591,2082,1928,8.8,13.3,570,8952,0.00,2.38,0.00,0.000,1030,0.000,0.053,3025,1990,2005,2082,1928,0,0,0,0,0,0,14.92,14.81,14.94
$STATE,8989,end climb,SURFACE_DEPTH_REACHED
$STATE,8989,begin surface coast
$FINISH,0.2,1.003291
$STATE,9016,end surface coast,CONTROL_FINISHED_OK
$STATE,9016,begin surface
$SM_CCo,9030,87.55,0.191,0,0,1250,400.08
$SM_GC,1.25,6.68,0.50,87.55,0.067,0.057,0.191,176,2317,1250,-7.88,-0.96,400.08,0,0,0,0,0,0,14.90,14.88,14.69
$IRIDIUM_FIX,2136.49,-15530.67,250721,222630
$TT8_MAMPS,0.02247,0.283122
$HUMID,47.63
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.62,11.016
$10V_AH,13.36,0.000
$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,16.400,109.300,266.200,87.550,0.000,26.391,41.814,126.618,0.000,0.000,17.156,1705.809,5235.310,449.347,1965.756,65.927,0.000,1254.947,0.000,1710.415,0.000,0.551,0.000
$DEVICE_MAMPS,473.535,73.440,1862.775,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,391.758,325.123,605.623,557.767,673.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339288
$DATA_FILE_SIZE,50804,583
$CAP_FILE_SIZE,110240,0
$CFSIZE,1023623168,1019330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100,227.56,1
$GPS,260721,010401,2145.090,-15531.659,18,0.8,41,9.9,0.2,253.2,10,6.3