version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 23
start: 7 26 121 3 38 10
data:
$ID,626
$MISSION,3
$DIVE,23
$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,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2840
$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
$GPS1,260721,033225,2144.9695,-15533.1162,18,0.8,41,9.9,0.6,278.7,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.3
$GPS2,260721,033746,2144.9670,-15533.1660,8,0.8,20,9.9,0.6,204.9,11,9.6
$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,243.3,63899,-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,14,-0.74,-97.3,124,2344,1277,1209,0.0,0.0,0,79,0.00,0.00,-62.25,0.000,16386,0.000,0.000,124,2344,3230,3197,3263,0,0,0,0,0,0,15.02,28.83,15.02
$GC,81,-0.74,-97.3,124,2344,3197,3263,4.1,-8.6,9,96,7.90,2.38,0.00,0.000,2564,0.435,0.037,2499,864,3231,3199,3263,0,0,0,0,0,0,14.48,14.75,14.68
$GC,213,-0.74,-97.3,2498,861,3212,3252,48.8,-25.9,33,221,0.00,2.40,0.00,0.000,3078,0.000,0.060,2490,2263,3232,3213,3252,0,0,0,0,0,0,14.85,14.80,14.87
$GC,471,-0.74,-97.3,2490,2264,3214,3251,121.6,-27.3,82,478,0.00,2.42,0.00,0.000,2308,0.000,0.066,2479,3713,3233,3214,3252,0,0,0,0,0,0,15.11,14.86,15.11
$GC,593,-0.74,-97.3,2479,3713,3214,3252,150.7,-22.7,105,602,0.03,2.35,0.00,0.000,3078,0.278,0.053,2501,2310,3233,3214,3252,0,0,0,0,0,0,14.72,14.88,14.93
$GC,868,-0.74,-97.3,2501,2306,3216,3252,208.2,-19.4,130,873,0.00,2.30,0.00,0.000,516,0.000,0.056,2501,880,3234,3216,3252,0,0,0,0,0,0,15.21,14.96,15.21
$GC,898,-0.74,-97.3,2501,880,3218,3252,208.2,-19.4,130,905,0.00,2.35,0.00,0.000,3078,0.000,0.057,2493,2309,3234,3218,3251,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1144,-0.74,-97.3,2492,2308,3219,3251,264.1,-20.5,137,1149,0.00,2.30,0.00,0.000,2308,0.000,0.067,2482,3712,3235,3219,3251,0,0,0,0,0,0,15.27,15.00,15.27
$GC,1318,-0.74,-97.3,2482,3712,3218,3251,292.8,-17.6,141,1323,0.05,2.30,0.00,0.000,3078,0.327,0.047,2500,2299,3235,3219,3252,0,0,0,0,0,0,14.85,15.02,14.99
$GC,1585,-0.74,-97.3,2500,2295,3218,3251,335.5,-14.5,148,1589,0.00,2.25,0.00,0.000,516,0.000,0.055,2500,886,3235,3218,3252,0,0,0,0,0,0,15.31,15.06,15.32
$GC,1621,-0.74,-97.3,2500,886,3219,3251,340.2,-14.1,149,1627,0.00,2.33,0.00,0.000,3078,0.000,0.057,2492,2306,3235,3219,3251,0,0,0,0,0,0,15.16,15.07,15.18
$GC,1901,-0.74,-97.3,2491,2306,3219,3250,379.8,-14.3,156,1905,0.00,2.30,0.00,0.000,2308,0.000,0.069,2481,3709,3234,3217,3251,0,0,0,0,0,0,15.34,15.07,15.34
$GC,1955,-0.74,-97.3,2481,3709,3218,3250,385.4,-14.4,157,1960,0.05,2.28,0.00,0.000,3078,0.333,0.044,2498,2302,3234,3219,3250,0,0,0,0,0,0,14.90,15.08,15.04
$GC,2217,-0.74,-97.3,2498,2298,3219,3247,423.4,-13.4,164,2218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2499,2298,3233,3219,3248,0,0,0,0,0,0,15.35,15.36,15.35
$GC,2457,-0.74,-97.3,2498,2297,3219,3244,454.1,-12.8,170,2461,0.00,2.35,0.00,0.000,2308,0.000,0.069,2490,3714,3231,3219,3244,0,0,0,0,0,0,15.37,15.09,15.37
$GC,2480,-0.74,-97.3,2490,3715,3219,3244,454.1,-12.8,170,2485,0.00,2.30,0.00,0.000,3078,0.000,0.047,2490,2306,3231,3219,3244,0,0,0,0,0,0,15.15,15.11,15.17
$GC,2732,-0.74,-97.3,2489,2303,3219,3240,489.2,-12.8,177,2737,0.00,2.30,0.00,0.000,2564,0.000,0.061,2490,891,3230,3219,3241,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2786,-0.74,-97.3,2489,890,3219,3240,493.9,-13.0,178,2791,0.05,2.38,0.00,0.000,3078,0.360,0.061,2497,2302,3229,3219,3240,0,0,0,0,0,0,14.91,15.09,15.16
$GC,3048,-0.74,-97.3,2496,2302,3219,3236,529.3,-12.8,185,3050,0.00,0.00,0.00,0.000,2054,0.000,0.000,2496,2303,3227,3218,3237,0,0,0,0,0,0,15.38,15.38,15.38
$GC,3288,-0.74,-97.3,2497,2302,3219,3233,559.9,-12.6,191,3292,0.00,2.35,0.00,0.000,2308,0.000,0.076,2487,3716,3226,3219,3233,0,0,0,0,0,0,15.38,15.11,15.38
$GC,3317,-0.74,-97.3,2487,3716,3219,3233,559.9,-12.6,191,3325,0.00,2.33,0.00,0.000,3078,0.000,0.049,2487,2303,3225,3218,3232,0,0,0,0,0,0,15.16,15.11,15.17
$GC,3564,-0.74,-97.3,2487,2302,3219,3228,596.1,-13.2,198,3568,0.00,2.33,0.00,0.000,2564,0.000,0.065,2487,893,3223,3218,3228,0,0,0,0,0,0,15.39,15.11,15.39
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3599,begin apogee
$GC,3604,-0.14,0.0,2479,2047,3218,3228,601.0,-13.4,199,3688,0.60,0.00,80.32,1.870,10246,0.278,0.000,2694,2049,2839,2897,2782,0,0,0,0,0,0,14.92,14.48,13.81
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3690,0.74,97.3,2694,2049,2896,2781,603.6,0.0,201,3785,0.68,2.47,88.05,1.811,10756,0.115,0.058,2991,633,2439,2515,2363,0,0,0,0,0,0,14.47,14.15,13.62
$GC,3815,0.74,97.3,2991,633,2503,2367,599.0,5.8,204,3820,0.00,2.47,0.00,0.000,5126,0.000,0.057,2991,2039,2435,2503,2367,0,0,0,0,0,0,14.50,14.46,14.52
$GC,4077,0.74,97.3,2991,2039,2503,2362,554.2,16.2,211,4079,0.00,0.00,0.00,0.000,4102,0.000,0.000,2992,2040,2432,2502,2362,0,0,0,0,0,0,15.06,15.07,15.07
$GC,4317,0.74,97.3,2991,2040,2500,2359,516.4,15.6,217,4322,0.00,2.38,0.00,0.000,4356,0.000,0.072,2990,3452,2430,2501,2359,0,0,0,0,0,0,15.16,14.91,15.17
$GC,4493,0.74,97.3,2991,3451,2500,2360,490.5,16.1,221,4498,0.08,2.33,0.00,0.000,5126,0.477,0.049,2982,2035,2430,2500,2360,0,0,0,0,0,0,14.72,14.96,15.00
$GC,4755,0.74,97.3,2982,2034,2500,2356,452.2,13.9,228,4756,0.00,0.00,0.00,0.000,4102,0.000,0.000,2982,2034,2428,2500,2356,0,0,0,0,0,0,15.25,15.26,15.25
$GC,4994,0.74,97.3,2982,2034,2499,2354,419.2,13.7,234,4999,0.00,2.38,0.00,0.000,4356,0.000,0.070,2983,3450,2426,2499,2354,0,0,0,0,0,0,15.28,15.02,15.28
$GC,5044,0.74,97.3,2982,3451,2498,2356,414.0,14.1,235,5048,0.00,2.33,0.00,0.000,5126,0.000,0.050,2992,2034,2427,2498,2356,0,0,0,0,0,0,15.14,15.04,15.15
$GC,5305,0.74,97.3,2991,2033,2497,2354,378.2,12.2,242,5309,0.00,2.38,0.00,0.000,4356,0.000,0.070,2992,3451,2425,2497,2354,0,0,0,0,0,0,15.30,15.04,15.30
$GC,5383,0.74,97.3,2991,3450,2497,2355,368.9,11.9,244,5389,0.05,2.35,0.00,0.000,5126,0.445,0.049,2988,2040,2426,2497,2355,0,0,0,0,0,0,14.80,15.03,14.99
$GC,5661,0.75,105.7,2987,2038,2497,2351,342.2,9.4,251,5673,0.00,2.42,5.07,1.287,12548,0.000,0.069,2987,3452,2407,2478,2336,0,0,0,0,0,0,15.32,15.03,14.33
$GC,6175,0.79,133.6,2987,3452,2478,2338,294.5,8.1,263,6205,0.00,2.33,25.50,1.547,13318,0.000,0.051,2996,2033,2294,2372,2216,0,0,0,0,0,0,15.15,15.06,14.23
$GC,6458,0.79,133.6,2996,2033,2369,2210,261.7,11.7,271,6463,0.00,2.42,0.00,0.000,260,0.000,0.070,2996,3459,2289,2369,2210,0,0,0,0,0,0,15.18,14.93,15.19
$GC,6710,0.79,133.6,2995,3459,2369,2210,236.8,10.1,277,6715,0.00,2.38,0.00,0.000,5126,0.000,0.050,3005,2047,2290,2369,2211,0,0,0,0,0,0,15.02,14.97,15.04
$GC,6977,0.79,133.6,3005,2045,2369,2210,206.5,11.0,284,6981,0.00,2.38,0.00,0.000,4356,0.000,0.068,3005,3455,2289,2369,2210,0,0,0,0,0,0,15.27,15.01,15.27
$GC,7103,0.79,133.6,3005,3456,2369,2210,189.7,14.1,291,7109,0.08,2.33,0.00,0.000,5126,0.455,0.050,2995,2038,2289,2369,2210,0,0,0,0,0,0,14.78,15.02,15.04
$GC,7356,0.79,133.6,2995,2037,2369,2210,159.6,10.1,316,7365,0.00,2.30,0.00,0.000,516,0.000,0.061,3004,625,2289,2368,2210,0,0,0,0,0,0,15.26,15.01,15.26
$GC,7380,0.79,133.6,3004,626,2363,2211,157.2,11.0,318,7388,0.00,2.40,0.00,0.000,5126,0.000,0.055,3003,2047,2287,2364,2210,0,0,0,0,0,0,14.99,14.93,15.01
$GC,7632,0.85,187.8,3002,2047,2364,2210,137.8,6.3,359,7685,0.00,2.45,44.00,1.258,10756,0.000,0.059,3011,632,2071,2152,1990,0,0,0,0,0,0,15.23,14.64,14.20
$GC,7774,0.85,187.8,3011,632,2146,1991,119.6,16.2,384,7782,0.00,2.40,0.00,0.000,1030,0.000,0.054,3011,2031,2067,2144,1991,0,0,0,0,0,0,14.83,14.77,14.84
$GC,8030,0.85,187.8,3011,2032,2146,1990,76.7,15.8,433,8038,0.00,2.38,0.00,0.000,260,0.000,0.066,3011,3451,2068,2146,1990,0,0,0,0,0,0,15.09,14.85,15.09
$GC,8050,0.85,187.8,3011,3451,2146,1990,73.4,16.0,436,8058,0.00,2.40,0.00,0.000,5126,0.000,0.051,3022,2020,2068,2146,1991,0,0,0,0,0,0,14.95,14.85,14.97
$GC,8311,0.85,187.8,3021,2018,2146,1991,40.1,10.2,485,8318,0.00,0.00,0.00,0.000,4102,0.000,0.000,3022,2018,2068,2146,1990,0,0,0,0,0,0,15.11,15.11,15.11
$GC,8571,0.85,187.8,3021,2018,2146,1990,13.8,10.8,534,8579,0.00,2.35,0.00,0.000,4612,0.000,0.058,3033,628,2068,2146,1990,0,0,0,0,0,0,15.11,14.84,15.11
$STATE,8658,end climb,SURFACE_DEPTH_REACHED
$STATE,8658,begin surface coast
$FINISH,0.3,1.023119
$STATE,8676,end surface coast,CONTROL_FINISHED_OK
$STATE,8676,begin surface
$SM_CCo,8692,99.82,0.202,0,0,1208,400.08
$SM_GC,1.48,6.62,2.85,99.82,0.058,0.059,0.202,177,2300,1208,-7.87,-0.93,400.08,0,0,0,0,0,0,14.94,14.88,14.71
$IRIDIUM_FIX,2136.49,-15530.67,260721,033324
$TT8_MAMPS,0.021721,0.303345
$HUMID,47.20
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.62,11.431
$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,16.175,99.075,242.950,99.825,0.000,28.284,45.538,153.760,0.000,0.000,21.280,1609.345,5122.847,445.425,1876.945,69.071,0.000,1193.119,0.000,1604.972,0.000,0.551,0.000
$DEVICE_MAMPS,476.595,75.735,1870.425,201.960,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,371.409,307.162,572.201,528.958,637.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339472
$DATA_FILE_SIZE,50559,553
$CAP_FILE_SIZE,103434,0
$CFSIZE,1023623168,1019166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.159,287.99,1
$GPS,260721,060555,2144.952,-15534.726,17,0.8,41,9.9,0.8,317.8,10,5.9