version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 24
start: 7 26 121 6 36 9
data:
$ID,626
$MISSION,3
$DIVE,24
$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,2250
$C_ROLL_CLIMB,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,35
$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
$GPS1,260721,062553,2145.0686,-15534.9600,8,1.0,21,9.9,0.9,300.3,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.9
$GPS2,260721,063545,2145.1191,-15535.0889,8,1.0,21,9.9,0.0,312.3,8,10.0
$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,219.4,60786,-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,-97.3,177,2265,1155,1095,0.0,0.0,0,79,0.00,0.00,-62.70,0.000,16386,0.000,0.000,164,2265,3154,3120,3188,0,0,0,0,0,0,15.09,28.83,15.09
$GC,82,-0.74,-97.3,164,2266,3121,3187,3.6,-6.7,9,97,7.82,2.38,-1.42,0.000,18948,0.444,0.066,2503,821,3240,3208,3272,0,0,0,0,0,0,14.52,13.92,14.73
$GC,224,-0.74,-97.3,2503,817,3219,3261,48.3,-24.8,35,233,0.00,2.40,0.00,0.000,3078,0.000,0.054,2494,2260,3239,3219,3260,0,0,0,0,0,0,14.97,14.87,14.98
$GC,481,-0.74,-97.3,2494,2261,3219,3260,116.6,-25.1,84,490,0.00,2.35,0.00,0.000,2308,0.000,0.063,2484,3657,3240,3220,3260,0,0,0,0,0,0,15.16,14.85,15.16
$GC,524,-0.74,-97.3,2483,3657,3219,3260,126.7,-23.6,91,532,0.05,2.30,0.00,0.000,3078,0.418,0.047,2501,2242,3239,3219,3260,0,0,0,0,0,0,14.75,14.93,14.96
$GC,781,-0.74,-97.3,2500,2239,3220,3260,181.0,-19.5,126,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2239,3240,3220,3260,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1042,-0.74,-97.3,2500,2239,3220,3259,233.8,-20.6,140,1047,0.00,2.35,0.00,0.000,260,0.000,0.061,2492,3667,3239,3220,3259,0,0,0,0,0,0,15.27,15.02,15.28
$GC,1122,-0.74,-97.3,2492,3667,3220,3259,249.3,-19.7,142,1128,0.00,2.30,0.00,0.000,3078,0.000,0.047,2492,2240,3239,3219,3259,0,0,0,0,0,0,15.14,15.04,15.15
$GC,1401,-0.74,-97.3,2492,2236,3220,3258,295.9,-16.4,149,1405,0.00,2.35,0.00,0.000,2308,0.000,0.063,2482,3664,3239,3220,3258,0,0,0,0,0,0,15.33,15.06,15.33
$GC,1505,-0.74,-97.3,2481,3665,3220,3258,307.2,-15.3,151,1511,0.05,2.30,0.00,0.000,3078,0.330,0.044,2499,2248,3239,3220,3258,0,0,0,0,0,0,14.89,15.07,15.03
$GC,1757,-0.74,-97.3,2499,2244,3220,3255,343.9,-12.8,158,1762,0.00,2.33,0.00,0.000,2308,0.000,0.066,2491,3659,3237,3219,3255,0,0,0,0,0,0,15.35,15.09,15.35
$GC,1856,-0.74,-97.3,2490,3659,3220,3254,354.8,-13.3,160,1861,0.00,2.30,0.00,0.000,3078,0.000,0.045,2491,2250,3236,3220,3253,0,0,0,0,0,0,15.14,15.08,15.14
$GC,2118,-0.74,-97.3,2490,2246,3220,3251,392.8,-13.2,167,2122,0.00,2.30,0.00,0.000,2564,0.000,0.059,2490,841,3235,3220,3251,0,0,0,0,0,0,15.37,15.11,15.38
$GC,2154,-0.74,-97.3,2490,840,3220,3250,397.7,-13.2,168,2161,0.08,2.33,0.00,0.000,3078,0.372,0.059,2505,2256,3235,3220,3251,0,0,0,0,0,0,14.95,15.10,15.15
$GC,2434,-0.74,-97.3,2505,2256,3220,3245,432.4,-12.5,175,2438,0.00,2.33,0.00,0.000,260,0.000,0.071,2497,3665,3232,3220,3245,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2498,-0.74,-97.3,2496,3664,3219,3245,437.1,-12.5,176,2503,0.00,2.28,0.00,0.000,3078,0.000,0.048,2497,2250,3232,3220,3244,0,0,0,0,0,0,15.22,15.13,15.23
$GC,2749,-0.74,-97.3,2496,2247,3220,3239,474.6,-13.3,183,2754,0.00,2.30,0.00,0.000,2564,0.000,0.062,2497,843,3230,3220,3240,0,0,0,0,0,0,15.39,15.12,15.39
$GC,2778,-0.74,-97.3,2496,841,3219,3240,474.6,-13.3,183,2784,0.03,2.35,0.00,0.000,3078,0.448,0.060,2494,2240,3230,3220,3240,0,0,0,0,0,0,14.91,15.09,15.06
$GC,3030,-0.74,-97.3,2494,2241,3220,3236,511.5,-13.0,190,3035,0.00,2.35,0.00,0.000,2308,0.000,0.073,2485,3659,3227,3219,3236,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3074,-0.74,-97.3,2485,3658,3219,3235,516.2,-12.9,191,3079,0.00,2.30,0.00,0.000,3078,0.000,0.047,2485,2255,3227,3220,3235,0,0,0,0,0,0,15.16,15.11,15.19
$GC,3346,-0.74,-97.3,2484,2252,3220,3229,553.5,-13.3,198,3348,0.05,0.00,0.00,0.000,2054,0.444,0.000,2501,2251,3224,3219,3229,0,0,0,0,0,0,14.95,15.21,15.17
$GC,3587,-0.74,-97.3,2500,2251,3220,3226,580.4,-11.1,204,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2251,3222,3219,3226,0,0,0,0,0,0,15.38,15.40,15.40
$STATE,3785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3785,begin apogee
$GC,3789,-0.14,0.0,2501,2013,3219,3222,601.7,-10.6,209,3872,0.52,0.00,79.82,1.867,10246,0.269,0.000,2693,2012,2839,2899,2779,0,0,0,0,0,0,14.95,14.51,13.85
$STATE,3873,end apogee,CONTROL_FINISHED_OK
$STATE,3873,begin climb
$GC,3874,0.74,97.3,2693,2013,2899,2778,603.2,0.0,211,3966,0.68,0.00,87.90,1.811,10758,0.118,0.000,2981,2011,2442,2527,2357,0,0,0,0,0,0,14.49,14.28,13.66
$GC,4187,0.74,97.3,2980,2012,2507,2359,562.7,17.0,219,4194,0.00,2.47,0.00,0.000,4356,0.000,0.070,2981,3456,2434,2508,2360,0,0,0,0,0,0,15.02,14.78,15.02
$GC,4204,0.74,97.3,2980,3456,2507,2361,562.7,17.0,219,4209,0.00,2.35,0.00,0.000,5126,0.000,0.050,2991,2072,2434,2507,2361,0,0,0,0,0,0,14.84,14.78,14.86
$GC,4467,0.74,97.3,2991,2070,2506,2358,519.1,15.1,226,4473,0.00,2.35,0.00,0.000,4356,0.000,0.070,2991,3455,2432,2506,2358,0,0,0,0,0,0,15.17,14.91,15.17
$GC,4654,0.74,97.3,2991,3455,2505,2358,493.9,15.8,230,4659,0.05,2.38,0.00,0.000,5126,0.443,0.051,2988,2042,2432,2506,2359,0,0,0,0,0,0,14.72,14.95,14.92
$GC,4906,0.74,97.3,2988,2040,2506,2356,454.6,13.4,237,4911,0.00,2.35,0.00,0.000,4612,0.000,0.066,2997,631,2430,2506,2355,0,0,0,0,0,0,15.26,15.00,15.26
$GC,4956,0.74,97.3,2997,629,2498,2357,449.8,13.7,238,4961,0.05,2.35,0.00,0.000,5126,0.459,0.058,2982,2046,2427,2498,2356,0,0,0,0,0,0,14.81,15.01,15.06
$GC,5218,0.74,97.3,2982,2046,2498,2357,415.3,12.4,245,5222,0.00,2.35,0.00,0.000,4356,0.000,0.073,2982,3446,2427,2497,2357,0,0,0,0,0,0,15.29,15.02,15.30
$GC,5453,0.74,97.3,2981,3446,2497,2359,384.0,13.3,251,5458,0.00,2.33,0.00,0.000,5126,0.000,0.052,2991,2034,2428,2498,2358,0,0,0,0,0,0,15.15,15.04,15.16
$GC,5729,0.74,97.3,2991,2033,2498,2356,349.7,12.0,258,5733,0.00,2.30,0.00,0.000,4612,0.000,0.063,3002,633,2427,2498,2356,0,0,0,0,0,0,15.32,15.06,15.33
$GC,5743,0.74,97.3,3002,633,2495,2355,349.7,12.0,258,5748,0.08,2.33,0.00,0.000,5126,0.415,0.057,2976,2040,2425,2495,2356,0,0,0,0,0,0,14.85,15.06,15.11
$GC,6005,0.76,108.5,2975,2040,2496,2356,322.1,9.2,265,6019,0.00,2.38,8.02,1.443,10500,0.000,0.071,2973,3455,2395,2469,2321,0,0,0,0,0,0,15.33,15.02,14.35
$GC,6433,0.76,108.5,2973,3455,2469,2325,281.0,10.2,275,6441,0.00,2.38,0.00,0.000,1030,0.000,0.053,2982,2041,2396,2468,2324,0,0,0,0,0,0,15.14,15.02,15.16
$GC,6681,0.81,148.6,2981,2040,2469,2323,258.7,7.2,282,6723,0.00,2.47,35.03,1.497,10500,0.000,0.068,2982,3447,2231,2313,2149,0,0,0,0,0,0,15.32,14.79,14.22
$GC,6743,0.86,188.8,2981,3447,2313,2149,255.3,7.2,283,6783,0.00,2.35,34.00,1.451,11270,0.000,0.054,2991,2042,2067,2151,1984,0,0,0,0,0,0,14.92,14.83,14.04
$GC,7045,0.86,188.8,2992,2042,2147,1979,202.0,16.9,291,7049,0.00,2.40,0.00,0.000,2308,0.000,0.068,2991,3446,2062,2146,1979,0,0,0,0,0,0,15.09,14.84,15.10
$GC,7081,0.86,188.8,2991,3446,2146,1979,195.7,17.0,292,7085,0.00,2.35,0.00,0.000,3078,0.000,0.054,3002,2043,2063,2147,1979,0,0,0,0,0,0,14.97,14.86,14.97
$GC,7327,0.86,188.8,3002,2041,2146,1978,151.3,18.3,316,7328,0.00,0.00,0.00,0.000,2054,0.000,0.000,3002,2041,2062,2146,1978,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7575,0.86,188.8,3002,2041,2147,1978,109.9,15.7,363,7581,0.00,0.00,0.00,0.000,2054,0.000,0.000,3002,2041,2062,2146,1978,0,0,0,0,0,0,15.16,15.16,15.16
$GC,7829,0.86,188.8,3002,2041,2146,1978,68.0,14.7,412,7837,0.00,2.38,0.00,0.000,2564,0.000,0.065,3013,627,2062,2147,1978,0,0,0,0,0,0,15.16,14.90,15.16
$GC,7907,0.86,188.8,3013,626,2139,1978,56.6,11.7,426,7914,0.00,2.40,0.00,0.000,1030,0.000,0.054,3013,2056,2058,2139,1978,0,0,0,0,0,0,15.00,14.90,15.02
$GC,8167,0.88,205.3,3013,2056,2139,1978,29.3,8.9,475,8182,0.00,2.42,7.30,1.001,10756,0.000,0.059,3024,619,1999,2078,1920,0,0,0,0,0,0,15.14,14.71,14.31
$GC,8345,0.88,205.3,3024,619,2072,1923,9.0,14.5,508,8353,0.00,2.40,0.00,0.000,5126,0.000,0.054,3024,2048,1997,2072,1923,0,0,0,0,0,0,14.97,14.87,14.98
$STATE,8384,end climb,SURFACE_DEPTH_REACHED
$STATE,8384,begin surface coast
$FINISH,0.3,1.023073
$STATE,8405,end surface coast,CONTROL_FINISHED_OK
$STATE,8405,begin surface
$SM_CCo,8419,94.05,0.197,0,0,1205,400.08
$SM_GC,0.97,6.70,0.32,94.05,0.074,0.073,0.197,187,2261,1205,-7.87,-0.88,400.08,0,0,0,0,0,0,14.92,14.90,14.71
$IRIDIUM_FIX,2136.49,-15532.79,260721,062620
$TT8_MAMPS,0.023219,0.341544
$HUMID,49.68
$INTERNAL_PRESSURE,9.06248
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,13.66,11.673
$10V_AH,13.41,0.000
$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,16.150,90.000,252.075,94.050,0.000,0.000,0.000,0.000,0.250,0.000,22.484,1524.687,5038.447,437.249,1538.021,53.655,0.000,1135.267,0.000,1500.180,0.000,0.552,0.000
$DEVICE_MAMPS,459.000,73.440,1867.365,196.605,0.000,0.000,0.000,0.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,349.794,283.314,528.194,504.228,604.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339372
$DATA_FILE_SIZE,47272,519
$CAP_FILE_SIZE,115081,0
$CFSIZE,1023623168,1019101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.164,294.98,1
$GPS,260721,085904,2144.891,-15536.570,16,0.8,30,9.9,0.6,3.5,9,9.0