version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 26
start: 7 26 121 11 46 37
data:
$ID,626
$MISSION,3
$DIVE,26
$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,42
$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,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
$GPS1,260721,113631,2144.3828,-15537.7998,19,0.8,36,9.9,0.6,64.2,10,8.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.0
$GPS2,260721,114613,2144.4019,-15537.8145,8,1.0,18,9.9,0.9,284.0,9,9.4
$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,229.9,55909,-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,14,begin dive
$GC,15,-0.74,-97.3,123,2275,1231,1168,0.0,0.0,0,79,0.00,0.00,-62.30,0.000,16390,0.000,0.000,123,2276,3238,3201,3275,0,0,0,0,0,0,15.04,13.85,15.03
$GC,82,-0.74,-97.3,123,2276,3202,3274,4.4,-9.6,9,97,7.90,2.33,0.00,0.000,2564,0.434,0.040,2502,831,3239,3207,3271,0,0,0,0,0,0,14.50,14.77,14.70
$GC,213,-0.74,-97.3,2502,828,3219,3260,49.3,-23.9,33,221,0.00,2.40,0.00,0.000,3078,0.000,0.057,2494,2237,3239,3220,3258,0,0,0,0,0,0,14.87,14.81,14.88
$GC,471,-0.74,-97.3,2493,2240,3221,3258,118.0,-25.0,82,479,0.00,2.40,0.00,0.000,2308,0.000,0.062,2482,3678,3239,3221,3258,0,0,0,0,0,0,15.13,14.88,15.14
$GC,511,-0.74,-97.3,2482,3680,3221,3258,127.9,-25.1,89,519,0.05,2.33,0.00,0.000,3078,0.422,0.048,2497,2257,3239,3221,3258,0,0,0,0,0,0,14.71,14.90,14.93
$GC,768,-0.74,-97.3,2497,2254,3222,3258,187.1,-22.3,123,769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,2254,3240,3222,3258,0,0,0,0,0,0,15.20,15.21,15.20
$GC,1038,-0.74,-97.3,2497,2254,3222,3258,245.4,-22.1,135,1042,0.00,2.33,0.00,0.000,2308,0.000,0.060,2489,3666,3240,3222,3258,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1132,-0.74,-97.3,2488,3666,3222,3258,262.1,-21.3,137,1136,0.00,2.33,0.00,0.000,3078,0.000,0.042,2488,2240,3240,3222,3258,0,0,0,0,0,0,15.05,15.02,15.07
$GC,1399,-0.74,-97.3,2488,2237,3222,3258,310.8,-16.2,144,1403,0.00,2.35,0.00,0.000,2308,0.000,0.063,2478,3662,3240,3222,3258,0,0,0,0,0,0,15.31,15.04,15.31
$GC,1528,-0.74,-97.3,2477,3662,3222,3258,327.5,-14.9,147,1533,0.08,2.25,0.00,0.000,3078,0.353,0.043,2503,2249,3240,3222,3258,0,0,0,0,0,0,14.90,15.07,15.10
$GC,1795,-0.74,-97.3,2503,2245,3223,3257,364.8,-13.7,154,1799,0.00,2.35,0.00,0.000,260,0.000,0.066,2495,3659,3239,3222,3257,0,0,0,0,0,0,15.33,15.07,15.34
$GC,1968,-0.74,-97.3,2495,3661,3222,3255,385.8,-13.5,158,1973,0.00,2.30,0.00,0.000,3078,0.000,0.046,2495,2253,3238,3222,3255,0,0,0,0,0,0,15.13,15.08,15.14
$GC,2230,-0.74,-97.3,2494,2250,3222,3252,422.3,-12.7,165,2232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,2250,3236,3222,3251,0,0,0,0,0,0,15.36,15.37,15.36
$GC,2471,-0.74,-97.3,2494,2249,3223,3250,452.8,-12.9,171,2475,0.00,2.35,0.00,0.000,2308,0.000,0.069,2484,3664,3236,3222,3250,0,0,0,0,0,0,15.37,15.10,15.38
$GC,2495,-0.74,-97.3,2484,3666,3222,3249,452.8,-12.9,171,2499,0.05,2.28,0.00,0.000,3078,0.387,0.047,2501,2250,3235,3222,3249,0,0,0,0,0,0,14.94,15.12,15.15
$GC,2746,-0.74,-97.3,2501,2246,3222,3244,489.1,-13.1,178,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2246,3234,3223,3245,0,0,0,0,0,0,15.38,15.38,15.38
$GC,2987,-0.74,-97.3,2501,2246,3222,3241,517.7,-11.5,184,2993,0.00,2.30,0.00,0.000,516,0.000,0.062,2501,838,3231,3222,3241,0,0,0,0,0,0,15.38,15.11,15.39
$GC,3019,-0.74,-97.3,2501,838,3222,3241,517.7,-11.5,184,3028,0.00,2.38,0.00,0.000,3078,0.000,0.061,2493,2246,3231,3222,3241,0,0,0,0,0,0,15.15,15.09,15.18
$GC,3266,-0.74,-97.3,2493,2246,3222,3237,550.6,-12.0,191,3271,0.00,2.35,0.00,0.000,2308,0.000,0.074,2482,3660,3229,3222,3237,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3396,-0.74,-97.3,2482,3660,3222,3235,565.2,-12.5,194,3401,0.05,2.30,0.00,0.000,3078,0.395,0.049,2499,2241,3229,3222,3236,0,0,0,0,0,0,14.94,15.12,15.16
$GC,3657,-0.74,-97.3,2498,2237,3222,3231,598.2,-11.7,201,3662,0.00,2.30,0.00,0.000,2564,0.000,0.063,2499,841,3226,3222,3231,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3681,-0.74,-97.3,2499,840,3220,3233,598.2,-11.7,201,3686,0.00,2.38,0.00,0.000,3078,0.000,0.063,2490,2245,3226,3220,3233,0,0,0,0,0,0,15.14,15.09,15.16
$STATE,3691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3691,begin apogee
$GC,3695,-0.14,0.0,2490,2003,3220,3232,602.5,-11.7,202,3780,0.57,0.05,81.12,1.870,10246,0.270,0.203,2697,2047,2838,2897,2780,0,0,0,0,0,0,14.93,14.42,13.83
$STATE,3781,end apogee,CONTROL_FINISHED_OK
$STATE,3782,begin climb
$GC,3783,0.74,97.3,2698,2047,2897,2780,604.7,0.0,204,3878,0.68,2.40,87.82,1.811,10756,0.112,0.057,2995,671,2440,2519,2361,0,0,0,0,0,0,14.47,14.16,13.64
$GC,3889,0.74,97.3,2995,670,2508,2365,599.7,6.2,207,3895,0.05,2.38,0.00,0.000,5126,0.442,0.056,2982,2036,2436,2507,2366,0,0,0,0,0,0,14.24,14.39,14.44
$GC,4172,0.74,97.3,2982,2038,2503,2361,553.3,16.2,214,4176,0.00,2.40,0.00,0.000,4356,0.000,0.070,2982,3456,2432,2503,2361,0,0,0,0,0,0,15.06,14.81,15.07
$GC,4210,0.74,97.3,2981,3456,2503,2362,547.3,16.3,215,4215,0.00,2.33,0.00,0.000,5126,0.000,0.046,2991,2077,2432,2503,2362,0,0,0,0,0,0,14.90,14.84,14.90
$GC,4487,0.74,97.3,2991,2075,2501,2358,502.6,15.8,222,4492,0.00,2.33,0.00,0.000,4356,0.000,0.070,2991,3449,2429,2500,2358,0,0,0,0,0,0,15.19,14.92,15.19
$GC,4626,0.74,97.3,2991,3450,2501,2359,483.3,16.4,225,4631,0.08,2.33,0.00,0.000,5126,0.474,0.050,2982,2038,2430,2501,2359,0,0,0,0,0,0,14.73,14.97,15.01
$GC,4883,0.74,97.3,2982,2037,2500,2356,443.4,13.5,232,4888,0.00,2.40,0.00,0.000,4356,0.000,0.070,2982,3455,2426,2497,2356,0,0,0,0,0,0,15.26,14.99,15.26
$GC,4918,0.74,97.3,2982,3455,2500,2356,443.4,13.5,232,4925,0.00,2.38,0.00,0.000,5126,0.000,0.048,2991,2037,2428,2500,2356,0,0,0,0,0,0,15.04,15.00,15.07
$GC,5165,0.74,97.3,2991,2036,2498,2355,405.7,13.2,239,5169,0.00,2.38,0.00,0.000,4356,0.000,0.070,2991,3450,2427,2499,2355,0,0,0,0,0,0,15.29,15.02,15.29
$GC,5343,0.74,97.3,2990,3450,2498,2355,383.8,14.2,243,5348,0.08,2.38,0.00,0.000,5126,0.415,0.052,2980,2035,2427,2498,2356,0,0,0,0,0,0,14.78,15.02,14.97
$GC,5600,0.74,97.3,2980,2033,2498,2351,350.9,11.2,250,5605,0.00,2.30,0.00,0.000,516,0.000,0.064,2989,633,2424,2498,2351,0,0,0,0,0,0,15.30,15.04,15.31
$GC,5654,0.74,97.3,2988,632,2491,2352,347.1,10.9,251,5659,0.00,2.40,0.00,0.000,5126,0.000,0.058,2985,2049,2421,2491,2352,0,0,0,0,0,0,15.08,15.03,15.10
$GC,5916,0.76,115.0,2985,2050,2491,2353,321.7,8.8,258,5935,0.00,2.33,12.88,1.513,8452,0.000,0.073,2986,3448,2368,2442,2295,0,0,0,0,0,0,15.32,14.97,14.33
$GC,6410,0.77,119.7,2985,3448,2442,2297,272.7,9.7,270,6420,0.00,2.33,5.75,1.272,13318,0.000,0.050,2994,2030,2350,2424,2276,0,0,0,0,0,0,15.12,15.02,14.33
$GC,6667,0.84,176.4,2994,2030,2423,2275,253.5,6.1,277,6721,0.00,2.45,47.97,1.463,10500,0.000,0.067,2994,3449,2116,2198,2034,0,0,0,0,0,0,15.27,14.67,14.12
$GC,6956,0.84,176.4,2994,3449,2198,2034,212.2,17.0,284,6960,0.00,2.40,0.00,0.000,3078,0.000,0.054,3004,2045,2116,2198,2034,0,0,0,0,0,0,14.89,14.84,14.91
$GC,7204,0.84,176.4,3003,2043,2198,2032,166.7,16.9,304,7213,0.00,2.38,0.00,0.000,2564,0.000,0.065,3014,622,2114,2197,2032,0,0,0,0,0,0,15.16,14.91,15.15
$GC,7224,0.84,176.4,3014,622,2194,2032,163.0,16.9,306,7229,0.00,2.38,0.00,0.000,5126,0.000,0.057,3015,2041,2113,2194,2032,0,0,0,0,0,0,15.02,14.92,15.03
$GC,7475,0.84,176.4,3014,2042,2194,2032,121.5,15.4,346,7481,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,2043,2113,2194,2032,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7732,0.84,176.4,3014,2043,2194,2032,79.5,16.4,395,7739,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,2042,2113,2194,2032,0,0,0,0,0,0,15.16,15.17,15.17
$GC,7993,0.84,176.4,3015,2043,2195,2032,45.7,11.6,444,8000,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,2043,2113,2194,2032,0,0,0,0,0,0,15.14,15.15,15.15
$GC,8252,0.86,193.6,3014,2043,2194,2032,22.5,8.8,493,8266,0.00,0.00,8.00,0.944,8198,0.000,0.000,3015,2042,2047,2128,1966,0,0,0,0,0,0,15.13,14.71,14.34
$STATE,8412,end climb,SURFACE_DEPTH_REACHED
$STATE,8412,begin surface coast
$FINISH,0.3,1.023103
$STATE,8434,end surface coast,CONTROL_FINISHED_OK
$STATE,8434,begin surface
$SM_CCo,8447,98.28,0.200,0,0,1205,400.08
$SM_GC,1.16,6.75,0.32,98.28,0.090,0.065,0.200,185,2266,1205,-7.86,-1.02,400.08,0,0,0,0,0,0,14.91,14.92,14.71
$IRIDIUM_FIX,2136.49,-15537.97,260721,114219
$TT8_MAMPS,0.02247,0.340046
$HUMID,48.46
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.64,12.078
$10V_AH,13.39,0.000
$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,16.325,85.300,243.550,98.275,0.000,74.487,134.220,130.796,0.000,0.000,20.848,1574.030,5040.062,428.988,2030.916,63.858,0.000,1172.187,0.000,1611.859,0.000,0.552,0.000
$DEVICE_MAMPS,473.535,202.725,1870.425,199.665,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,354.938,290.965,539.194,519.345,625.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339272
$DATA_FILE_SIZE,47505,527
$CAP_FILE_SIZE,103554,0
$CFSIZE,1023623168,1018970112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,5932.49,0x2131ca,1,24
$CURRENT,0.076,276.26,1
$GPS,260721,141019,2144.113,-15538.918,15,0.8,44,9.9,0.4,338.3,9,5.1