version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 42
start: 7 28 121 10 1 44
data:
$ID,626
$MISSION,3
$DIVE,42
$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,250
$T_MISSION,530
$T_ABORT,560
$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,120
$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,2730
$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,2375
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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,2730
$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
$GPS1,280721,095601,2152.9917,-15543.4287,14,0.8,31,9.9,0.5,281.8,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.4
$GPS2,280721,100119,2152.9771,-15543.4492,5,0.8,18,9.9,0.4,243.6,10,9.4
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,AN
$TGT_LATLONG,2154.800,-15541.600
$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,55.7,4636,-16.9,-8.000,-20.11,2233
$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,-0.61,-116.8,125,2397,1119,1059,0.0,0.0,0,80,0.00,0.00,-63.30,0.000,16386,0.000,0.000,125,2397,3121,3089,3154,0,0,0,0,0,0,15.03,28.83,15.04
$GC,82,-0.61,-116.8,125,2397,3089,3154,3.4,-6.6,9,98,8.00,2.28,-1.45,0.000,18692,0.432,0.070,2517,3767,3210,3178,3242,0,0,0,0,0,0,14.50,13.87,14.69
$GC,183,-0.61,-116.8,2516,3768,3181,3240,38.3,-25.9,27,191,0.00,2.35,0.00,0.000,3078,0.000,0.053,2518,2380,3211,3186,3236,0,0,0,0,0,0,14.86,14.81,14.92
$GC,443,-0.61,-116.8,2517,2376,3189,3235,100.2,-21.6,76,450,0.00,2.40,0.00,0.000,2564,0.000,0.056,2522,936,3211,3191,3232,0,0,0,0,0,0,15.12,14.87,15.13
$GC,518,-0.61,-116.8,2521,936,3192,3230,116.0,-19.6,90,526,0.05,2.40,0.00,0.000,3078,0.418,0.057,2528,2366,3211,3193,3230,0,0,0,0,0,0,14.71,14.88,14.92
$GC,773,-0.61,-116.8,2528,2366,3195,3229,168.5,-18.7,130,783,0.00,2.30,0.00,0.000,2308,0.000,0.065,2520,3758,3212,3195,3230,0,0,0,0,0,0,15.19,14.93,15.19
$GC,836,-0.61,-116.8,2519,3758,3195,3230,178.5,-14.7,136,846,0.00,2.25,0.00,0.000,3078,0.000,0.044,2520,2368,3212,3195,3230,0,0,0,0,0,0,15.05,14.97,15.05
$GC,1085,-0.61,-116.8,2519,2365,3195,3230,222.3,-17.9,152,1090,0.00,2.28,0.00,0.000,2564,0.000,0.055,2520,967,3212,3195,3230,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1139,-0.61,-116.8,2519,965,3196,3229,229.2,-17.7,153,1144,0.05,2.38,0.00,0.000,3078,0.407,0.057,2528,2405,3212,3196,3229,0,0,0,0,0,0,14.81,14.99,15.04
$GC,1406,-0.61,-116.8,2527,2405,3197,3229,273.4,-15.1,160,1410,0.00,2.38,0.00,0.000,2564,0.000,0.054,2528,957,3213,3196,3230,0,0,0,0,0,0,15.30,15.04,15.30
$GC,1475,-0.61,-116.8,2527,956,3197,3229,278.9,-15.0,161,1483,0.00,2.38,0.00,0.000,3078,0.000,0.056,2519,2376,3213,3197,3229,0,0,0,0,0,0,15.07,15.02,15.10
$GC,1722,-0.61,-116.8,2518,2376,3197,3229,316.3,-13.3,168,1723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2519,2376,3213,3197,3229,0,0,0,0,0,0,15.33,15.34,15.33
$GC,1963,-0.61,-116.8,2518,2376,3197,3228,346.3,-12.4,174,1968,0.00,2.28,0.00,0.000,2308,0.000,0.068,2508,3760,3212,3197,3228,0,0,0,0,0,0,15.35,15.07,15.35
$GC,2045,-0.61,-116.8,2508,3760,3197,3228,355.9,-12.2,176,2050,0.05,2.25,0.00,0.000,3078,0.307,0.044,2531,2373,3212,3197,3228,0,0,0,0,0,0,14.89,15.07,15.04
$GC,2322,-0.61,-116.8,2531,2370,3197,3226,384.9,-10.4,183,2326,0.00,2.25,0.00,0.000,516,0.000,0.056,2532,970,3211,3197,3225,0,0,0,0,0,0,15.35,15.10,15.36
$GC,2406,-0.61,-116.8,2532,969,3197,3225,393.5,-11.1,185,2411,0.00,2.35,0.00,0.000,3078,0.000,0.059,2523,2367,3210,3195,3225,0,0,0,0,0,0,15.13,15.07,15.14
$GC,2678,-0.61,-116.8,2523,2367,3196,3221,425.8,-11.7,192,2679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2523,2367,3209,3197,3221,0,0,0,0,0,0,15.38,15.38,15.38
$GC,2918,-0.61,-116.8,2523,2367,3197,3218,454.5,-11.9,198,2919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2524,2367,3207,3197,3218,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3158,-0.61,-116.8,2523,2367,3197,3214,483.0,-11.8,204,3162,0.00,2.30,0.00,0.000,2564,0.000,0.058,2523,974,3204,3195,3214,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3232,-0.61,-116.8,2523,972,3197,3214,487.7,-11.6,205,3240,0.05,2.38,0.00,0.000,3078,0.318,0.062,2544,2374,3204,3196,3213,0,0,0,0,0,0,14.94,15.07,15.15
$GC,3479,-0.61,-116.8,2543,2374,3196,3209,515.3,-9.5,212,3483,0.00,2.33,0.00,0.000,4612,0.000,0.059,2544,969,3203,3197,3210,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3508,-0.61,-116.8,2544,968,3196,3209,515.3,-9.5,212,3516,0.00,2.38,0.00,0.000,1030,0.000,0.063,2535,2365,3202,3196,3209,0,0,0,0,0,0,15.14,15.08,15.16
$GC,3755,-0.61,-116.8,2535,2366,3196,3206,542.5,-10.0,219,3759,0.00,2.33,0.00,0.000,260,0.000,0.077,2524,3757,3201,3196,3206,0,0,0,0,0,0,15.38,15.09,15.40
$GC,3773,-0.61,-116.8,2524,3757,3196,3206,542.5,-10.0,219,3778,0.00,2.28,0.00,0.000,3078,0.000,0.048,2524,2379,3201,3196,3206,0,0,0,0,0,0,15.15,15.09,15.17
$GC,4030,-0.61,-116.8,2524,2376,3195,3203,568.3,-9.2,226,4035,0.00,2.33,0.00,0.000,2564,0.000,0.063,2524,965,3199,3196,3202,0,0,0,0,0,0,15.40,15.11,15.40
$GC,4099,-0.61,-116.8,2524,964,3193,3204,572.2,-9.3,227,4104,0.05,2.38,0.00,0.000,3078,0.395,0.064,2531,2390,3198,3193,3203,0,0,0,0,0,0,14.92,15.09,15.14
$GC,4351,-0.61,-116.8,2531,2390,3192,3201,597.7,-9.2,234,4356,0.00,2.35,0.00,0.000,516,0.000,0.060,2531,963,3196,3192,3201,0,0,0,0,0,0,15.38,15.11,15.39
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4392,-0.14,0.0,2526,1905,3192,3201,601.1,-9.3,235,4493,0.43,0.00,98.15,1.873,10246,0.259,0.000,2680,1906,2728,2801,2655,0,0,0,0,0,0,14.92,14.42,13.76
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4495,0.61,116.8,2680,1906,2801,2656,603.5,0.0,237,4607,0.62,2.53,104.30,1.808,10756,0.155,0.063,2938,491,2250,2334,2166,0,0,0,0,0,0,14.38,14.15,13.64
$GC,4624,0.61,116.8,2938,489,2327,2167,591.0,10.9,241,4629,0.00,2.47,0.00,0.000,5126,0.000,0.057,2938,1904,2247,2327,2167,0,0,0,0,0,0,14.50,14.40,14.51
$GC,4905,0.61,116.8,2938,1904,2326,2158,538.0,18.7,248,4909,0.00,2.40,0.00,0.000,4356,0.000,0.073,2938,3314,2242,2326,2159,0,0,0,0,0,0,15.06,14.79,15.06
$GC,4934,0.61,116.8,2938,3314,2326,2159,538.0,18.7,248,4943,0.08,2.42,0.00,0.000,5126,0.431,0.055,2929,1901,2242,2326,2158,0,0,0,0,0,0,14.62,14.80,14.88
$GC,5181,0.61,116.8,2929,1899,2326,2156,490.1,17.2,255,5185,0.00,2.40,0.00,0.000,260,0.000,0.070,2929,3311,2241,2326,2156,0,0,0,0,0,0,15.16,14.90,15.18
$GC,5275,0.61,116.8,2928,3312,2326,2156,476.8,17.1,257,5279,0.00,2.40,0.00,0.000,5126,0.000,0.055,2938,1902,2241,2326,2156,0,0,0,0,0,0,14.97,14.91,14.98
$GC,5537,0.61,116.8,2938,1900,2325,2153,430.1,16.7,264,5541,0.00,2.40,0.00,0.000,4356,0.000,0.070,2938,3316,2239,2326,2153,0,0,0,0,0,0,15.24,14.96,15.25
$GC,5571,0.61,116.8,2938,3317,2326,2152,430.1,16.7,264,5579,0.05,2.40,0.00,0.000,5126,0.411,0.054,2934,1900,2239,2326,2153,0,0,0,0,0,0,14.74,14.96,15.05
$GC,5818,0.61,116.8,2934,1898,2323,2151,384.8,16.1,271,5822,0.00,2.40,0.00,0.000,4356,0.000,0.070,2934,3322,2238,2324,2152,0,0,0,0,0,0,15.28,15.00,15.28
$GC,5894,0.61,116.8,2934,3321,2323,2152,372.3,16.1,273,5901,0.05,2.38,0.00,0.000,5126,0.484,0.058,2931,1899,2237,2323,2152,0,0,0,0,0,0,14.78,15.00,15.06
$GC,6173,0.61,116.8,2930,1897,2323,2149,332.2,13.6,280,6175,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,1897,2236,2323,2149,0,0,0,0,0,0,15.30,15.30,15.30
$GC,6415,0.61,116.8,2931,1897,2323,2149,301.0,13.0,286,6421,0.00,2.38,0.00,0.000,4356,0.000,0.071,2929,3317,2236,2324,2149,0,0,0,0,0,0,15.31,15.01,15.32
$GC,6626,0.61,116.8,2929,3318,2323,2149,274.5,13.3,291,6632,0.00,2.40,0.00,0.000,5126,0.000,0.054,2938,1895,2236,2324,2149,0,0,0,0,0,0,15.08,15.02,15.10
$GC,6894,0.61,116.8,2938,1893,2322,2148,244.7,11.0,298,6898,0.00,2.40,0.00,0.000,4356,0.000,0.070,2938,3322,2234,2321,2148,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6957,0.61,116.8,2937,3322,2321,2149,240.7,11.2,299,6963,0.05,2.40,0.00,0.000,5126,0.409,0.054,2933,1896,2235,2321,2149,0,0,0,0,0,0,14.78,15.02,14.99
$GC,7210,0.61,116.8,2934,1894,2321,2147,213.5,9.6,306,7214,0.00,2.38,0.00,0.000,4356,0.000,0.068,2933,3314,2234,2321,2147,0,0,0,0,0,0,15.34,15.04,15.35
$GC,7274,0.61,116.8,2933,3313,2321,2148,208.9,9.9,307,7279,0.05,2.35,0.00,0.000,5126,0.474,0.052,2929,1890,2233,2321,2146,0,0,0,0,0,0,14.81,15.06,15.11
$GC,7522,0.61,116.8,2929,1889,2321,2147,180.3,10.1,325,7531,0.00,2.35,0.00,0.000,260,0.000,0.067,2929,3309,2234,2321,2148,0,0,0,0,0,0,15.31,14.98,15.33
$GC,7563,0.61,116.8,2928,3309,2321,2148,175.7,10.9,329,7567,0.00,2.33,0.00,0.000,5126,0.000,0.052,2937,1900,2235,2322,2148,0,0,0,0,0,0,15.16,15.04,15.18
$GC,7809,0.63,133.9,2937,1898,2322,2148,153.1,7.2,353,7831,0.00,2.40,12.30,1.260,12548,0.000,0.067,2938,3306,2181,2268,2095,0,0,0,0,0,0,15.30,14.92,14.42
$GC,7940,0.63,133.9,2937,3306,2268,2095,140.3,10.5,374,7947,0.00,2.38,0.00,0.000,5126,0.000,0.051,2948,1900,2181,2268,2095,0,0,0,0,0,0,15.08,14.95,15.09
$GC,8197,0.63,133.9,2948,1899,2267,2095,114.1,10.1,423,8205,0.05,2.38,0.00,0.000,4356,0.461,0.063,2934,3316,2181,2268,2095,0,0,0,0,0,0,14.76,14.94,14.95
$GC,8321,0.63,133.9,2934,3316,2268,2095,100.0,11.9,446,8328,0.00,2.40,0.00,0.000,5126,0.000,0.050,2943,1878,2181,2268,2095,0,0,0,0,0,0,15.06,14.95,15.07
$GC,8578,0.63,133.9,2943,1877,2268,2095,72.7,10.0,495,8586,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,1877,2181,2267,2095,0,0,0,0,0,0,15.19,15.19,15.19
$GC,8839,0.71,197.6,2943,1877,2268,2097,51.0,5.1,544,8896,0.00,2.50,50.75,1.086,10500,0.000,0.065,2943,3313,1920,2003,1838,0,0,0,0,0,0,15.16,14.66,14.21
$GC,9037,0.71,197.6,2943,3313,2003,1838,30.4,11.6,579,9046,0.00,2.40,0.00,0.000,3078,0.000,0.049,2954,1903,1920,2003,1838,0,0,0,0,0,0,14.81,14.75,14.82
$STATE,9283,end climb,SURFACE_DEPTH_REACHED
$STATE,9283,begin surface coast
$FINISH,0.2,1.022835
$STATE,9311,end surface coast,CONTROL_FINISHED_OK
$STATE,9311,begin surface
$SM_CCo,9324,92.30,0.195,0,0,1098,400.08
$SM_GC,1.19,6.57,0.82,92.30,0.074,0.066,0.195,155,2381,1098,-7.89,-0.82,400.08,0,0,0,0,0,0,14.87,14.85,14.69
$IRIDIUM_FIX,2143.45,-15544.32,280721,095710
$TT8_MAMPS,0.02247,0.280875
$HUMID,46.92
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,13.64,15.594
$10V_AH,13.52,0.000
$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,16.200,113.575,265.500,92.300,0.000,34.714,43.348,143.575,0.500,0.000,19.178,1756.226,5507.429,487.671,1920.522,71.565,0.000,1252.097,0.000,1651.305,0.000,0.553,0.000
$DEVICE_MAMPS,484.245,77.265,1873.485,195.075,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,422.921,362.647,679.242,623.261,749.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339248
$DATA_FILE_SIZE,57326,630
$CAP_FILE_SIZE,115724,0
$CFSIZE,1023623168,1017462784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,206.34,1
$GPS,280721,123949,2153.534,-15542.752,17,0.8,37,9.9,0.0,54.8,9,9.3