version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 67
start: 7 31 121 7 35 30
data:
$ID,626
$MISSION,3
$DIVE,67
$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,25
$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,2725
$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,2450
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2780
$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
$GPS1,310721,072933,2136.6091,-15534.9971,25,0.9,43,9.9,0.7,242.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.5
$GPS2,310721,073505,2136.5862,-15535.0508,7,0.9,15,9.9,0.7,127.2,8,10.0
$SPEED_LIMITS,0.172,0.218
$TGT_NAME,AchlW
$TGT_LATLONG,2136.000,-15536.000
$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,205.1,1962,-22.2,-8.000,-25.00,1327
$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,-0.70,-69.3,124,2476,1167,1108,0.0,0.0,0,80,0.00,0.00,-61.33,0.000,16390,0.000,0.000,124,2477,3063,3032,3095,0,0,0,0,0,0,15.03,13.78,15.02
$GC,82,-0.75,-108.8,124,2477,3036,3092,3.1,-4.9,9,105,7.85,2.40,-2.83,0.000,18948,0.431,0.065,2486,1031,3227,3203,3252,0,0,0,0,0,0,14.46,13.83,14.67
$GC,247,-0.75,-108.8,2486,1027,3208,3250,58.0,-30.0,39,256,0.00,2.40,0.00,0.000,3078,0.000,0.054,2478,2434,3228,3207,3250,0,0,0,0,0,0,14.85,14.80,14.88
$GC,505,-0.75,-108.8,2477,2438,3209,3250,127.7,-24.6,88,512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,2438,3229,3209,3249,0,0,0,0,0,0,15.13,15.14,15.14
$GC,760,-0.75,-108.8,2478,2438,3210,3251,189.5,-22.8,122,761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,2438,3230,3210,3251,0,0,0,0,0,0,15.19,15.20,15.19
$GC,1011,-0.75,-108.8,2477,2437,3212,3250,240.6,-19.8,132,1016,0.00,2.20,0.00,0.000,2308,0.000,0.067,2467,3762,3231,3212,3251,0,0,0,0,0,0,15.26,14.98,15.26
$GC,1058,-0.75,-108.8,2467,3762,3212,3251,248.2,-19.5,133,1063,0.03,2.10,0.00,0.000,3078,0.535,0.043,2477,2445,3231,3212,3250,0,0,0,0,0,0,14.83,15.01,15.03
$GC,1330,-0.75,-108.8,2476,2442,3213,3251,294.8,-15.9,140,1334,0.00,2.28,0.00,0.000,2564,0.000,0.054,2477,1046,3232,3213,3251,0,0,0,0,0,0,15.30,15.03,15.30
$GC,1446,-0.75,-108.8,2476,1042,3215,3249,314.7,-17.3,143,1450,0.00,2.33,0.00,0.000,3078,0.000,0.057,2468,2454,3231,3215,3248,0,0,0,0,0,0,15.14,15.04,15.16
$GC,1722,-0.75,-108.8,2468,2455,3215,3246,359.2,-15.7,150,1723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,2454,3231,3216,3246,0,0,0,0,0,0,15.33,15.33,15.33
$GC,1962,-0.75,-108.8,2468,2455,3215,3244,395.9,-15.4,156,1968,0.00,2.15,0.00,0.000,2308,0.000,0.069,2458,3762,3229,3215,3244,0,0,0,0,0,0,15.35,15.07,15.35
$GC,1980,-0.75,-108.8,2458,3762,3215,3244,395.9,-15.4,156,1985,0.08,2.10,0.00,0.000,3078,0.366,0.043,2484,2441,3229,3215,3244,0,0,0,0,0,0,14.88,15.09,15.11
$GC,2242,-0.75,-108.8,2484,2438,3215,3241,436.8,-14.1,163,2246,0.00,2.28,0.00,0.000,516,0.000,0.057,2491,1046,3228,3215,3241,0,0,0,0,0,0,15.35,15.08,15.36
$GC,2346,-0.75,-108.8,2490,1046,3215,3240,447.6,-14.3,165,2350,0.00,2.33,0.00,0.000,1030,0.000,0.060,2482,2449,3227,3215,3239,0,0,0,0,0,0,15.18,15.08,15.19
$GC,2597,-0.75,-108.8,2482,2450,3215,3237,488.8,-15.0,172,2602,0.00,2.33,0.00,0.000,516,0.000,0.057,2483,1041,3225,3214,3237,0,0,0,0,0,0,15.36,15.09,15.37
$GC,2702,-0.75,-108.8,2483,1040,3215,3236,500.6,-14.8,174,2706,0.00,2.35,0.00,0.000,3078,0.000,0.062,2474,2450,3225,3215,3235,0,0,0,0,0,0,15.19,15.08,15.21
$GC,2954,-0.75,-108.8,2474,2450,3215,3230,538.6,-13.6,181,2960,0.00,2.33,0.00,0.000,2564,0.000,0.057,2474,1043,3222,3215,3230,0,0,0,0,0,0,15.37,15.09,15.38
$GC,3021,-0.75,-108.8,2474,1043,3214,3229,543.9,-13.4,182,3026,0.05,2.35,0.00,0.000,3078,0.445,0.063,2478,2451,3221,3214,3229,0,0,0,0,0,0,14.86,15.08,15.11
$GC,3273,-0.75,-108.8,2478,2451,3215,3225,579.8,-13.0,189,3278,0.00,2.33,0.00,0.000,2564,0.000,0.058,2479,1047,3220,3215,3225,0,0,0,0,0,0,15.38,15.09,15.38
$GC,3292,-0.75,-108.8,2479,1047,3214,3225,579.8,-13.0,189,3297,0.00,2.40,0.00,0.000,3078,0.000,0.063,2470,2481,3219,3214,3225,0,0,0,0,0,0,15.20,15.07,15.21
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3433,-0.14,0.0,2470,2095,3214,3224,601.2,-13.8,193,3528,0.57,0.00,91.78,1.833,10246,0.280,0.000,2675,2092,2778,2847,2710,0,0,0,0,0,0,14.89,14.46,13.82
$STATE,3529,end apogee,CONTROL_FINISHED_OK
$STATE,3529,begin climb
$GC,3530,0.75,108.8,2674,2092,2846,2710,603.8,0.0,195,3632,0.75,0.00,98.28,1.766,10246,0.152,0.000,2971,2092,2335,2418,2252,0,0,0,0,0,0,14.42,14.28,13.67
$GC,3869,0.75,108.8,2971,2092,2409,2247,551.0,18.3,204,3874,0.00,2.47,0.00,0.000,4356,0.000,0.072,2971,3531,2328,2410,2247,0,0,0,0,0,0,15.02,14.76,15.02
$GC,3958,0.75,108.8,2970,3532,2409,2247,535.3,18.7,206,3964,0.05,2.33,0.00,0.000,5126,0.488,0.048,2969,2136,2328,2409,2247,0,0,0,0,0,0,14.60,14.83,14.87
$GC,4226,0.75,108.8,2970,2134,2409,2243,485.9,17.8,213,4232,0.00,2.38,0.00,0.000,4612,0.000,0.063,2979,714,2326,2409,2244,0,0,0,0,0,0,15.18,14.91,15.18
$GC,4284,0.75,108.8,2978,713,2401,2244,479.0,17.4,214,4288,0.00,2.38,0.00,0.000,5126,0.000,0.058,2978,2125,2322,2401,2244,0,0,0,0,0,0,15.03,14.92,15.04
$GC,4540,0.75,108.8,2978,2127,2399,2244,430.4,17.7,221,4541,0.00,0.00,0.00,0.000,4102,0.000,0.000,2978,2126,2322,2401,2244,0,0,0,0,0,0,15.23,15.24,15.24
$GC,4780,0.75,108.8,2978,2126,2401,2242,391.3,16.2,227,4781,0.00,0.00,0.00,0.000,4102,0.000,0.000,2978,2126,2321,2401,2242,0,0,0,0,0,0,15.27,15.28,15.28
$GC,5020,0.75,108.8,2978,2126,2401,2241,352.5,16.0,233,5024,0.00,2.35,0.00,0.000,4356,0.000,0.073,2978,3530,2320,2400,2241,0,0,0,0,0,0,15.29,15.00,15.30
$GC,5195,0.75,108.8,2978,3530,2400,2242,326.2,16.8,237,5201,0.08,2.33,0.00,0.000,5126,0.449,0.054,2966,2123,2320,2400,2241,0,0,0,0,0,0,14.76,15.03,15.07
$GC,5452,0.75,108.8,2966,2120,2400,2239,286.6,14.2,244,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2119,2319,2400,2239,0,0,0,0,0,0,15.30,15.31,15.31
$GC,5692,0.75,108.8,2966,2119,2400,2238,256.0,12.5,250,5697,0.00,2.33,0.00,0.000,516,0.000,0.063,2976,708,2319,2400,2238,0,0,0,0,0,0,15.32,15.04,15.33
$GC,5773,0.75,108.8,2975,707,2396,2238,248.3,10.7,252,5778,0.00,2.35,0.00,0.000,5126,0.000,0.058,2976,2121,2317,2396,2238,0,0,0,0,0,0,15.16,15.04,15.18
$GC,6054,0.75,108.8,2975,2121,2395,2238,222.5,8.8,259,6058,0.00,2.35,0.00,0.000,4612,0.000,0.061,2984,707,2317,2396,2238,0,0,0,0,0,0,15.33,15.05,15.33
$GC,6183,0.75,108.8,2984,706,2393,2238,210.6,10.2,262,6189,0.05,2.35,0.00,0.000,5126,0.437,0.058,2969,2121,2315,2392,2238,0,0,0,0,0,0,14.81,15.05,15.10
$GC,6431,0.77,122.4,2969,2121,2392,2237,188.4,7.0,279,6446,0.00,2.33,9.52,1.263,8452,0.000,0.070,2969,3531,2279,2361,2197,0,0,0,0,0,0,15.31,15.00,14.42
$GC,6547,0.77,122.4,2968,3530,2360,2198,178.0,9.5,290,6555,0.00,2.38,0.00,0.000,5126,0.000,0.049,2978,2107,2280,2361,2199,0,0,0,0,0,0,15.02,14.97,15.05
$GC,6795,0.77,122.4,2978,2106,2360,2197,154.1,8.9,315,6796,0.00,0.00,0.00,0.000,4102,0.000,0.000,2978,2107,2279,2361,2198,0,0,0,0,0,0,15.26,15.26,15.26
$GC,7048,0.77,122.4,2978,2106,2360,2198,133.9,8.4,358,7056,0.00,2.35,0.00,0.000,4612,0.000,0.060,2989,719,2278,2360,2197,0,0,0,0,0,0,15.23,14.95,15.23
$GC,7132,0.77,122.4,2988,719,2357,2198,126.9,8.0,373,7139,0.05,2.33,0.00,0.000,5126,0.431,0.056,2974,2122,2277,2357,2198,0,0,0,0,0,0,14.75,14.97,15.00
$GC,7395,0.78,134.9,2973,2122,2357,2199,108.4,7.0,422,7416,0.00,2.40,11.98,1.154,8708,0.000,0.058,2983,706,2227,2310,2144,0,0,0,0,0,0,15.21,14.86,14.36
$GC,7454,0.79,141.3,2982,706,2308,2144,104.1,7.5,432,7469,0.00,2.40,6.93,1.039,13318,0.000,0.054,2983,2117,2201,2284,2118,0,0,0,0,0,0,14.90,14.87,14.34
$GC,7726,0.79,141.3,2982,2116,2284,2117,78.0,10.6,482,7734,0.00,2.40,0.00,0.000,4356,0.000,0.067,2983,3535,2201,2284,2118,0,0,0,0,0,0,15.14,14.88,15.14
$GC,7851,0.79,141.3,2982,3535,2284,2119,65.0,8.5,505,7859,0.00,2.38,0.00,0.000,5126,0.000,0.046,2993,2123,2201,2283,2119,0,0,0,0,0,0,14.92,14.88,14.94
$GC,8113,0.88,215.1,2993,2121,2284,2119,48.7,2.3,554,8179,0.00,2.42,58.12,1.063,10756,0.000,0.059,3004,711,1900,1981,1819,0,0,0,0,0,0,15.13,14.62,14.18
$GC,8274,0.88,215.1,3003,711,1969,1820,31.3,16.5,581,8281,0.00,2.40,0.00,0.000,3078,0.000,0.054,3004,2124,1894,1969,1820,0,0,0,0,0,0,14.83,14.72,14.84
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,0.2,1.023066
$STATE,8464,end surface coast,CONTROL_FINISHED_OK
$STATE,8464,begin surface
$SM_CCo,8477,82.15,0.187,0,0,1145,400.08
$SM_GC,1.13,6.90,0.52,82.15,0.111,0.060,0.187,175,2465,1145,-7.82,-1.10,400.08,0,0,0,0,0,0,14.85,14.83,14.66
$IRIDIUM_FIX,2129.53,-15536.82,310721,073035
$TT8_MAMPS,0.02247,0.280126
$HUMID,46.88
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.67,20.883
$10V_AH,13.51,0.000
$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,16.450,85.125,276.600,82.150,0.000,31.791,42.802,159.069,0.000,0.000,16.348,1700.042,4822.831,466.954,1837.992,73.781,0.000,1165.273,0.000,1560.145,0.000,0.552,0.000
$DEVICE_MAMPS,534.735,72.675,1832.940,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,413.688,370.440,681.982,615.832,739.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339056
$DATA_FILE_SIZE,54218,616
$CAP_FILE_SIZE,104546,0
$CFSIZE,1023623168,1015119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.201,257.25,1
$GPS,310721,095925,2135.598,-15536.469,13,0.8,42,9.9,0.7,313.0,10,7.1