version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 375
start: 9 10 121 13 12 55
data:
$ID,626
$MISSION,3
$DIVE,375
$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,500
$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,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,0.0019952599
$HD_B,0.011885
$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,2731
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39.700001
$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,2275
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,46
$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,0.00061500003
$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
$GPS1,100921,130625,2235.8120,-15738.0957,20,0.9,43,9.8,0.3,155.6,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.3
$GPS2,100921,131217,2235.7747,-15738.0820,6,0.8,19,9.8,0.0,120.5,10,9.2
$SPEED_LIMITS,0.173,0.212
$TGT_NAME,AC17
$TGT_LATLONG,2236.060,-15737.920
$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,34.5,597,-24.7,-10.000,-29.83,1184
$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,16,-0.67,-78.1,127,2297,1177,1103,0.0,0.0,0,75,0.00,0.00,-56.75,0.000,16386,0.000,0.000,127,2297,2944,2925,2964,0,0,0,0,0,0,15.02,28.83,15.02
$GC,78,-0.69,-113.9,127,2297,2925,2965,3.3,-6.9,8,101,8.23,2.33,-5.12,0.000,18692,0.438,0.072,2493,3676,3247,3223,3272,0,0,0,0,0,0,14.23,13.83,14.49
$GC,172,-0.69,-113.9,2493,3676,3224,3273,35.1,-26.1,24,179,0.00,2.40,0.00,0.000,3078,0.000,0.054,2500,2280,3249,3227,3271,0,0,0,0,0,0,14.85,14.71,14.86
$GC,434,-0.69,-113.9,2499,2276,3231,3268,103.3,-19.6,73,441,0.00,2.38,0.00,0.000,2564,0.000,0.054,2506,861,3249,3232,3267,0,0,0,0,0,0,15.09,14.76,15.09
$GC,491,-0.69,-113.9,2506,860,3233,3267,115.1,-20.9,83,498,0.00,2.35,0.00,0.000,3078,0.000,0.050,2497,2260,3250,3234,3267,0,0,0,0,0,0,14.90,14.78,14.92
$GC,752,-0.69,-113.9,2497,2261,3234,3267,170.2,-21.2,124,753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2497,2261,3251,3234,3268,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1021,-0.69,-113.9,2495,2261,3234,3268,222.2,-18.5,142,1026,0.00,2.38,0.00,0.000,2308,0.000,0.061,2485,3682,3251,3234,3268,0,0,0,0,0,0,15.22,14.83,15.22
$GC,1087,-0.69,-113.9,2485,3682,3235,3269,229.6,-18.2,143,1092,0.08,2.33,0.00,0.000,3078,0.329,0.046,2512,2268,3251,3235,3268,0,0,0,0,0,0,14.58,14.88,14.84
$GC,1340,-0.69,-113.9,2511,2264,3235,3268,272.8,-15.7,150,1346,0.00,2.30,0.00,0.000,516,0.000,0.052,2513,861,3251,3235,3267,0,0,0,0,0,0,15.25,14.88,15.26
$GC,1407,-0.69,-113.9,2513,861,3236,3267,278.9,-15.5,151,1412,0.00,2.35,0.00,0.000,3078,0.000,0.052,2504,2274,3252,3236,3268,0,0,0,0,0,0,15.03,14.89,15.04
$GC,1654,-0.69,-113.9,2504,2274,3236,3265,322.5,-15.4,157,1660,0.00,2.35,0.00,0.000,2308,0.000,0.063,2493,3682,3250,3236,3265,0,0,0,0,0,0,15.29,14.88,15.29
$GC,1672,-0.69,-113.9,2493,3682,3236,3265,322.5,-15.4,157,1676,0.00,2.33,0.00,0.000,3078,0.000,0.044,2493,2261,3250,3236,3265,0,0,0,0,0,0,15.05,14.94,15.07
$GC,1929,-0.69,-113.9,2493,2258,3236,3263,364.1,-15.2,164,1936,0.00,2.42,0.00,0.000,2308,0.000,0.063,2483,3686,3250,3236,3264,0,0,0,0,0,0,15.30,14.88,15.30
$GC,1962,-0.69,-113.9,2483,3686,3236,3263,364.1,-15.2,164,1970,0.08,2.33,0.00,0.000,3078,0.327,0.044,2509,2272,3250,3237,3263,0,0,0,0,0,0,14.62,14.95,14.89
$GC,2210,-0.69,-113.9,2509,2268,3236,3261,405.3,-14.6,171,2216,0.00,2.30,0.00,0.000,516,0.000,0.054,2509,871,3248,3236,3261,0,0,0,0,0,0,15.30,14.91,15.30
$GC,2242,-0.69,-113.9,2509,870,3236,3261,405.3,-14.6,171,2250,0.00,2.35,0.00,0.000,3078,0.000,0.052,2500,2276,3248,3236,3261,0,0,0,0,0,0,15.07,14.92,15.08
$GC,2489,-0.69,-113.9,2500,2276,3236,3258,445.1,-14.2,178,2496,0.00,2.38,0.00,0.000,2308,0.000,0.066,2489,3682,3246,3235,3258,0,0,0,0,0,0,15.32,14.88,15.32
$GC,2507,-0.69,-113.9,2489,3682,3236,3258,445.1,-14.2,178,2512,0.05,2.33,0.00,0.000,3078,0.350,0.044,2507,2274,3246,3235,3257,0,0,0,0,0,0,14.69,14.95,14.92
$GC,2764,-0.69,-113.9,2506,2269,3236,3253,482.8,-13.7,185,2769,0.00,2.33,0.00,0.000,516,0.000,0.054,2507,868,3244,3236,3253,0,0,0,0,0,0,15.32,14.90,15.32
$GC,2824,-0.69,-113.9,2507,868,3234,3254,488.5,-13.7,186,2829,0.00,2.38,0.00,0.000,3078,0.000,0.054,2498,2280,3244,3235,3254,0,0,0,0,0,0,15.06,14.91,15.08
$GC,3086,-0.69,-113.9,2498,2280,3235,3250,526.7,-13.6,193,3092,0.00,2.38,0.00,0.000,2308,0.000,0.067,2487,3680,3242,3235,3250,0,0,0,0,0,0,15.32,14.86,15.33
$GC,3120,-0.69,-113.9,2486,3681,3235,3250,526.7,-13.6,193,3127,0.08,2.33,0.00,0.000,3078,0.316,0.044,2512,2276,3242,3235,3250,0,0,0,0,0,0,14.63,14.94,14.88
$GC,3366,-0.69,-113.9,2512,2273,3235,3245,562.1,-12.5,200,3371,0.00,2.42,0.00,0.000,4356,0.000,0.067,2504,3682,3239,3235,3244,0,0,0,0,0,0,15.33,14.86,15.33
$GC,3396,-0.69,-113.9,2504,3682,3234,3245,562.1,-12.5,200,3400,0.00,2.35,0.00,0.000,3078,0.000,0.045,2504,2269,3240,3234,3246,0,0,0,0,0,0,15.06,14.92,15.08
$GC,3644,-0.69,-113.9,2503,2264,3234,3243,597.5,-12.9,206,3649,0.00,2.35,0.00,0.000,2564,0.000,0.057,2504,868,3238,3233,3243,0,0,0,0,0,0,15.32,14.88,15.32
$GC,3671,-0.69,-113.9,2503,868,3231,3244,597.5,-12.9,206,3675,0.00,2.38,0.00,0.000,3078,0.000,0.055,2493,2275,3236,3231,3242,0,0,0,0,0,0,15.04,14.89,15.06
$STATE,3717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3717,begin apogee
$GC,3722,-0.13,0.0,2493,2049,3231,3243,607.8,-13.3,207,3823,0.55,0.10,97.10,1.791,10246,0.262,0.129,2685,2126,2780,2850,2710,0,0,0,0,0,0,14.47,14.39,13.59
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3826,0.69,113.9,2686,2126,2849,2710,611.7,0.0,209,3938,0.68,2.55,102.90,1.743,10756,0.142,0.056,2971,696,2314,2399,2230,0,0,0,0,0,0,14.34,14.19,13.52
$GC,3978,0.69,113.9,2970,696,2386,2231,604.5,7.0,213,3984,0.05,2.42,0.00,0.000,5126,0.407,0.055,2956,2076,2308,2386,2231,0,0,0,0,0,0,14.21,14.44,14.46
$GC,4236,0.69,113.9,2955,2078,2386,2225,562.9,15.2,220,4242,0.00,2.47,0.00,0.000,4356,0.000,0.067,2956,3515,2305,2386,2225,0,0,0,0,0,0,15.04,14.69,15.04
$GC,4304,0.69,113.9,2955,3514,2386,2226,556.6,15.2,221,4309,0.00,2.40,0.00,0.000,5126,0.000,0.049,2965,2102,2306,2386,2226,0,0,0,0,0,0,14.88,14.76,14.90
$GC,4556,0.69,113.9,2966,2100,2386,2223,512.5,15.9,228,4560,0.00,2.45,0.00,0.000,4356,0.000,0.067,2966,3514,2304,2386,2223,0,0,0,0,0,0,15.15,14.77,15.16
$GC,4645,0.69,113.9,2965,3514,2386,2224,499.2,16.2,230,4651,0.08,2.40,0.00,0.000,5126,0.418,0.050,2955,2099,2305,2386,2224,0,0,0,0,0,0,14.42,14.83,14.80
$GC,4914,0.69,113.9,2955,2097,2387,2220,459.9,13.8,237,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2097,2303,2386,2220,0,0,0,0,0,0,15.20,15.21,15.21
$GC,5153,0.69,113.9,2955,2096,2386,2218,426.0,14.2,243,5160,0.00,2.45,0.00,0.000,260,0.000,0.067,2954,3517,2302,2386,2219,0,0,0,0,0,0,15.23,14.81,15.23
$GC,5241,0.69,113.9,2954,3517,2386,2219,413.2,15.0,245,5246,0.00,2.40,0.00,0.000,5126,0.000,0.048,2964,2094,2303,2386,2220,0,0,0,0,0,0,15.00,14.86,15.02
$GC,5508,0.69,113.9,2965,2091,2386,2217,374.7,13.3,252,5509,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2091,2301,2386,2217,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5748,0.69,113.9,2964,2091,2386,2216,345.4,11.8,258,5754,0.00,2.45,0.00,0.000,4356,0.000,0.067,2964,3514,2301,2386,2216,0,0,0,0,0,0,15.27,14.82,15.28
$GC,5923,0.69,113.9,2964,3514,2386,2217,325.2,12.6,262,5930,0.08,2.38,0.00,0.000,5126,0.418,0.047,2952,2098,2301,2386,2217,0,0,0,0,0,0,14.40,14.87,14.80
$GC,6188,0.69,113.9,2951,2095,2386,2215,292.9,11.8,269,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2095,2300,2386,2215,0,0,0,0,0,0,15.27,15.28,15.28
$GC,6428,0.69,113.9,2951,2095,2386,2214,268.0,10.2,275,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2095,2300,2386,2214,0,0,0,0,0,0,15.28,15.28,15.28
$GC,6668,0.70,123.0,2951,2095,2386,2213,244.9,9.2,281,6680,0.00,2.38,6.32,1.229,8708,0.000,0.058,2961,696,2277,2362,2193,0,0,0,0,0,0,15.28,14.93,14.06
$GC,6861,0.70,131.0,2961,696,2356,2194,230.1,9.3,285,6875,0.00,2.40,8.10,1.238,13318,0.000,0.051,2961,2113,2245,2329,2161,0,0,0,0,0,0,15.01,14.87,14.13
$GC,7148,0.71,137.4,2960,2113,2328,2161,201.4,9.4,293,7161,0.00,2.35,7.47,1.180,12548,0.000,0.065,2961,3514,2217,2303,2132,0,0,0,0,0,0,15.24,14.91,14.13
$GC,7309,0.71,137.4,2961,3514,2303,2134,182.5,11.1,306,7319,0.00,2.38,0.00,0.000,5126,0.000,0.045,2971,2094,2218,2303,2133,0,0,0,0,0,0,14.99,14.87,15.00
$GC,7563,0.71,138.0,2971,2092,2303,2133,156.9,10.0,331,7568,0.00,2.42,0.00,0.000,4356,0.000,0.064,2971,3507,2218,2304,2133,0,0,0,0,0,0,15.19,14.81,15.19
$GC,7661,0.71,138.0,2970,3506,2303,2133,145.3,11.9,344,7670,0.08,2.40,0.00,0.000,5126,0.379,0.044,2961,2098,2218,2304,2133,0,0,0,0,0,0,14.46,14.82,14.78
$GC,7921,0.72,157.3,2961,2097,2303,2133,120.3,8.3,393,7948,0.00,2.40,18.25,1.142,8708,0.000,0.057,2970,695,2135,2221,2050,0,0,0,0,0,0,15.15,14.73,14.16
$GC,8167,0.72,157.3,2970,695,2211,2050,94.6,10.4,439,8174,0.00,2.38,0.00,0.000,5126,0.000,0.048,2971,2101,2131,2212,2050,0,0,0,0,0,0,14.89,14.77,14.92
$GC,8427,0.74,191.7,2970,2101,2211,2049,67.4,7.0,488,8462,0.00,0.00,27.77,1.053,8454,0.000,0.000,2971,2101,1997,2079,1916,0,0,0,0,0,0,15.09,14.51,14.07
$GC,8715,0.77,240.4,2970,2102,2077,1913,43.4,5.8,541,8758,0.00,0.00,39.28,1.010,10246,0.000,0.000,2971,2102,1798,1879,1717,0,0,0,0,0,0,15.03,14.62,14.07
$GC,9009,0.77,240.4,2970,2102,1878,1711,12.1,12.9,595,9016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2970,2102,1795,1879,1712,0,0,0,0,0,0,15.00,15.00,15.00
$STATE,9080,end climb,SURFACE_DEPTH_REACHED
$STATE,9080,begin surface coast
$FINISH,0.2,1.022971
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9117,68.10,0.210,0,0,1145,400.08
$SM_GC,1.00,6.55,0.28,68.10,0.059,0.065,0.210,145,2299,1145,-7.85,-0.99,400.08,0,0,0,0,0,0,14.85,14.78,14.50
$IRIDIUM_FIX,2225.34,-15738.97,100921,130746
$TT8_MAMPS,0.02247,0.28462
$HUMID,51.18
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.52,95.005
$10V_AH,13.02,0.000
$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,16.550,100.625,307.200,68.100,0.000,28.294,44.987,152.990,0.000,0.000,20.871,1719.460,5317.458,454.444,1901.121,162.901,0.000,1222.501,0.000,1632.682,0.000,0.552,0.000
$DEVICE_MAMPS,437.580,128.520,1790.865,209.610,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,411.676,418.939,704.785,619.586,736.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,54060,612
$CAP_FILE_SIZE,135493,0
$CFSIZE,1023623168,984268800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.131,251.86,1
$GPS,100921,154719,2236.304,-15738.155,14,0.9,43,9.8,0.6,231.2,9,5.0