version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 44
start: 7 28 121 15 28 43
data:
$ID,626
$MISSION,3
$DIVE,44
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,280721,152219,2154.0640,-15542.5410,15,0.9,38,9.9,0.8,292.9,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.2
$GPS2,280721,152808,2154.0547,-15542.5635,6,0.9,19,9.9,0.0,314.0,8,9.7
$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,29.7,2156,-17.8,-8.000,-20.88,2040
$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,-0.62,-106.6,123,2384,1113,1064,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,16390,0.000,0.000,123,2384,3166,3132,3200,0,0,0,0,0,0,15.04,13.83,15.02
$GC,87,-0.64,-116.8,123,2384,3132,3201,3.8,-7.3,10,103,7.95,2.28,-0.68,0.000,18692,0.429,0.070,2511,3773,3208,3175,3241,0,0,0,0,0,0,14.52,14.16,14.71
$GC,198,-0.64,-116.8,2510,3773,3179,3239,40.7,-25.5,30,205,0.00,2.38,0.00,0.000,3078,0.000,0.051,2513,2374,3208,3181,3236,0,0,0,0,0,0,14.94,14.81,14.95
$GC,459,-0.64,-116.8,2512,2370,3187,3233,104.7,-22.1,79,465,0.00,2.33,0.00,0.000,2564,0.000,0.054,2515,958,3209,3187,3231,0,0,0,0,0,0,15.13,14.89,15.13
$GC,476,-0.64,-116.8,2515,958,3189,3229,108.8,-22.5,82,485,0.05,2.40,0.00,0.000,3078,0.432,0.054,2521,2387,3209,3190,3228,0,0,0,0,0,0,14.69,14.88,14.92
$GC,742,-0.64,-116.8,2521,2388,3191,3228,164.8,-18.8,125,751,0.00,2.28,0.00,0.000,2308,0.000,0.065,2513,3762,3209,3191,3228,0,0,0,0,0,0,15.19,14.92,15.19
$GC,764,-0.64,-116.8,2512,3762,3191,3228,168.6,-18.6,127,773,0.00,2.25,0.00,0.000,3078,0.000,0.043,2514,2366,3209,3191,3228,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1023,-0.64,-116.8,2513,2362,3192,3228,215.8,-18.3,147,1027,0.00,2.28,0.00,0.000,2564,0.000,0.056,2518,968,3210,3192,3229,0,0,0,0,0,0,15.25,14.99,15.25
$GC,1061,-0.64,-116.8,2518,965,3193,3228,222.5,-18.3,148,1066,0.00,2.38,0.00,0.000,3078,0.000,0.056,2509,2379,3211,3194,3228,0,0,0,0,0,0,15.01,14.97,15.04
$GC,1339,-0.64,-116.8,2509,2380,3194,3228,272.3,-16.7,155,1343,0.05,2.30,0.00,0.000,2564,0.435,0.050,2525,966,3211,3194,3228,0,0,0,0,0,0,14.87,15.04,15.07
$GC,1368,-0.64,-116.8,2524,965,3195,3228,272.3,-16.7,155,1376,0.00,2.33,0.00,0.000,3078,0.000,0.055,2516,2381,3211,3194,3228,0,0,0,0,0,0,15.14,15.04,15.15
$GC,1615,-0.64,-116.8,2516,2382,3194,3228,311.7,-13.0,162,1620,0.00,2.28,0.00,0.000,2308,0.000,0.067,2505,3759,3211,3194,3228,0,0,0,0,0,0,15.33,15.05,15.33
$GC,1696,-0.64,-116.8,2505,3759,3194,3227,322.5,-13.0,164,1701,0.05,2.22,0.00,0.000,3078,0.379,0.043,2523,2366,3209,3192,3227,0,0,0,0,0,0,14.90,15.08,15.11
$GC,1978,-0.64,-116.8,2523,2362,3194,3227,358.9,-13.0,171,1982,0.00,2.28,0.00,0.000,2564,0.000,0.054,2523,961,3211,3195,3227,0,0,0,0,0,0,15.35,15.09,15.35
$GC,2077,-0.64,-116.8,2523,959,3194,3226,367.7,-11.9,173,2081,0.00,2.38,0.00,0.000,3078,0.000,0.057,2515,2378,3210,3195,3226,0,0,0,0,0,0,15.11,15.05,15.13
$GC,2334,-0.64,-116.8,2515,2378,3195,3224,399.3,-11.6,180,2335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2515,2378,3209,3195,3224,0,0,0,0,0,0,15.37,15.37,15.37
$GC,2574,-0.64,-116.8,2514,2378,3195,3221,428.8,-12.3,186,2580,0.00,2.33,0.00,0.000,2564,0.000,0.056,2515,966,3208,3195,3221,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2607,-0.64,-116.8,2515,965,3194,3221,428.8,-12.3,186,2615,0.05,2.38,0.00,0.000,3078,0.409,0.059,2522,2374,3208,3195,3221,0,0,0,0,0,0,14.91,15.08,15.14
$GC,2854,-0.64,-116.8,2522,2374,3195,3217,461.0,-11.1,193,2855,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2374,3205,3194,3217,0,0,0,0,0,0,15.38,15.39,15.38
$GC,3094,-0.64,-116.8,2522,2374,3195,3213,486.3,-10.4,199,3100,0.00,2.33,0.00,0.000,2564,0.000,0.057,2522,967,3203,3194,3213,0,0,0,0,0,0,15.38,15.12,15.39
$GC,3152,-0.64,-116.8,2522,966,3194,3213,490.4,-10.2,200,3156,0.00,2.35,0.00,0.000,3078,0.000,0.062,2514,2378,3203,3194,3212,0,0,0,0,0,0,15.22,15.10,15.23
$GC,3409,-0.64,-116.8,2513,2378,3194,3209,518.7,-10.5,207,3410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2514,2379,3201,3194,3209,0,0,0,0,0,0,15.39,15.39,15.40
$GC,3649,-0.64,-116.8,2513,2379,3194,3206,545.1,-11.0,213,3653,0.00,2.35,0.00,0.000,2564,0.000,0.060,2514,964,3200,3194,3206,0,0,0,0,0,0,15.40,15.11,15.40
$GC,3698,-0.64,-116.8,2514,964,3192,3206,549.6,-10.9,214,3703,0.05,2.40,0.00,0.000,3078,0.412,0.063,2521,2374,3199,3193,3206,0,0,0,0,0,0,14.91,15.07,15.15
$GC,3970,-0.64,-116.8,2521,2374,3193,3202,578.5,-10.3,221,3974,0.00,2.33,0.00,0.000,2564,0.000,0.060,2522,972,3197,3192,3202,0,0,0,0,0,0,15.39,15.11,15.40
$GC,4008,-0.64,-116.8,2521,972,3191,3203,582.2,-10.3,222,4013,0.00,2.40,0.00,0.000,3078,0.000,0.063,2513,2380,3196,3191,3202,0,0,0,0,0,0,15.14,15.08,15.15
$STATE,4205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4205,begin apogee
$GC,4209,-0.14,0.0,2513,1881,3191,3200,602.9,-10.3,227,4310,0.47,0.00,98.18,1.860,10246,0.263,0.000,2684,1879,2728,2801,2656,0,0,0,0,0,0,14.92,14.43,13.78
$STATE,4311,end apogee,CONTROL_FINISHED_OK
$STATE,4311,begin climb
$GC,4312,0.64,116.8,2684,1879,2801,2656,605.1,0.0,229,4421,0.62,0.00,104.10,1.793,10758,0.151,0.000,2937,1879,2251,2336,2167,0,0,0,0,0,0,14.38,14.26,13.65
$GC,4645,0.64,116.8,2936,1879,2328,2161,555.9,17.6,238,4650,0.00,2.47,0.00,0.000,260,0.000,0.072,2937,3316,2244,2328,2161,0,0,0,0,0,0,15.00,14.75,15.01
$GC,4739,0.64,116.8,2936,3316,2328,2161,541.2,18.3,240,4744,0.00,2.38,0.00,0.000,5126,0.000,0.054,2947,1908,2244,2327,2161,0,0,0,0,0,0,14.92,14.82,14.94
$GC,5001,0.64,116.8,2947,1906,2327,2158,492.8,17.0,247,5006,0.00,2.40,0.00,0.000,4356,0.000,0.070,2946,3311,2243,2328,2158,0,0,0,0,0,0,15.18,14.90,15.18
$GC,5051,0.64,116.8,2946,3312,2327,2158,485.4,17.4,248,5056,0.08,2.38,0.00,0.000,5126,0.425,0.055,2933,1890,2243,2328,2158,0,0,0,0,0,0,14.71,14.92,14.98
$GC,5318,0.64,116.8,2934,1888,2328,2156,441.3,15.5,255,5324,0.00,2.42,0.00,0.000,260,0.000,0.070,2934,3315,2242,2328,2156,0,0,0,0,0,0,15.23,14.96,15.24
$GC,5340,0.64,116.8,2933,3314,2328,2156,441.3,15.5,255,5345,0.00,2.40,0.00,0.000,5126,0.000,0.054,2943,1901,2241,2326,2156,0,0,0,0,0,0,15.01,14.95,15.03
$GC,5598,0.64,116.8,2943,1899,2328,2154,397.1,15.9,262,5605,0.00,2.40,0.00,0.000,4356,0.000,0.071,2943,3317,2240,2327,2154,0,0,0,0,0,0,15.28,14.99,15.28
$GC,5720,0.64,116.8,2943,3318,2327,2154,374.9,18.1,265,5726,0.05,2.40,0.00,0.000,5126,0.413,0.056,2939,1901,2240,2327,2153,0,0,0,0,0,0,14.76,14.99,14.95
$GC,5998,0.64,116.8,2939,1899,2327,2152,333.3,13.5,272,6000,0.00,0.00,0.00,0.000,4102,0.000,0.000,2939,1898,2240,2328,2152,0,0,0,0,0,0,15.30,15.30,15.30
$GC,6238,0.64,116.8,2938,1898,2328,2151,302.7,12.9,278,6242,0.00,2.38,0.00,0.000,4356,0.000,0.070,2939,3313,2239,2327,2151,0,0,0,0,0,0,15.32,15.03,15.33
$GC,6407,0.64,116.8,2938,3313,2327,2151,279.5,15.0,282,6412,0.00,2.35,0.00,0.000,5126,0.000,0.054,2948,1891,2239,2327,2152,0,0,0,0,0,0,15.16,15.05,15.18
$GC,6669,0.64,116.8,2948,1890,2327,2151,248.1,11.6,289,6673,0.00,2.40,0.00,0.000,4356,0.000,0.069,2948,3313,2239,2327,2151,0,0,0,0,0,0,15.33,15.04,15.34
$GC,6793,0.64,116.8,2948,3313,2327,2151,234.5,11.7,292,6798,0.08,2.33,0.00,0.000,5126,0.419,0.054,2937,1901,2239,2327,2151,0,0,0,0,0,0,14.82,15.05,15.10
$GC,7065,0.64,116.8,2935,1899,2327,2150,205.1,10.5,299,7069,0.00,2.38,0.00,0.000,260,0.000,0.069,2936,3318,2239,2327,2151,0,0,0,0,0,0,15.33,15.05,15.34
$GC,7149,0.64,116.8,2936,3317,2327,2151,194.7,13.3,304,7153,0.00,2.35,0.00,0.000,5126,0.000,0.054,2945,1893,2239,2327,2151,0,0,0,0,0,0,15.17,15.06,15.19
$GC,7400,0.64,116.8,2945,1891,2327,2151,163.0,11.9,329,7409,0.00,2.38,0.00,0.000,4356,0.000,0.067,2945,3313,2239,2327,2151,0,0,0,0,0,0,15.32,15.03,15.32
$GC,7504,0.64,116.8,2945,3313,2328,2152,151.7,10.5,339,7513,0.05,2.38,0.00,0.000,5126,0.404,0.050,2940,1896,2239,2327,2152,0,0,0,0,0,0,14.69,14.91,14.87
$GC,7763,0.64,116.8,2940,1894,2327,2152,133.0,8.1,386,7770,0.00,2.40,0.00,0.000,4356,0.000,0.067,2940,3318,2240,2327,2153,0,0,0,0,0,0,15.26,14.98,15.26
$GC,7819,0.64,116.8,2939,3318,2327,2153,127.9,8.9,396,7828,0.05,2.38,0.00,0.000,5126,0.461,0.050,2935,1902,2239,2326,2153,0,0,0,0,0,0,14.76,14.97,15.04
$GC,8085,0.64,116.8,2935,1903,2327,2153,105.1,9.8,445,8092,0.00,2.38,0.00,0.000,260,0.000,0.064,2934,3325,2240,2327,2154,0,0,0,0,0,0,15.23,14.96,15.23
$GC,8177,0.64,116.8,2934,3324,2327,2155,95.0,10.4,462,8185,0.00,2.40,0.00,0.000,5126,0.000,0.050,2945,1882,2241,2327,2156,0,0,0,0,0,0,15.07,14.97,15.09
$GC,8440,0.68,151.0,2944,1881,2327,2155,73.1,6.3,511,8476,0.00,2.45,26.83,1.098,8452,0.000,0.064,2944,3308,2110,2198,2023,0,0,0,0,0,0,15.19,14.78,14.33
$GC,8559,0.68,151.0,2944,3308,2198,2023,62.5,9.4,532,8568,0.00,2.38,0.00,0.000,5126,0.000,0.048,2955,1908,2110,2198,2022,0,0,0,0,0,0,14.95,14.82,14.95
$GC,8823,0.71,176.8,2955,1905,2198,2022,41.7,6.7,581,8852,0.00,2.40,20.98,1.058,8452,0.000,0.062,2955,3315,2007,2094,1920,0,0,0,0,0,0,15.11,14.65,14.26
$GC,8947,0.71,176.8,2955,3315,2094,1920,29.3,11.7,603,8955,0.00,2.40,0.00,0.000,5126,0.000,0.048,2966,1881,2007,2094,1920,0,0,0,0,0,0,14.91,14.81,14.92
$STATE,9166,end climb,SURFACE_DEPTH_REACHED
$STATE,9166,begin surface coast
$FINISH,0.6,1.023092
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9203,100.93,0.192,0,0,1096,400.08
$SM_GC,1.13,6.62,0.85,100.93,0.087,0.056,0.192,155,2388,1096,-7.82,-0.82,400.08,0,0,0,0,0,0,14.89,14.88,14.71
$IRIDIUM_FIX,2143.45,-15549.51,280721,152335
$TT8_MAMPS,0.023219,0.309337
$HUMID,46.61
$INTERNAL_PRESSURE,9.10154
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.65,16.029
$10V_AH,13.36,0.000
$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,16.225,110.175,250.075,100.925,0.000,32.894,63.651,153.680,0.000,0.000,20.365,1810.302,5320.464,474.843,1995.204,71.379,0.000,1250.728,0.000,1695.634,0.000,0.552,0.000
$DEVICE_MAMPS,460.530,71.910,1859.715,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,435.209,377.896,703.943,655.417,784.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339188
$DATA_FILE_SIZE,57384,648
$CAP_FILE_SIZE,111408,0
$CFSIZE,1023623168,1017282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,229.38,1
$GPS,280721,180501,2154.794,-15542.401,18,0.9,42,9.9,0.3,30.7,9,8.5