version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 46
start: 7 28 121 21 13 49
data:
$ID,626
$MISSION,3
$DIVE,46
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,280721,210755,2155.1914,-15541.9053,14,0.9,38,9.9,0.4,268.4,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.8
$GPS2,280721,211322,2155.1812,-15541.9277,5,0.9,15,9.9,0.5,295.2,9,9.6
$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,124.5,903,-27.6,-8.000,-30.00,869
$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,14,-0.82,-45.3,124,2385,1115,1062,0.0,0.0,0,80,0.00,0.00,-57.70,0.000,16390,0.000,0.000,124,2385,2914,2901,2928,0,0,0,0,0,0,15.04,14.09,15.02
$GC,82,-0.82,-45.3,124,2385,2901,2927,3.7,-8.0,9,97,7.82,2.30,0.00,0.000,2564,0.435,0.039,2467,949,2915,2907,2924,0,0,0,0,0,0,14.47,14.75,14.68
$GC,104,-0.82,-45.3,2467,949,2915,2917,12.8,-31.0,12,112,0.00,2.40,0.00,0.000,3078,0.000,0.048,2458,2392,2916,2917,2916,0,0,0,0,0,0,14.92,14.82,14.92
$GC,365,-0.82,-45.3,2458,2395,2922,2913,85.6,-22.0,61,372,0.00,2.25,0.00,0.000,2308,0.000,0.063,2447,3753,2918,2922,2914,0,0,0,0,0,0,15.11,14.87,15.12
$GC,424,-0.82,-45.3,2447,3753,2922,2915,97.6,-20.3,72,433,0.05,2.30,0.00,0.000,3078,0.386,0.043,2463,2363,2918,2923,2914,0,0,0,0,0,0,14.62,14.85,14.80
$GC,684,-0.82,-45.3,2462,2360,2925,2913,150.6,-21.4,121,693,0.00,2.30,0.00,0.000,2308,0.000,0.060,2454,3753,2919,2924,2914,0,0,0,0,0,0,15.16,14.92,15.17
$GC,806,-0.82,-45.3,2453,3753,2924,2915,176.9,-21.9,133,815,0.00,2.22,0.00,0.000,3078,0.000,0.045,2453,2378,2919,2924,2915,0,0,0,0,0,0,15.04,14.96,15.06
$GC,1055,-0.82,-45.3,2453,2374,2926,2912,220.4,-17.0,149,1057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,2374,2919,2926,2913,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1296,-0.82,-45.3,2453,2374,2926,2913,260.8,-17.0,155,1302,0.00,2.28,0.00,0.000,2308,0.000,0.060,2443,3759,2919,2925,2914,0,0,0,0,0,0,15.30,15.04,15.30
$GC,1608,-0.82,-45.3,2442,3759,2926,2915,306.0,-16.0,162,1617,0.05,2.25,0.00,0.000,3078,0.379,0.040,2459,2359,2920,2926,2914,0,0,0,0,0,0,14.83,15.05,15.00
$GC,1855,-0.82,-45.3,2459,2358,2926,2913,335.2,-9.8,169,1859,0.00,2.30,0.00,0.000,2308,0.000,0.063,2450,3756,2919,2926,2913,0,0,0,0,0,0,15.35,15.07,15.35
$GC,2105,-0.82,-45.3,2449,3756,2925,2914,361.7,-11.4,175,2109,0.05,2.17,0.00,0.000,3078,0.435,0.042,2465,2382,2919,2925,2914,0,0,0,0,0,0,14.87,15.11,15.11
$GC,2366,-0.82,-45.3,2464,2378,2926,2910,389.2,-9.8,182,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2378,2918,2927,2910,0,0,0,0,0,0,15.35,15.37,15.36
$GC,2606,-0.82,-45.3,2464,2377,2926,2908,413.4,-10.0,188,2611,0.00,2.25,0.00,0.000,516,0.000,0.054,2466,971,2916,2925,2907,0,0,0,0,0,0,15.37,15.11,15.38
$GC,2666,-0.82,-45.3,2466,970,2926,2906,417.1,-10.0,189,2670,0.00,2.33,0.00,0.000,3078,0.000,0.057,2456,2380,2916,2926,2906,0,0,0,0,0,0,15.21,15.10,15.23
$GC,2922,-0.82,-45.3,2456,2381,2926,2903,447.0,-10.8,196,2926,0.00,2.30,0.00,0.000,2564,0.000,0.054,2457,971,2914,2926,2903,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2986,-0.82,-45.3,2457,970,2926,2901,450.9,-10.9,197,2991,0.05,2.33,0.00,0.000,3078,0.492,0.057,2460,2383,2913,2925,2901,0,0,0,0,0,0,14.86,15.11,15.13
$GC,3238,-0.82,-45.3,2459,2384,2926,2899,478.5,-9.8,204,3242,0.00,2.33,0.00,0.000,2564,0.000,0.055,2460,967,2912,2926,2899,0,0,0,0,0,0,15.38,15.12,15.39
$GC,3317,-0.82,-45.3,2460,966,2926,2898,486.3,-10.0,206,3322,0.05,2.33,0.00,0.000,3078,0.484,0.058,2464,2375,2912,2926,2898,0,0,0,0,0,0,14.85,15.11,15.13
$GC,3594,-0.82,-45.3,2464,2376,2926,2896,513.9,-9.8,213,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2376,2910,2926,2895,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3834,-0.82,-45.3,2464,2376,2925,2892,538.0,-9.8,219,3838,0.00,2.33,0.00,0.000,516,0.000,0.056,2464,965,2908,2925,2891,0,0,0,0,0,0,15.38,15.12,15.40
$GC,3877,-0.82,-45.3,2463,965,2925,2890,541.5,-9.8,220,3882,0.00,2.38,0.00,0.000,3078,0.000,0.060,2455,2370,2907,2925,2890,0,0,0,0,0,0,15.14,15.09,15.16
$GC,4149,-0.82,-45.3,2454,2370,2925,2888,568.7,-9.6,227,4154,0.00,2.30,0.00,0.000,2308,0.000,0.073,2444,3754,2906,2924,2888,0,0,0,0,0,0,15.40,15.10,15.40
$GC,4293,-0.82,-45.3,2443,3754,2925,2888,580.7,-10.2,230,4299,0.05,2.25,0.00,0.000,3078,0.395,0.046,2459,2383,2906,2925,2888,0,0,0,0,0,0,14.83,15.09,15.02
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4508,-0.14,0.0,2460,1883,2925,2884,603.3,-9.3,236,4550,0.62,0.00,38.72,1.868,10246,0.308,0.000,2678,1881,2728,2787,2669,0,0,0,0,0,0,14.88,14.80,14.12
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4552,0.82,45.3,2678,1881,2787,2669,604.9,0.0,237,4603,0.77,2.55,42.12,1.830,10500,0.162,0.068,2992,3309,2543,2619,2468,0,0,0,0,0,0,14.73,14.49,13.84
$GC,4627,0.82,45.3,2992,3309,2619,2470,599.3,9.9,239,4633,0.00,2.42,0.00,0.000,5126,0.000,0.047,3003,1904,2544,2619,2470,0,0,0,0,0,0,14.63,14.58,14.66
$GC,4905,0.82,45.3,3003,1902,2617,2464,562.0,13.2,246,4909,0.00,2.42,0.00,0.000,4356,0.000,0.067,3003,3319,2541,2618,2464,0,0,0,0,0,0,15.11,14.84,15.11
$GC,5174,0.82,45.3,3003,3319,2617,2465,530.4,13.8,252,5182,0.08,2.35,0.00,0.000,5126,0.463,0.050,2994,1896,2540,2617,2464,0,0,0,0,0,0,14.67,14.93,14.95
$GC,5421,0.82,45.3,2994,1896,2616,2459,499.4,10.5,259,5426,0.00,2.40,0.00,0.000,260,0.000,0.067,2994,3319,2538,2617,2459,0,0,0,0,0,0,15.23,14.97,15.24
$GC,5571,0.82,45.3,2994,3319,2615,2460,486.6,10.5,262,5575,0.00,2.33,0.00,0.000,5126,0.000,0.048,3002,1900,2538,2616,2460,0,0,0,0,0,0,15.10,15.00,15.11
$GC,5818,0.82,45.3,3002,1898,2616,2457,457.4,10.5,268,5824,0.00,2.38,0.00,0.000,4356,0.000,0.067,3003,3316,2537,2617,2458,0,0,0,0,0,0,15.28,15.00,15.29
$GC,5865,0.82,45.3,3002,3316,2617,2459,453.0,10.7,269,5870,0.05,2.38,0.00,0.000,5126,0.443,0.049,2990,1896,2537,2616,2458,0,0,0,0,0,0,14.74,14.99,15.05
$GC,6137,0.82,45.3,2990,1893,2615,2456,427.0,9.0,276,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1893,2535,2615,2456,0,0,0,0,0,0,15.30,15.31,15.31
$GC,6378,0.82,46.1,2990,1893,2615,2455,408.0,7.9,282,6379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2990,1893,2535,2615,2456,0,0,0,0,0,0,15.33,15.33,15.33
$GC,6618,0.83,55.4,2990,1893,2615,2455,391.1,6.9,288,6631,0.00,2.38,8.43,1.496,10500,0.000,0.067,2990,3317,2502,2584,2421,0,0,0,0,0,0,15.34,15.02,14.34
$GC,6636,0.85,64.7,2989,3317,2583,2423,391.1,6.9,288,6654,0.00,2.38,9.98,1.509,9222,0.000,0.050,2999,1897,2463,2545,2381,0,0,0,0,0,0,15.06,15.00,14.28
$GC,6893,0.85,64.7,2999,1897,2544,2380,363.5,10.7,295,6897,0.00,2.38,0.00,0.000,260,0.000,0.068,2999,3313,2462,2544,2380,0,0,0,0,0,0,15.23,14.97,15.24
$GC,7398,0.85,70.2,2999,3313,2544,2382,322.9,7.3,307,7409,0.00,2.33,6.07,1.329,13318,0.000,0.049,3009,1898,2442,2524,2360,0,0,0,0,0,0,15.11,15.02,14.32
$GC,7650,0.86,78.6,3009,1898,2513,2363,304.1,7.0,313,7663,0.00,2.38,8.43,1.396,8452,0.000,0.065,3009,3310,2406,2480,2333,0,0,0,0,0,0,15.26,14.84,14.31
$GC,7733,0.87,84.6,3009,3310,2480,2336,298.5,7.3,315,7745,0.00,2.33,6.72,1.325,13318,0.000,0.047,3019,1891,2384,2458,2311,0,0,0,0,0,0,15.07,14.97,14.30
$GC,8002,0.87,84.6,3018,1891,2456,2310,275.0,8.1,322,8003,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1891,2383,2456,2310,0,0,0,0,0,0,15.23,15.23,15.23
$GC,8242,0.88,89.0,3018,1891,2456,2309,256.5,7.5,328,8254,0.00,2.35,5.38,1.214,12804,0.000,0.063,3029,499,2364,2436,2292,0,0,0,0,0,0,15.27,14.99,14.34
$GC,8370,0.88,94.2,3029,499,2431,2294,247.6,7.4,331,8382,0.05,2.33,5.88,1.217,13318,0.479,0.054,3015,1905,2344,2417,2272,0,0,0,0,0,0,14.76,15.00,14.33
$GC,8638,0.88,94.2,3015,1905,2417,2271,224.9,8.9,338,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1905,2344,2417,2272,0,0,0,0,0,0,15.24,15.26,15.26
$GC,8878,0.88,94.2,3014,1905,2417,2272,203.9,8.9,344,8883,0.00,2.33,0.00,0.000,260,0.000,0.064,3014,3308,2344,2417,2272,0,0,0,0,0,0,15.28,15.01,15.28
$GC,9239,0.88,94.2,3013,3308,2416,2276,166.7,9.4,374,9248,0.00,2.30,0.00,0.000,5126,0.000,0.047,3023,1899,2346,2417,2276,0,0,0,0,0,0,15.12,15.02,15.13
$GC,9490,0.90,112.8,3022,1898,2417,2276,151.2,5.8,399,9513,0.00,2.33,17.62,1.230,8708,0.000,0.058,3033,494,2267,2346,2188,0,0,0,0,0,0,15.26,14.81,14.38
$GC,9564,0.90,112.8,3033,493,2340,2192,145.4,9.8,409,9571,0.00,2.33,0.00,0.000,5126,0.000,0.050,3033,1899,2266,2340,2192,0,0,0,0,0,0,15.02,14.92,15.02
$GC,9828,0.90,112.8,3033,1899,2340,2192,114.6,10.8,458,9835,0.00,0.00,0.00,0.000,4102,0.000,0.000,3033,1899,2266,2340,2192,0,0,0,0,0,0,15.16,15.16,15.16
$GC,10092,0.90,112.8,3033,1899,2340,2192,85.7,11.9,507,10099,0.00,2.35,0.00,0.000,4356,0.000,0.063,3033,3312,2266,2340,2193,0,0,0,0,0,0,15.17,14.91,15.17
$GC,10548,0.95,146.3,3033,3312,2340,2197,46.5,4.0,593,10584,0.00,2.38,28.38,1.064,13318,0.000,0.046,3043,1893,2130,2211,2049,0,0,0,0,0,0,15.00,14.88,14.29
$GC,10837,0.95,146.3,3043,1893,2212,2048,21.9,10.8,646,10845,0.00,2.38,0.00,0.000,4612,0.000,0.059,3054,500,2129,2211,2048,0,0,0,0,0,0,15.07,14.81,15.07
$STATE,10998,end climb,SURFACE_DEPTH_REACHED
$STATE,10998,begin surface coast
$FINISH,0.4,1.023027
$STATE,11019,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11035,113.32,0.197,0,0,1095,400.08
$SM_GC,1.21,6.82,3.17,113.32,0.083,0.050,0.197,179,2381,1095,-7.83,-0.96,400.08,0,0,0,0,0,0,14.88,14.86,14.68
$IRIDIUM_FIX,2145.77,-15541.25,280721,210859
$TT8_MAMPS,0.02247,0.280875
$HUMID,46.06
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.84,16.393
$10V_AH,13.55,0.000
$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,16.525,104.250,177.725,113.325,0.000,26.145,46.432,150.208,0.000,0.000,17.004,2008.372,6653.285,407.963,2336.272,78.457,0.000,1323.883,0.000,2050.534,0.000,0.553,0.000
$DEVICE_MAMPS,491.895,72.675,1868.130,196.605,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,458.082,375.546,701.625,644.301,778.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339236
$DATA_FILE_SIZE,60550,680
$CAP_FILE_SIZE,128039,0
$CFSIZE,1023623168,1017069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,170.68,1
$GPS,290721,002049,2154.213,-15541.318,17,0.8,39,9.9,0.0,57.8,10,8.8