version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 47
start: 7 29 121 0 26 31
data:
$ID,626
$MISSION,3
$DIVE,47
$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,2390
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2740
$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
$GPS1,290721,002049,2154.2134,-15541.3184,17,0.8,39,9.9,0.0,57.8,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.4
$GPS2,290721,002605,2154.2041,-15541.3564,6,0.8,19,9.9,0.9,206.4,11,9.4
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,Achl
$TGT_LATLONG,2136.000,-15530.000
$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,132.6,38975,-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,-116.8,126,2390,1115,1064,0.0,0.0,0,85,0.00,0.00,-66.18,0.000,16390,0.000,0.000,125,2390,3218,3179,3258,0,0,0,0,0,0,15.04,13.82,15.02
$GC,87,-0.61,-116.8,125,2389,3180,3258,4.1,-8.8,10,102,8.00,2.28,0.00,0.000,2564,0.432,0.038,2531,977,3219,3186,3253,0,0,0,0,0,0,14.49,14.76,14.69
$GC,124,-0.61,-116.8,2531,977,3194,3245,22.4,-44.6,16,132,0.00,2.40,0.00,0.000,3078,0.000,0.054,2523,2397,3220,3196,3244,0,0,0,0,0,0,14.91,14.81,14.92
$GC,385,-0.61,-116.8,2523,2398,3198,3243,88.6,-21.6,65,391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2523,2398,3220,3198,3243,0,0,0,0,0,0,15.11,15.11,15.11
$GC,648,-0.61,-116.8,2522,2398,3200,3243,146.5,-21.9,114,654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2523,2398,3221,3200,3243,0,0,0,0,0,0,15.16,15.16,15.16
$GC,896,-0.61,-116.8,2522,2398,3201,3243,195.6,-18.7,140,900,0.00,2.33,0.00,0.000,2564,0.000,0.054,2523,986,3222,3201,3243,0,0,0,0,0,0,15.21,14.95,15.21
$GC,937,-0.61,-116.8,2522,986,3203,3241,202.8,-17.7,144,942,0.05,2.35,0.00,0.000,3078,0.405,0.054,2529,2401,3221,3203,3240,0,0,0,0,0,0,14.79,14.96,15.00
$GC,1219,-0.61,-116.8,2529,2401,3205,3240,251.4,-17.4,151,1220,0.00,0.00,0.00,0.000,2054,0.000,0.000,2530,2401,3221,3204,3239,0,0,0,0,0,0,15.27,15.28,15.28
$GC,1459,-0.61,-116.8,2529,2401,3204,3239,289.2,-14.8,157,1460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2529,2401,3222,3205,3240,0,0,0,0,0,0,15.31,15.32,15.31
$GC,1699,-0.61,-116.8,2529,2401,3205,3239,317.5,-11.0,163,1700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2530,2401,3222,3205,3239,0,0,0,0,0,0,15.34,15.34,15.34
$GC,1939,-0.61,-116.8,2529,2401,3204,3239,346.2,-11.8,169,1940,0.00,0.00,0.00,0.000,2054,0.000,0.000,2530,2401,3221,3204,3239,0,0,0,0,0,0,15.35,15.36,15.36
$GC,2179,-0.61,-116.8,2529,2401,3204,3237,373.2,-11.1,175,2183,0.00,2.33,0.00,0.000,2564,0.000,0.054,2529,985,3221,3205,3237,0,0,0,0,0,0,15.37,15.10,15.38
$GC,2233,-0.61,-116.8,2529,985,3205,3237,377.4,-11.4,176,2237,0.00,2.33,0.00,0.000,3078,0.000,0.057,2520,2398,3221,3205,3237,0,0,0,0,0,0,15.21,15.10,15.22
$GC,2489,-0.61,-116.8,2520,2398,3205,3235,409.2,-11.4,183,2491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2520,2398,3220,3205,3235,0,0,0,0,0,0,15.38,15.38,15.38
$GC,2729,-0.61,-116.8,2520,2398,3205,3231,434.8,-10.5,189,2734,0.00,2.33,0.00,0.000,2564,0.000,0.057,2520,984,3217,3205,3230,0,0,0,0,0,0,15.38,15.11,15.39
$GC,2778,-0.61,-116.8,2520,984,3205,3230,439.1,-10.5,190,2783,0.05,2.38,0.00,0.000,3078,0.328,0.060,2530,2388,3217,3205,3230,0,0,0,0,0,0,14.90,15.08,15.17
$GC,3050,-0.61,-116.8,2529,2388,3205,3226,465.4,-9.2,197,3055,0.00,2.30,0.00,0.000,2564,0.000,0.057,2530,991,3215,3205,3226,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3109,-0.61,-116.8,2529,991,3205,3226,468.9,-9.3,198,3113,0.00,2.38,0.00,0.000,3078,0.000,0.060,2521,2393,3215,3205,3225,0,0,0,0,0,0,15.14,15.09,15.16
$GC,3366,-0.61,-116.8,2520,2393,3205,3222,496.8,-10.3,205,3367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2520,2393,3213,3205,3222,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3607,-0.61,-116.8,2520,2393,3205,3218,522.3,-10.8,211,3613,0.00,2.33,0.00,0.000,2564,0.000,0.060,2521,990,3211,3204,3218,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3694,-0.61,-116.8,2520,989,3204,3217,530.9,-10.8,213,3699,0.05,2.38,0.00,0.000,3078,0.321,0.063,2541,2388,3210,3204,3217,0,0,0,0,0,0,14.93,15.09,15.15
$GC,3966,-0.61,-116.8,2540,2388,3204,3213,557.4,-9.5,220,3970,0.00,2.33,0.00,0.000,4612,0.000,0.060,2540,987,3208,3204,3213,0,0,0,0,0,0,15.38,15.11,15.39
$GC,3995,-0.61,-116.8,2540,986,3204,3213,557.4,-9.5,220,4002,0.00,2.35,0.00,0.000,1030,0.000,0.063,2532,2391,3208,3204,3213,0,0,0,0,0,0,15.21,15.10,15.23
$GC,4242,-0.61,-116.8,2531,2391,3203,3210,585.7,-10.4,227,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2391,3207,3204,3210,0,0,0,0,0,0,15.38,15.40,15.39
$STATE,4401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4401,begin apogee
$GC,4405,-0.14,0.0,2532,2080,3204,3208,602.2,-10.4,231,4506,0.43,0.00,97.88,1.868,10246,0.259,0.000,2687,2078,2739,2813,2666,0,0,0,0,0,0,14.92,14.42,13.78
$STATE,4507,end apogee,CONTROL_FINISHED_OK
$STATE,4507,begin climb
$GC,4508,0.61,116.8,2687,2078,2812,2666,604.5,0.0,233,4622,0.60,2.60,104.43,1.795,10500,0.147,0.070,2933,3537,2261,2348,2174,0,0,0,0,0,0,14.38,14.26,13.64
$GC,4644,0.61,116.8,2933,3537,2347,2174,591.1,11.7,237,4650,0.05,2.42,0.00,0.000,5126,0.470,0.051,2932,2130,2260,2347,2173,0,0,0,0,0,0,14.28,14.44,14.48
$GC,4923,0.61,116.8,2931,2128,2342,2169,539.8,18.2,244,4928,0.00,2.38,0.00,0.000,4356,0.000,0.069,2932,3512,2256,2343,2169,0,0,0,0,0,0,15.06,14.80,15.06
$GC,4942,0.61,116.8,2931,3512,2343,2169,539.8,18.2,244,4947,0.00,2.38,0.00,0.000,5126,0.000,0.053,2941,2098,2256,2343,2169,0,0,0,0,0,0,14.92,14.83,14.93
$GC,5199,0.61,116.8,2941,2095,2341,2168,489.2,18.4,251,5204,0.05,2.38,0.00,0.000,4612,0.461,0.067,2937,688,2254,2341,2167,0,0,0,0,0,0,14.73,14.90,14.94
$GC,5219,0.61,116.8,2936,686,2336,2167,489.2,18.4,251,5224,0.00,2.40,0.00,0.000,5126,0.000,0.059,2937,2111,2251,2335,2167,0,0,0,0,0,0,15.02,14.92,15.04
$GC,5481,0.61,116.8,2936,2113,2336,2166,442.3,16.2,258,5482,0.00,0.00,0.00,0.000,4102,0.000,0.000,2937,2114,2251,2336,2166,0,0,0,0,0,0,15.23,15.23,15.23
$GC,5721,0.61,116.8,2937,2113,2336,2165,405.8,15.2,264,5725,0.00,2.40,0.00,0.000,4612,0.000,0.067,2947,689,2250,2335,2165,0,0,0,0,0,0,15.26,14.99,15.27
$GC,5747,0.61,116.8,2946,689,2333,2165,405.8,15.2,264,5752,0.05,2.35,0.00,0.000,5126,0.441,0.059,2933,2100,2249,2333,2165,0,0,0,0,0,0,14.80,15.00,15.06
$GC,5999,0.61,116.8,2932,2102,2333,2165,363.9,14.8,271,6005,0.00,2.35,0.00,0.000,4356,0.000,0.072,2932,3510,2249,2333,2165,0,0,0,0,0,0,15.28,15.01,15.30
$GC,6081,0.61,116.8,2932,3511,2333,2165,350.3,16.2,273,6086,0.00,2.35,0.00,0.000,5126,0.000,0.057,2941,2094,2249,2333,2165,0,0,0,0,0,0,15.14,15.02,15.15
$GC,6358,0.61,116.8,2941,2091,2333,2165,310.8,13.4,280,6363,0.00,2.40,0.00,0.000,4356,0.000,0.071,2941,3515,2248,2332,2165,0,0,0,0,0,0,15.31,15.02,15.31
$GC,6397,0.61,116.8,2941,3515,2333,2165,305.7,13.5,281,6402,0.05,2.38,0.00,0.000,5126,0.416,0.051,2937,2100,2249,2333,2165,0,0,0,0,0,0,14.78,15.02,14.97
$GC,6674,0.61,116.8,2936,2097,2333,2164,271.5,11.4,288,6679,0.00,2.38,0.00,0.000,4356,0.000,0.070,2936,3512,2248,2333,2164,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6708,0.61,116.8,2936,3512,2332,2164,271.5,11.4,288,6716,0.05,2.38,0.00,0.000,5126,0.407,0.051,2920,2097,2249,2333,2165,0,0,0,0,0,0,14.81,15.03,15.09
$GC,6955,0.61,116.8,2920,2096,2332,2164,245.7,9.4,295,6959,0.00,2.33,0.00,0.000,2564,0.000,0.065,2929,689,2248,2333,2163,0,0,0,0,0,0,15.33,15.05,15.34
$GC,7015,0.61,116.8,2928,689,2328,2162,242.5,9.3,296,7020,0.00,2.35,0.00,0.000,1030,0.000,0.057,2927,2110,2245,2328,2163,0,0,0,0,0,0,15.16,15.06,15.18
$GC,7266,0.61,116.8,2928,2111,2328,2162,216.4,10.1,303,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2111,2246,2329,2163,0,0,0,0,0,0,15.33,15.35,15.34
$GC,7506,0.61,116.8,2928,2111,2328,2162,193.3,10.3,312,7511,0.00,2.33,0.00,0.000,260,0.000,0.070,2929,3516,2245,2328,2163,0,0,0,0,0,0,15.34,15.06,15.35
$GC,7545,0.61,116.8,2928,3516,2328,2165,189.4,10.7,315,7553,0.00,2.38,0.00,0.000,5126,0.000,0.050,2939,2098,2246,2328,2165,0,0,0,0,0,0,15.02,14.97,15.05
$GC,7793,0.61,116.8,2939,2097,2328,2165,163.2,10.2,340,7798,0.00,2.35,0.00,0.000,4356,0.000,0.067,2940,3509,2246,2328,2165,0,0,0,0,0,0,15.32,15.04,15.32
$GC,8016,0.61,116.8,2939,3509,2328,2166,141.8,8.9,369,8023,0.08,2.33,0.00,0.000,5126,0.409,0.048,2928,2094,2247,2329,2166,0,0,0,0,0,0,14.80,15.04,15.07
$GC,8282,0.62,120.2,2927,2094,2328,2167,120.1,7.8,418,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2094,2247,2328,2167,0,0,0,0,0,0,15.24,15.26,15.26
$GC,8548,0.62,120.2,2927,2094,2328,2167,97.5,9.2,467,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2094,2248,2329,2168,0,0,0,0,0,0,15.22,15.23,15.23
$GC,8811,0.63,130.5,2927,2094,2329,2170,75.2,7.5,516,8826,0.00,2.42,10.73,1.078,10500,0.000,0.063,2927,3516,2205,2290,2120,0,0,0,0,0,0,15.21,14.90,14.38
$GC,9085,0.66,153.1,2927,3516,2290,2122,52.9,7.0,567,9114,0.00,2.38,19.62,1.076,11270,0.000,0.047,2936,2099,2111,2199,2024,0,0,0,0,0,0,15.01,14.89,14.33
$GC,9367,0.69,177.1,2936,2099,2199,2024,33.1,6.9,619,9395,0.00,2.35,19.52,1.034,10756,0.000,0.057,2948,696,2015,2103,1927,0,0,0,0,0,0,15.10,14.64,14.26
$GC,9455,0.69,177.1,2946,696,2096,1928,25.6,9.8,634,9463,0.00,2.40,0.00,0.000,1030,0.000,0.053,2948,2120,2012,2097,1927,0,0,0,0,0,0,14.88,14.80,14.90
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9657,begin surface coast
$FINISH,0.6,1.023060
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9693,99.55,0.195,0,0,1106,400.08
$SM_GC,1.18,6.53,0.45,99.55,0.076,0.065,0.195,178,2413,1106,-7.83,-0.82,400.08,0,0,0,0,0,0,14.90,14.88,14.70
$IRIDIUM_FIX,2145.77,-15541.25,290721,002154
$TT8_MAMPS,0.023219,0.310086
$HUMID,46.92
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.64,16.605
$10V_AH,13.37,0.000
$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,16.025,90.800,252.175,99.550,0.000,27.918,44.907,139.312,0.000,0.000,20.696,1846.394,5834.009,451.099,1912.367,73.482,0.000,1188.139,0.000,1651.169,0.000,0.553,0.000
$DEVICE_MAMPS,469.710,71.910,1868.130,195.075,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,454.606,392.228,734.014,688.594,834.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339160
$DATA_FILE_SIZE,60742,676
$CAP_FILE_SIZE,110866,0
$CFSIZE,1023623168,1016987648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.108,193.75,1
$GPS,290721,031055,2152.889,-15540.648,16,0.9,39,9.9,0.4,59.7,10,6.9