version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 48
start: 7 29 121 3 16 49
data:
$ID,626
$MISSION,3
$DIVE,48
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,290721,031055,2152.8889,-15540.6484,16,0.9,39,9.9,0.4,59.7,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,290721,031624,2152.8926,-15540.6787,5,0.8,21,9.9,0.9,201.3,11,9.6
$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,119.4,36289,-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,-116.8,125,2420,1129,1068,0.0,0.0,0,81,0.00,0.00,-63.30,0.000,16386,0.000,0.000,125,2420,3116,3083,3150,0,0,0,0,0,0,15.04,28.83,15.05
$GC,83,-0.61,-116.8,125,2421,3083,3150,3.4,-6.6,9,99,7.95,2.40,-1.75,0.000,18948,0.428,0.064,2532,971,3220,3189,3251,0,0,0,0,0,0,14.51,13.87,14.71
$GC,111,-0.61,-116.8,2531,971,3197,3245,15.9,-38.8,13,119,0.00,2.38,0.00,0.000,3078,0.000,0.049,2523,2370,3220,3198,3242,0,0,0,0,0,0,14.85,14.80,14.87
$GC,371,-0.61,-116.8,2523,2370,3202,3241,85.4,-21.0,62,378,0.00,2.35,0.00,0.000,2308,0.000,0.064,2513,3752,3221,3202,3241,0,0,0,0,0,0,15.11,14.83,15.12
$GC,431,-0.61,-116.8,2512,3752,3202,3242,97.8,-20.1,73,439,0.05,2.22,0.00,0.000,3078,0.390,0.046,2529,2386,3222,3202,3242,0,0,0,0,0,0,14.72,14.89,14.92
$GC,691,-0.61,-116.8,2529,2383,3203,3240,152.3,-20.4,122,695,0.00,2.30,0.00,0.000,2564,0.000,0.055,2531,979,3222,3204,3241,0,0,0,0,0,0,15.17,14.92,15.18
$GC,737,-0.61,-116.8,2531,977,3206,3238,161.5,-19.9,126,742,0.00,2.35,0.00,0.000,3078,0.000,0.055,2522,2395,3222,3206,3238,0,0,0,0,0,0,15.03,14.93,15.04
$GC,998,-0.61,-116.8,2522,2395,3207,3238,208.5,-17.1,149,1000,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2396,3223,3207,3239,0,0,0,0,0,0,15.24,15.25,15.24
$GC,1238,-0.61,-116.8,2522,2395,3207,3239,252.2,-18.1,155,1242,0.00,2.33,0.00,0.000,2564,0.000,0.054,2522,977,3223,3207,3239,0,0,0,0,0,0,15.29,15.03,15.29
$GC,1267,-0.61,-116.8,2522,977,3208,3239,252.2,-18.1,155,1276,0.05,2.38,0.00,0.000,3078,0.321,0.055,2541,2390,3222,3207,3238,0,0,0,0,0,0,14.87,15.01,15.07
$GC,1514,-0.61,-116.8,2541,2391,3208,3238,288.5,-12.6,162,1518,0.00,2.30,0.00,0.000,4612,0.000,0.051,2541,978,3223,3208,3238,0,0,0,0,0,0,15.33,15.06,15.33
$GC,1593,-0.61,-116.8,2541,976,3208,3238,296.9,-11.4,164,1597,0.00,2.38,0.00,0.000,1030,0.000,0.056,2532,2395,3223,3209,3238,0,0,0,0,0,0,15.16,15.03,15.17
$GC,1870,-0.61,-116.8,2532,2395,3209,3237,331.5,-12.3,171,1874,0.00,2.22,0.00,0.000,260,0.000,0.067,2522,3754,3223,3209,3237,0,0,0,0,0,0,15.34,15.07,15.35
$GC,1924,-0.61,-116.8,2521,3755,3209,3237,336.9,-12.3,172,1928,0.00,2.22,0.00,0.000,3078,0.000,0.044,2522,2392,3222,3208,3237,0,0,0,0,0,0,15.12,15.07,15.14
$GC,2191,-0.61,-116.8,2521,2389,3209,3235,369.5,-11.0,179,2195,0.00,2.30,0.00,0.000,2564,0.000,0.056,2522,974,3222,3209,3236,0,0,0,0,0,0,15.36,15.09,15.37
$GC,2229,-0.61,-116.8,2521,973,3208,3235,373.4,-10.9,180,2234,0.05,2.38,0.00,0.000,3078,0.323,0.057,2530,2388,3222,3209,3236,0,0,0,0,0,0,14.89,15.07,15.04
$GC,2507,-0.61,-116.8,2529,2390,3209,3232,403.9,-11.2,187,2511,0.00,2.33,0.00,0.000,2564,0.000,0.055,2530,972,3220,3209,3232,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2536,-0.61,-116.8,2529,972,3208,3232,403.9,-11.2,187,2543,0.00,2.35,0.00,0.000,3078,0.000,0.058,2521,2394,3220,3209,3232,0,0,0,0,0,0,15.21,15.10,15.22
$GC,2782,-0.61,-116.8,2520,2394,3208,3228,433.7,-11.0,194,2787,0.00,2.35,0.00,0.000,2564,0.000,0.057,2521,974,3218,3208,3228,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2841,-0.61,-116.8,2520,974,3209,3228,438.4,-11.0,195,2847,0.08,2.40,0.00,0.000,3078,0.338,0.060,2536,2393,3218,3209,3228,0,0,0,0,0,0,14.94,15.07,15.15
$GC,3104,-0.61,-116.8,2536,2394,3209,3224,466.5,-9.9,202,3105,0.00,0.00,0.00,0.000,4102,0.000,0.000,2536,2394,3216,3209,3224,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3344,-0.61,-116.8,2536,2394,3209,3221,492.3,-10.9,208,3348,0.00,2.35,0.00,0.000,4612,0.000,0.057,2537,971,3215,3209,3221,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3385,-0.61,-116.8,2536,971,3208,3221,496.9,-11.1,209,3389,0.00,2.38,0.00,0.000,3078,0.000,0.061,2528,2395,3214,3208,3221,0,0,0,0,0,0,15.23,15.11,15.23
$GC,3666,-0.61,-116.8,2527,2395,3208,3216,528.2,-11.0,216,3670,0.00,2.35,0.00,0.000,2564,0.000,0.060,2528,978,3212,3208,3216,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3714,-0.61,-116.8,2528,978,3208,3216,532.1,-10.8,217,3719,0.00,2.40,0.00,0.000,3078,0.000,0.062,2517,2390,3212,3208,3216,0,0,0,0,0,0,15.23,15.08,15.24
$GC,3982,-0.61,-116.8,2517,2391,3207,3212,562.0,-10.7,224,3986,0.00,2.35,0.00,0.000,2564,0.000,0.060,2517,977,3210,3208,3212,0,0,0,0,0,0,15.39,15.11,15.40
$GC,4031,-0.61,-116.8,2517,976,3206,3212,566.0,-10.9,225,4036,0.08,2.38,0.00,0.000,3078,0.347,0.063,2533,2397,3209,3207,3212,0,0,0,0,0,0,14.93,15.10,15.15
$GC,4292,-0.61,-116.8,2533,2397,3207,3208,592.8,-9.5,232,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2397,3207,3207,3208,0,0,0,0,0,0,15.38,15.40,15.39
$STATE,4373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4373,begin apogee
$GC,4377,-0.14,0.0,2532,2068,3207,3207,600.2,-9.3,234,4479,0.40,0.00,98.12,1.854,10246,0.256,0.000,2680,2066,2739,2813,2666,0,0,0,0,0,0,14.93,14.43,13.78
$STATE,4480,end apogee,CONTROL_FINISHED_OK
$STATE,4480,begin climb
$GC,4481,0.61,116.8,2681,2066,2812,2666,602.2,0.0,236,4590,0.62,0.00,105.10,1.785,10502,0.155,0.000,2931,2066,2262,2350,2174,0,0,0,0,0,0,14.38,14.26,13.65
$GC,4813,0.61,116.8,2931,2065,2341,2168,551.4,18.6,245,4817,0.00,2.50,0.00,0.000,4356,0.000,0.073,2931,3516,2255,2342,2168,0,0,0,0,0,0,15.00,14.75,15.01
$GC,4854,0.61,116.8,2931,3516,2342,2168,543.2,18.8,246,4859,0.05,2.33,0.00,0.000,5126,0.470,0.052,2930,2132,2255,2342,2168,0,0,0,0,0,0,14.60,14.79,14.84
$GC,5136,0.61,116.8,2930,2129,2341,2165,493.0,17.5,253,5140,0.00,2.42,0.00,0.000,4612,0.000,0.066,2939,684,2253,2342,2165,0,0,0,0,0,0,15.16,14.90,15.17
$GC,5204,0.61,116.8,2938,683,2333,2165,486.7,17.6,254,5213,0.00,2.40,0.00,0.000,5126,0.000,0.059,2939,2107,2249,2334,2165,0,0,0,0,0,0,15.03,14.92,15.04
$GC,5452,0.61,116.8,2938,2109,2334,2165,439.1,16.9,261,5456,0.00,2.35,0.00,0.000,4356,0.000,0.072,2939,3510,2249,2334,2165,0,0,0,0,0,0,15.23,14.96,15.23
$GC,5481,0.61,116.8,2938,3510,2333,2166,439.1,16.9,261,5489,0.08,2.35,0.00,0.000,5126,0.424,0.052,2927,2096,2249,2333,2165,0,0,0,0,0,0,14.76,14.98,15.02
$GC,5727,0.61,116.8,2927,2094,2333,2165,395.0,15.5,268,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2094,2249,2333,2165,0,0,0,0,0,0,15.26,15.28,15.27
$GC,5967,0.61,116.8,2927,2094,2333,2164,360.6,14.5,274,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2094,2248,2333,2164,0,0,0,0,0,0,15.29,15.30,15.30
$GC,6207,0.61,116.8,2927,2094,2333,2163,325.6,14.5,280,6212,0.00,2.33,0.00,0.000,516,0.000,0.065,2936,693,2248,2334,2162,0,0,0,0,0,0,15.30,15.03,15.32
$GC,6242,0.61,116.8,2936,693,2330,2162,325.6,14.5,280,6249,0.00,2.40,0.00,0.000,5126,0.000,0.060,2936,2104,2246,2330,2162,0,0,0,0,0,0,15.16,15.01,15.17
$GC,6489,0.61,116.8,2935,2104,2330,2162,285.8,13.5,287,6493,0.00,2.35,0.00,0.000,4356,0.000,0.073,2936,3510,2246,2330,2162,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6613,0.61,116.8,2935,3510,2330,2164,269.6,13.7,290,6618,0.08,2.33,0.00,0.000,5126,0.414,0.052,2924,2100,2247,2330,2164,0,0,0,0,0,0,14.82,15.06,15.10
$GC,6880,0.61,116.8,2924,2097,2330,2162,239.8,10.7,297,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2097,2246,2330,2163,0,0,0,0,0,0,15.33,15.34,15.34
$GC,7119,0.61,116.8,2924,2097,2330,2163,217.8,8.8,303,7124,0.00,2.33,0.00,0.000,516,0.000,0.063,2933,687,2246,2330,2163,0,0,0,0,0,0,15.34,15.07,15.35
$GC,7204,0.61,116.8,2933,686,2327,2162,210.4,9.4,305,7208,0.00,2.35,0.00,0.000,5126,0.000,0.057,2933,2110,2245,2328,2162,0,0,0,0,0,0,15.19,15.07,15.20
$GC,7457,0.61,116.8,2933,2110,2328,2162,183.8,11.6,322,7466,0.00,2.33,0.00,0.000,4356,0.000,0.070,2933,3513,2246,2328,2164,0,0,0,0,0,0,15.33,15.04,15.33
$GC,7502,0.61,116.8,2932,3514,2327,2164,178.3,12.8,326,7511,0.05,2.38,0.00,0.000,5126,0.397,0.049,2929,2093,2246,2327,2165,0,0,0,0,0,0,14.80,15.04,15.12
$GC,7751,0.61,116.8,2928,2093,2328,2165,154.2,8.8,351,7760,0.00,2.35,0.00,0.000,260,0.000,0.067,2929,3508,2246,2328,2165,0,0,0,0,0,0,15.30,14.89,15.31
$GC,8145,0.61,116.8,2928,3507,2328,2166,119.4,8.9,423,8152,0.00,2.33,0.00,0.000,5126,0.000,0.048,2938,2091,2247,2328,2167,0,0,0,0,0,0,15.10,15.00,15.11
$GC,8399,0.61,116.8,2937,2089,2328,2167,97.7,9.2,472,8406,0.00,0.00,0.00,0.000,4102,0.000,0.000,2938,2089,2247,2328,2167,0,0,0,0,0,0,15.22,15.23,15.23
$GC,8655,0.61,116.8,2937,2089,2327,2168,74.0,9.6,521,8664,0.00,2.45,0.00,0.000,4356,0.000,0.066,2938,3513,2249,2328,2170,0,0,0,0,0,0,15.20,14.90,15.21
$GC,8833,0.61,116.8,2937,3513,2328,2171,58.2,8.5,554,8841,0.08,2.38,0.00,0.000,5126,0.392,0.046,2926,2099,2249,2328,2171,0,0,0,0,0,0,14.71,14.91,14.97
$GC,9095,0.74,219.7,2925,2098,2329,2171,45.5,3.3,603,9179,0.08,2.42,78.43,1.043,10756,0.188,0.057,3037,690,1841,1921,1762,0,0,0,0,0,0,14.88,14.58,14.14
$STATE,9382,end climb,SURFACE_DEPTH_REACHED
$STATE,9382,begin surface coast
$FINISH,0.2,1.023108
$STATE,9399,end surface coast,CONTROL_FINISHED_OK
$STATE,9400,begin surface
$SM_CCo,9415,81.28,0.197,0,0,1107,400.08
$SM_GC,0.96,6.90,2.92,81.28,0.093,0.054,0.197,179,2391,1107,-7.87,-0.76,400.08,0,0,0,0,0,0,14.83,14.77,14.65
$IRIDIUM_FIX,2143.45,-15539.13,290721,031157
$TT8_MAMPS,0.023219,0.282373
$HUMID,46.57
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.65,16.822
$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,16.575,104.600,281.650,81.275,0.000,26.860,55.857,141.568,0.000,0.000,22.801,1800.506,5565.562,478.172,1917.307,73.316,0.000,1219.731,0.000,1639.788,0.000,0.553,0.000
$DEVICE_MAMPS,469.710,73.440,1854.360,196.605,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,440.485,382.196,721.507,649.679,784.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339204
$DATA_FILE_SIZE,57221,656
$CAP_FILE_SIZE,117712,0
$CFSIZE,1023623168,1016872960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.096,219.84,1
$GPS,290721,055619,2151.940,-15540.079,18,0.8,41,9.9,0.0,111.0,10,7.6