version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 53
start: 7 29 121 17 10 58
data:
$ID,626
$MISSION,3
$DIVE,53
$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,2725
$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,2350
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2760
$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
$GPS1,290721,170532,2148.2102,-15537.4229,15,0.8,27,9.9,0.7,256.7,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.8
$GPS2,290721,171033,2148.1877,-15537.4570,6,0.8,14,9.9,0.0,223.6,9,9.6
$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,110.2,25968,-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,-116.8,126,2300,1139,1079,0.0,0.0,0,81,0.00,0.00,-63.10,0.000,16386,0.000,0.000,126,2298,3108,3075,3142,0,0,0,0,0,0,15.04,28.83,15.04
$GC,83,-0.61,-116.8,126,2298,3077,3141,3.1,-5.4,9,98,7.95,0.00,-2.25,0.000,18950,0.428,0.000,2518,2298,3239,3210,3269,0,0,0,0,0,0,14.50,13.88,14.70
$GC,348,-0.61,-116.8,2518,2298,3222,3260,85.6,-23.4,59,355,0.00,2.38,0.00,0.000,2308,0.000,0.062,2509,3735,3241,3223,3260,0,0,0,0,0,0,15.11,14.85,15.11
$GC,373,-0.61,-116.8,2509,3735,3223,3261,91.3,-23.1,63,380,0.00,2.20,0.00,0.000,3078,0.000,0.049,2513,2384,3242,3223,3261,0,0,0,0,0,0,14.97,14.87,14.98
$GC,630,-0.61,-116.8,2512,2380,3223,3260,149.3,-23.5,112,638,0.00,2.40,0.00,0.000,2564,0.000,0.057,2518,925,3242,3224,3260,0,0,0,0,0,0,15.16,14.90,15.16
$GC,656,-0.61,-116.8,2517,925,3226,3260,155.4,-23.6,115,666,0.05,2.30,0.00,0.000,3078,0.426,0.056,2524,2324,3243,3226,3260,0,0,0,0,0,0,14.71,14.91,14.95
$GC,925,-0.61,-116.8,2524,2325,3226,3260,208.6,-18.2,139,929,0.00,2.35,0.00,0.000,2308,0.000,0.065,2516,3763,3243,3226,3260,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1029,-0.61,-116.8,2515,3763,3227,3260,222.0,-18.1,141,1033,0.00,2.33,0.00,0.000,3078,0.000,0.044,2515,2338,3243,3227,3260,0,0,0,0,0,0,15.02,14.97,15.04
$GC,1281,-0.61,-116.8,2515,2334,3227,3260,265.8,-15.3,148,1285,0.00,2.25,0.00,0.000,2564,0.000,0.055,2518,935,3243,3227,3260,0,0,0,0,0,0,15.29,15.03,15.30
$GC,1365,-0.61,-116.8,2517,935,3228,3260,276.4,-14.4,150,1370,0.05,2.30,0.00,0.000,3078,0.415,0.054,2526,2352,3244,3229,3260,0,0,0,0,0,0,14.84,15.03,15.07
$GC,1637,-0.61,-116.8,2525,2353,3229,3259,313.8,-13.2,157,1641,0.00,2.30,0.00,0.000,516,0.000,0.054,2526,932,3243,3228,3259,0,0,0,0,0,0,15.32,15.07,15.33
$GC,1721,-0.61,-116.8,2525,932,3228,3259,323.7,-13.1,159,1726,0.00,2.30,0.00,0.000,3078,0.000,0.057,2517,2349,3243,3228,3258,0,0,0,0,0,0,15.17,15.06,15.19
$GC,1993,-0.61,-116.8,2517,2350,3228,3257,358.0,-12.7,166,1995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2517,2350,3243,3229,3257,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2233,-0.61,-116.8,2517,2350,3228,3254,387.5,-12.3,172,2237,0.00,2.30,0.00,0.000,2308,0.000,0.070,2506,3756,3241,3229,3254,0,0,0,0,0,0,15.37,15.08,15.37
$GC,2271,-0.61,-116.8,2506,3756,3228,3254,391.7,-12.2,173,2277,0.03,2.28,0.00,0.000,3078,0.383,0.045,2521,2348,3240,3227,3254,0,0,0,0,0,0,14.89,15.08,15.03
$GC,2549,-0.61,-116.8,2521,2345,3228,3251,423.8,-11.7,180,2553,0.00,2.28,0.00,0.000,2564,0.000,0.061,2522,945,3240,3229,3251,0,0,0,0,0,0,15.38,14.90,15.38
$GC,2623,-0.61,-116.8,2521,944,3228,3251,428.8,-11.8,181,2630,0.00,2.35,0.00,0.000,3078,0.000,0.060,2513,2383,3239,3228,3251,0,0,0,0,0,0,15.21,15.09,15.22
$GC,2870,-0.61,-116.8,2512,2384,3228,3247,462.5,-12.3,188,2871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2512,2384,3237,3228,3247,0,0,0,0,0,0,15.38,15.38,15.38
$GC,3110,-0.61,-116.8,2512,2384,3228,3243,490.4,-11.5,194,3114,0.00,2.35,0.00,0.000,2564,0.000,0.059,2512,946,3235,3228,3243,0,0,0,0,0,0,15.38,15.11,15.39
$GC,3179,-0.61,-116.8,2512,946,3227,3243,495.4,-11.7,195,3184,0.05,2.35,0.00,0.000,3078,0.337,0.061,2520,2349,3235,3228,3243,0,0,0,0,0,0,14.88,15.07,15.16
$GC,3431,-0.61,-116.8,2520,2350,3228,3238,526.5,-11.2,202,3435,0.00,2.30,0.00,0.000,2564,0.000,0.060,2521,946,3232,3227,3238,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3494,-0.61,-116.8,2520,945,3227,3238,530.8,-11.5,203,3499,0.00,2.35,0.00,0.000,3078,0.000,0.063,2512,2345,3233,3228,3238,0,0,0,0,0,0,15.13,15.07,15.16
$GC,3746,-0.61,-116.8,2511,2345,3228,3235,566.9,-13.2,210,3751,0.00,2.33,0.00,0.000,2308,0.000,0.076,2501,3754,3231,3227,3235,0,0,0,0,0,0,15.39,15.09,15.39
$GC,3800,-0.61,-116.8,2501,3756,3226,3235,571.7,-13.2,211,3805,0.05,2.30,0.00,0.000,3078,0.310,0.050,2522,2348,3231,3227,3235,0,0,0,0,0,0,14.89,15.08,15.04
$STATE,4061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4061,begin apogee
$GC,4065,-0.14,0.0,2522,2101,3227,3230,603.5,-10.6,218,4167,0.43,0.00,98.18,1.853,10246,0.249,0.000,2679,2098,2760,2831,2689,0,0,0,0,0,0,14.92,14.43,13.78
$STATE,4167,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4169,0.61,116.8,2680,2098,2831,2688,605.4,0.0,220,4280,0.60,0.00,104.43,1.804,10502,0.151,0.000,2923,2098,2280,2366,2194,0,0,0,0,0,0,14.39,14.26,13.66
$GC,4542,0.61,116.8,2922,2097,2360,2188,548.3,17.9,230,4547,0.00,2.45,0.00,0.000,260,0.000,0.073,2923,3540,2274,2360,2188,0,0,0,0,0,0,15.03,14.78,15.04
$GC,4601,0.61,116.8,2922,3540,2360,2187,541.5,18.0,231,4606,0.00,2.33,0.00,0.000,5126,0.000,0.052,2934,2160,2274,2360,2188,0,0,0,0,0,0,14.86,14.81,14.88
$GC,4858,0.61,116.8,2933,2158,2360,2186,490.6,18.0,238,4863,0.00,2.38,0.00,0.000,4612,0.000,0.068,2945,722,2273,2360,2186,0,0,0,0,0,0,15.18,14.90,15.18
$GC,4939,0.61,116.8,2945,722,2353,2186,477.5,16.9,240,4944,0.08,2.35,0.00,0.000,5126,0.391,0.060,2922,2136,2269,2353,2186,0,0,0,0,0,0,14.73,14.93,14.98
$GC,5221,0.61,116.8,2922,2137,2353,2185,436.0,14.2,247,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2137,2269,2353,2186,0,0,0,0,0,0,15.23,15.25,15.25
$GC,5461,0.61,116.8,2922,2138,2353,2185,401.2,14.4,253,5465,0.00,2.33,0.00,0.000,260,0.000,0.073,2922,3543,2269,2353,2185,0,0,0,0,0,0,15.27,15.00,15.28
$GC,5505,0.61,116.8,2922,3544,2352,2186,394.3,15.0,254,5509,0.00,2.35,0.00,0.000,5126,0.000,0.054,2931,2134,2269,2353,2186,0,0,0,0,0,0,15.04,15.00,15.07
$GC,5782,0.61,116.8,2931,2131,2352,2185,352.2,14.3,261,5786,0.00,2.35,0.00,0.000,4356,0.000,0.072,2931,3542,2268,2352,2185,0,0,0,0,0,0,15.30,15.02,15.30
$GC,5796,0.61,116.8,2931,3542,2353,2184,352.2,14.3,261,5801,0.08,2.30,0.00,0.000,5126,0.420,0.053,2920,2126,2269,2353,2185,0,0,0,0,0,0,14.80,15.04,15.08
$GC,6053,0.61,116.8,2920,2124,2353,2184,315.6,13.3,268,6057,0.00,2.38,0.00,0.000,260,0.000,0.070,2920,3548,2268,2353,2184,0,0,0,0,0,0,15.30,15.03,15.32
$GC,6091,0.61,116.8,2919,3548,2352,2184,310.8,13.2,269,6096,0.00,2.35,0.00,0.000,5126,0.000,0.053,2929,2133,2268,2352,2184,0,0,0,0,0,0,15.08,15.02,15.09
$GC,6369,0.61,116.8,2928,2131,2353,2184,277.5,12.1,276,6370,0.00,0.00,0.00,0.000,4102,0.000,0.000,2929,2131,2268,2352,2184,0,0,0,0,0,0,15.33,15.33,15.33
$GC,6609,0.61,116.8,2928,2131,2353,2184,249.9,11.5,282,6615,0.00,2.30,0.00,0.000,4612,0.000,0.065,2940,719,2268,2353,2183,0,0,0,0,0,0,15.34,15.05,15.34
$GC,6643,0.61,116.8,2940,719,2349,2183,249.9,11.5,282,6651,0.05,2.33,0.00,0.000,5126,0.451,0.059,2925,2131,2266,2349,2183,0,0,0,0,0,0,14.83,15.07,15.11
$GC,6889,0.61,116.8,2925,2132,2349,2183,221.6,9.9,289,6893,0.00,2.33,0.00,0.000,4612,0.000,0.063,2934,715,2266,2349,2183,0,0,0,0,0,0,15.35,15.06,15.33
$GC,7032,0.61,116.8,2934,715,2348,2183,210.5,9.8,292,7037,0.00,2.35,0.00,0.000,5126,0.000,0.058,2934,2126,2265,2347,2184,0,0,0,0,0,0,15.10,15.04,15.12
$GC,7285,0.61,116.8,2934,2125,2348,2184,187.7,8.6,308,7286,0.00,0.00,0.00,0.000,4102,0.000,0.000,2934,2125,2266,2348,2184,0,0,0,0,0,0,15.33,15.34,15.34
$GC,7525,0.64,135.2,2934,2125,2348,2184,167.9,7.2,332,7548,0.00,2.35,14.18,1.256,12548,0.000,0.070,2934,3539,2205,2291,2120,0,0,0,0,0,0,15.31,14.85,14.40
$GC,7681,0.64,135.2,2934,3539,2291,2120,152.2,10.6,347,7686,0.05,2.30,0.00,0.000,5126,0.455,0.048,2931,2121,2206,2292,2120,0,0,0,0,0,0,14.77,14.99,15.01
$GC,7933,0.64,135.2,2931,2118,2291,2120,128.3,9.7,393,7939,0.00,2.38,0.00,0.000,260,0.000,0.067,2931,3542,2205,2291,2120,0,0,0,0,0,0,15.21,14.95,15.21
$GC,8029,0.64,135.2,2930,3542,2292,2120,117.6,11.6,411,8037,0.00,2.30,0.00,0.000,5126,0.000,0.050,2940,2129,2205,2291,2120,0,0,0,0,0,0,15.06,14.96,15.07
$GC,8284,0.64,135.2,2939,2127,2291,2120,89.5,9.5,460,8292,0.00,0.00,0.00,0.000,4102,0.000,0.000,2940,2127,2205,2291,2120,0,0,0,0,0,0,15.20,15.21,15.20
$GC,8542,0.65,143.4,2939,2127,2291,2121,65.7,7.6,509,8557,0.00,2.30,8.65,1.043,12804,0.000,0.057,2951,722,2172,2259,2085,0,0,0,0,0,0,15.18,14.78,14.38
$GC,8575,0.65,143.4,2950,721,2257,2084,62.9,8.8,514,8583,0.05,2.38,0.00,0.000,5126,0.402,0.055,2935,2127,2171,2257,2085,0,0,0,0,0,0,14.73,14.88,14.94
$GC,8835,0.76,232.5,2934,2129,2257,2084,50.1,3.9,563,8912,0.05,2.45,69.45,1.066,10500,0.268,0.065,3020,3555,1809,1890,1728,0,0,0,0,0,0,14.85,14.58,14.15
$GC,8984,0.76,232.5,3019,3554,1890,1728,29.9,20.0,587,8994,0.20,2.40,0.00,0.000,5126,0.338,0.050,2967,2121,1809,1890,1728,0,0,0,0,0,0,14.53,14.70,14.73
$STATE,9152,end climb,SURFACE_DEPTH_REACHED
$STATE,9152,begin surface coast
$FINISH,0.2,1.023070
$STATE,9170,end surface coast,CONTROL_FINISHED_OK
$STATE,9170,begin surface
$SM_CCo,9183,74.53,0.185,0,0,1126,400.08
$SM_GC,1.08,6.60,0.40,74.53,0.070,0.056,0.185,164,2396,1126,-7.86,-0.82,400.08,0,0,0,0,0,0,14.85,14.83,14.67
$IRIDIUM_FIX,2138.81,-15540.09,290721,170634
$TT8_MAMPS,0.02247,0.283871
$HUMID,47.24
$INTERNAL_PRESSURE,9.10154
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,13.66,17.900
$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,16.350,98.825,294.875,74.525,0.000,26.662,42.107,134.638,0.500,0.000,15.351,1733.917,5442.596,453.588,1864.912,74.316,0.000,1214.438,0.000,1618.115,0.000,0.553,0.000
$DEVICE_MAMPS,455.175,91.800,1852.830,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,416.911,355.962,677.461,608.305,722.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339200
$DATA_FILE_SIZE,54111,621
$CAP_FILE_SIZE,117199,0
$CFSIZE,1023623168,1016381440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.096,226.42,1
$GPS,290721,194631,2147.407,-15536.812,18,0.8,41,9.9,0.0,331.5,10,6.0