version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 56
start: 7 30 121 1 29 41
data:
$ID,626
$MISSION,3
$DIVE,56
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,300721,012349,2145.5979,-15535.7627,14,0.9,37,9.9,0.3,137.8,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.1
$GPS2,300721,012916,2145.5850,-15535.8047,6,0.9,15,9.9,0.0,282.7,9,9.6
$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,115.6,20372,-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,-116.8,125,2368,1150,1087,0.0,0.0,0,80,0.00,0.00,-63.28,0.000,16386,0.000,0.000,125,2369,3141,3107,3175,0,0,0,0,0,0,15.04,28.83,15.05
$GC,82,-0.61,-116.8,124,2369,3107,3175,3.4,-6.2,9,97,7.97,0.00,-1.62,0.000,18950,0.428,0.000,2522,2369,3240,3210,3270,0,0,0,0,0,0,14.50,13.88,14.70
$GC,351,-0.61,-116.8,2522,2370,3222,3260,84.2,-22.2,59,357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2370,3241,3223,3260,0,0,0,0,0,0,15.11,15.11,15.11
$GC,606,-0.61,-116.8,2522,2370,3223,3260,139.9,-21.1,108,613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2370,3242,3223,3261,0,0,0,0,0,0,15.16,15.16,15.16
$GC,856,-0.61,-116.8,2522,2370,3224,3261,195.2,-21.3,137,857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2369,3242,3224,3261,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1125,-0.61,-116.8,2522,2370,3226,3260,242.0,-16.6,146,1130,0.00,2.33,0.00,0.000,2564,0.000,0.054,2524,932,3243,3225,3261,0,0,0,0,0,0,15.28,15.01,15.28
$GC,1201,-0.61,-116.8,2524,932,3227,3260,253.1,-15.4,148,1205,0.00,2.30,0.00,0.000,3078,0.000,0.054,2516,2341,3243,3227,3260,0,0,0,0,0,0,15.12,15.02,15.14
$GC,1477,-0.61,-116.8,2516,2342,3227,3260,292.5,-14.1,155,1481,0.00,2.28,0.00,0.000,2564,0.000,0.052,2519,938,3244,3228,3260,0,0,0,0,0,0,15.32,15.06,15.33
$GC,1516,-0.61,-116.8,2520,938,3228,3260,297.8,-14.0,156,1521,0.03,2.30,0.00,0.000,3078,0.549,0.055,2521,2356,3243,3228,3259,0,0,0,0,0,0,14.88,15.05,15.09
$GC,1793,-0.61,-116.8,2521,2356,3228,3258,334.3,-13.0,163,1797,0.00,2.30,0.00,0.000,2564,0.000,0.053,2521,938,3242,3227,3258,0,0,0,0,0,0,15.35,15.07,15.35
$GC,1811,-0.61,-116.8,2521,935,3228,3258,334.3,-13.0,163,1817,0.00,2.35,0.00,0.000,3078,0.000,0.056,2513,2351,3243,3228,3258,0,0,0,0,0,0,15.10,15.05,15.13
$GC,2074,-0.61,-116.8,2513,2352,3228,3255,371.6,-13.4,170,2075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2513,2352,3242,3228,3256,0,0,0,0,0,0,15.35,15.36,15.36
$GC,2314,-0.61,-116.8,2513,2352,3228,3252,403.0,-13.1,176,2318,0.00,2.30,0.00,0.000,2564,0.000,0.056,2513,939,3240,3228,3252,0,0,0,0,0,0,15.38,15.10,15.38
$GC,2338,-0.61,-116.8,2513,938,3228,3252,403.0,-13.1,176,2343,0.08,2.33,0.00,0.000,3078,0.350,0.057,2530,2361,3240,3228,3252,0,0,0,0,0,0,14.92,15.09,15.13
$GC,2590,-0.61,-116.8,2529,2362,3228,3250,435.4,-11.2,183,2596,0.00,2.30,0.00,0.000,516,0.000,0.055,2530,942,3239,3228,3250,0,0,0,0,0,0,15.37,15.11,15.38
$GC,2613,-0.61,-116.8,2530,940,3227,3250,435.4,-11.2,183,2617,0.00,2.35,0.00,0.000,3078,0.000,0.058,2521,2347,3239,3228,3250,0,0,0,0,0,0,15.22,15.07,15.23
$GC,2870,-0.61,-116.8,2521,2347,3228,3244,466.7,-10.9,190,2874,0.00,2.30,0.00,0.000,2564,0.000,0.057,2521,942,3236,3228,3245,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2899,-0.61,-116.8,2521,942,3228,3245,466.7,-10.9,190,2907,0.05,2.33,0.00,0.000,3078,0.393,0.060,2528,2354,3236,3228,3245,0,0,0,0,0,0,14.92,15.10,15.14
$GC,3145,-0.61,-116.8,2526,2355,3228,3242,493.4,-9.5,197,3150,0.00,2.30,0.00,0.000,260,0.000,0.073,2519,3762,3234,3227,3242,0,0,0,0,0,0,15.38,15.09,15.39
$GC,3174,-0.61,-116.8,2520,3762,3227,3242,493.4,-9.5,197,3179,0.00,2.30,0.00,0.000,3078,0.000,0.047,2519,2350,3235,3228,3242,0,0,0,0,0,0,15.14,15.09,15.16
$GC,3426,-0.61,-116.8,2519,2346,3228,3237,524.0,-11.3,204,3431,0.00,2.30,0.00,0.000,2564,0.000,0.061,2519,943,3232,3227,3238,0,0,0,0,0,0,15.39,15.10,15.40
$GC,3490,-0.61,-116.8,2519,943,3227,3238,528.2,-11.6,205,3495,0.03,2.38,0.00,0.000,3078,0.412,0.062,2518,2355,3231,3226,3236,0,0,0,0,0,0,14.88,15.07,15.16
$GC,3742,-0.61,-116.8,2518,2355,3226,3234,559.4,-11.1,212,3746,0.00,2.33,0.00,0.000,2308,0.000,0.075,2510,3756,3230,3227,3234,0,0,0,0,0,0,15.38,15.09,15.38
$GC,3761,-0.61,-116.8,2509,3756,3225,3235,559.4,-11.1,212,3766,0.05,2.25,0.00,0.000,3078,0.385,0.047,2528,2346,3230,3225,3235,0,0,0,0,0,0,14.91,15.11,15.14
$GC,4018,-0.61,-116.8,2528,2342,3225,3230,587.1,-10.0,219,4022,0.00,2.28,0.00,0.000,516,0.000,0.062,2528,937,3227,3225,3230,0,0,0,0,0,0,15.38,15.09,15.39
$GC,4087,-0.61,-116.8,2528,936,3224,3231,591.4,-10.1,220,4091,0.00,2.38,0.00,0.000,3078,0.000,0.063,2520,2346,3227,3224,3230,0,0,0,0,0,0,15.22,15.06,15.23
$STATE,4178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4178,begin apogee
$GC,4182,-0.14,0.0,2520,2100,3223,3229,603.5,-10.2,223,4283,0.45,0.00,98.20,1.860,10246,0.256,0.000,2683,2098,2760,2831,2689,0,0,0,0,0,0,14.91,14.42,13.78
$STATE,4284,end apogee,CONTROL_FINISHED_OK
$STATE,4284,begin climb
$GC,4285,0.61,116.8,2683,2098,2830,2688,605.5,0.0,225,4394,0.60,0.00,105.62,1.786,10246,0.145,0.000,2924,2098,2281,2369,2194,0,0,0,0,0,0,14.40,14.26,13.66
$GC,4619,0.61,116.8,2923,2098,2360,2187,555.0,18.5,234,4623,0.00,2.25,0.00,0.000,516,0.000,0.063,2934,752,2273,2360,2187,0,0,0,0,0,0,15.00,14.76,15.00
$GC,4663,0.61,116.8,2934,751,2355,2187,547.7,18.4,235,4667,0.00,2.38,0.00,0.000,5126,0.000,0.058,2934,2135,2271,2355,2187,0,0,0,0,0,0,14.82,14.77,14.84
$GC,4940,0.61,116.8,2934,2136,2355,2185,499.4,17.0,242,4941,0.00,0.00,0.00,0.000,4102,0.000,0.000,2934,2137,2270,2355,2185,0,0,0,0,0,0,15.16,15.16,15.16
$GC,5180,0.61,116.8,2934,2136,2355,2184,458.8,16.7,248,5185,0.00,2.35,0.00,0.000,4356,0.000,0.073,2934,3543,2269,2355,2184,0,0,0,0,0,0,15.22,14.95,15.23
$GC,5234,0.61,116.8,2934,3543,2354,2184,451.6,16.8,249,5239,0.05,2.30,0.00,0.000,5126,0.390,0.051,2931,2166,2269,2354,2184,0,0,0,0,0,0,14.73,14.95,15.05
$GC,5501,0.61,116.8,2930,2164,2355,2181,405.8,16.1,256,5505,0.00,2.40,0.00,0.000,4612,0.000,0.067,2940,713,2268,2355,2182,0,0,0,0,0,0,15.26,14.99,15.27
$GC,5550,0.61,116.8,2940,713,2349,2181,400.3,15.8,257,5556,0.05,2.40,0.00,0.000,5126,0.445,0.060,2926,2128,2265,2349,2181,0,0,0,0,0,0,14.78,14.97,15.05
$GC,5817,0.61,116.8,2926,2129,2348,2181,359.7,14.1,264,5819,0.00,0.00,0.00,0.000,4102,0.000,0.000,2926,2129,2265,2349,2181,0,0,0,0,0,0,15.29,15.29,15.29
$GC,6058,0.61,116.8,2926,2129,2348,2180,328.3,12.9,270,6063,0.00,2.35,0.00,0.000,4356,0.000,0.072,2926,3548,2264,2349,2180,0,0,0,0,0,0,15.30,15.02,15.30
$GC,6100,0.61,116.8,2926,3547,2348,2181,322.2,13.6,271,6105,0.00,2.35,0.00,0.000,5126,0.000,0.051,2935,2132,2265,2349,2181,0,0,0,0,0,0,15.07,15.02,15.09
$GC,6378,0.61,116.8,2935,2130,2348,2180,283.3,13.7,278,6382,0.00,2.33,0.00,0.000,4612,0.000,0.064,2946,713,2264,2349,2180,0,0,0,0,0,0,15.32,15.04,15.33
$GC,6496,0.61,116.8,2946,712,2343,2180,269.2,12.3,281,6502,0.05,2.35,0.00,0.000,5126,0.374,0.061,2930,2141,2261,2343,2180,0,0,0,0,0,0,14.80,15.03,14.97
$GC,6774,0.61,116.8,2929,2142,2343,2180,239.4,10.4,288,6778,0.00,2.30,0.00,0.000,4356,0.000,0.070,2930,3541,2261,2343,2180,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6823,0.61,116.8,2930,3540,2343,2181,235.1,10.1,289,6828,0.05,2.35,0.00,0.000,5126,0.405,0.050,2925,2126,2262,2343,2181,0,0,0,0,0,0,14.76,15.04,15.11
$GC,7095,0.61,116.8,2924,2124,2343,2181,210.9,8.3,296,7099,0.00,2.30,0.00,0.000,516,0.000,0.063,2934,721,2262,2343,2181,0,0,0,0,0,0,15.33,15.06,15.34
$GC,7239,0.61,117.5,2933,720,2341,2180,201.6,8.0,299,7243,0.00,2.33,0.00,0.000,5126,0.000,0.057,2934,2138,2260,2341,2180,0,0,0,0,0,0,15.17,15.06,15.19
$GC,7492,0.62,122.4,2934,2139,2341,2180,179.0,7.8,324,7493,0.00,0.00,0.00,0.000,4102,0.000,0.000,2934,2139,2260,2341,2180,0,0,0,0,0,0,15.32,15.32,15.32
$GC,7731,0.65,143.2,2934,2139,2341,2180,162.3,7.0,348,7753,0.00,0.00,19.50,1.277,8198,0.000,0.000,2934,2139,2174,2262,2086,0,0,0,0,0,0,15.30,14.95,14.39
$GC,7996,0.65,143.2,2934,2139,2260,2084,135.1,10.3,387,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2139,2171,2259,2084,0,0,0,0,0,0,15.18,15.19,15.19
$GC,8251,0.65,143.2,2934,2139,2260,2084,109.5,9.7,436,8258,0.00,2.38,0.00,0.000,260,0.000,0.070,2934,3534,2172,2260,2084,0,0,0,0,0,0,15.18,14.89,15.19
$GC,8301,0.65,143.2,2934,3533,2260,2084,104.3,10.9,445,8308,0.00,2.30,0.00,0.000,5126,0.000,0.047,2945,2125,2171,2259,2084,0,0,0,0,0,0,15.04,14.94,15.05
$GC,8558,0.65,143.2,2944,2122,2259,2084,78.2,9.6,494,8567,0.00,2.42,0.00,0.000,4356,0.000,0.067,2945,3534,2172,2259,2085,0,0,0,0,0,0,15.19,14.86,15.19
$GC,8615,0.65,143.2,2944,3535,2259,2085,71.6,11.6,504,8623,0.03,2.35,0.00,0.000,5126,0.277,0.046,2934,2121,2173,2260,2086,0,0,0,0,0,0,14.71,14.91,14.95
$GC,8875,0.76,237.4,2933,2119,2260,2086,52.9,3.7,553,8954,0.05,0.00,73.40,1.065,10246,0.273,0.000,3018,2119,1789,1871,1708,0,0,0,0,0,0,14.86,14.59,14.14
$STATE,9184,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$FINISH,0.3,1.023042
$STATE,9197,end surface coast,CONTROL_FINISHED_OK
$STATE,9197,begin surface
$SM_CCo,9210,73.00,0.187,0,0,1126,400.08
$SM_GC,1.21,6.70,0.40,73.00,0.064,0.065,0.187,164,2368,1126,-7.85,-0.88,400.08,0,0,0,0,0,0,14.84,14.81,14.66
$IRIDIUM_FIX,2136.49,-15535.86,300721,012450
$TT8_MAMPS,0.02247,0.283122
$HUMID,48.03
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.66,18.543
$10V_AH,13.53,0.000
$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,16.225,89.175,296.725,73.000,0.000,26.144,49.503,153.891,0.000,0.000,16.709,1698.519,5582.999,474.306,1792.560,72.287,0.000,1168.651,0.000,1518.348,0.000,0.552,0.000
$DEVICE_MAMPS,548.505,74.970,1860.480,186.660,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,409.936,353.567,657.791,575.760,692.035,0.000,0.000,0.000,0.000,0.000
$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,54043,610
$CAP_FILE_SIZE,111333,0
$CFSIZE,1023623168,1016102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.121,216.21,1
$GPS,300721,040531,2144.544,-15535.190,16,0.9,33,9.9,0.0,187.1,10,8.6