version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 58
start: 7 30 121 6 57 47
data:
$ID,626
$MISSION,3
$DIVE,58
$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,42
$R_STBD_OVSHOOT,32
$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
$GPS1,300721,065219,2143.6138,-15534.8350,14,1.0,37,9.9,0.5,222.1,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.1
$GPS2,300721,065722,2143.5881,-15534.8887,6,1.0,16,9.9,0.0,156.5,8,9.4
$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,98.6,16382,-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,-116.8,125,2339,1148,1089,0.0,0.0,0,82,0.00,0.00,-64.57,0.000,16386,0.000,0.000,124,2339,3233,3196,3271,0,0,0,0,0,0,15.04,28.83,15.05
$GC,84,-0.61,-116.8,124,2339,3196,3271,4.1,-9.0,9,98,8.00,2.33,0.00,0.000,2820,0.434,0.044,2508,3776,3234,3200,3268,0,0,0,0,0,0,14.50,14.77,14.70
$GC,336,-0.61,-116.8,2507,3777,3210,3261,72.1,-18.5,56,344,0.05,2.38,0.00,0.000,3078,0.397,0.046,2526,2350,3236,3214,3258,0,0,0,0,0,0,14.69,14.83,14.90
$GC,592,-0.61,-116.8,2525,2347,3218,3256,126.6,-20.1,105,599,0.00,2.30,0.00,0.000,260,0.000,0.058,2517,3759,3237,3218,3256,0,0,0,0,0,0,15.15,14.90,15.16
$GC,809,-0.61,-116.8,2517,3759,3218,3257,166.2,-17.1,138,814,0.00,2.28,0.00,0.000,3078,0.000,0.044,2518,2343,3237,3218,3257,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1090,-0.61,-116.8,2518,2339,3219,3256,214.8,-16.7,160,1094,0.00,2.28,0.00,0.000,2564,0.000,0.054,2518,935,3237,3219,3256,0,0,0,0,0,0,15.26,14.99,15.26
$GC,1159,-0.61,-116.8,2518,933,3221,3254,220.7,-16.7,161,1167,0.05,2.30,0.00,0.000,3078,0.409,0.053,2525,2351,3238,3222,3254,0,0,0,0,0,0,14.81,15.00,15.03
$GC,1406,-0.61,-116.8,2526,2351,3222,3253,261.8,-14.8,168,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2351,3237,3222,3253,0,0,0,0,0,0,15.29,15.30,15.30
$GC,1646,-0.61,-116.8,2526,2351,3222,3253,294.4,-13.4,174,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2351,3237,3222,3252,0,0,0,0,0,0,15.32,15.33,15.33
$GC,1886,-0.61,-116.8,2526,2351,3221,3252,324.4,-12.3,180,1890,0.00,2.28,0.00,0.000,516,0.000,0.052,2526,934,3237,3222,3253,0,0,0,0,0,0,15.34,15.08,15.35
$GC,1905,-0.61,-116.8,2526,935,3222,3252,324.4,-12.3,180,1910,0.00,2.30,0.00,0.000,3078,0.000,0.054,2518,2353,3236,3221,3252,0,0,0,0,0,0,15.19,15.08,15.20
$GC,2167,-0.61,-116.8,2517,2353,3221,3252,362.0,-13.6,187,2168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2518,2353,3236,3222,3251,0,0,0,0,0,0,15.36,15.37,15.36
$GC,2407,-0.61,-116.8,2517,2353,3222,3250,392.2,-12.5,193,2411,0.00,2.30,0.00,0.000,2564,0.000,0.055,2518,943,3236,3222,3250,0,0,0,0,0,0,15.38,15.10,15.38
$GC,2448,-0.61,-116.8,2518,942,3222,3250,397.4,-12.5,194,2453,0.05,2.30,0.00,0.000,3078,0.402,0.057,2525,2348,3235,3221,3249,0,0,0,0,0,0,14.90,15.10,15.14
$GC,2730,-0.61,-116.8,2525,2349,3222,3245,428.8,-11.0,201,2734,0.00,2.28,0.00,0.000,516,0.000,0.054,2526,941,3233,3222,3245,0,0,0,0,0,0,15.37,15.11,15.38
$GC,2774,-0.61,-116.8,2525,940,3222,3245,432.8,-10.9,202,2778,0.00,2.35,0.00,0.000,3078,0.000,0.058,2517,2348,3233,3222,3245,0,0,0,0,0,0,15.13,15.07,15.15
$GC,3046,-0.61,-116.8,2517,2349,3221,3241,463.5,-11.1,209,3050,0.00,2.30,0.00,0.000,2564,0.000,0.057,2517,945,3231,3221,3241,0,0,0,0,0,0,15.38,15.11,15.38
$GC,3075,-0.61,-116.8,2517,945,3221,3242,463.5,-11.1,209,3083,0.05,2.33,0.00,0.000,3078,0.405,0.060,2524,2360,3231,3222,3241,0,0,0,0,0,0,14.91,15.10,15.14
$GC,3321,-0.61,-116.8,2524,2360,3221,3237,492.5,-10.4,216,3323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2524,2360,3229,3221,3237,0,0,0,0,0,0,15.39,15.39,15.39
$GC,3561,-0.61,-116.8,2524,2360,3220,3235,517.5,-10.3,222,3566,0.00,2.35,0.00,0.000,2564,0.000,0.057,2524,939,3228,3221,3235,0,0,0,0,0,0,15.39,15.11,15.40
$GC,3616,-0.61,-116.8,2524,938,3220,3235,521.5,-10.4,223,3620,0.00,2.35,0.00,0.000,3078,0.000,0.060,2515,2358,3227,3220,3234,0,0,0,0,0,0,15.22,15.11,15.23
$GC,3872,-0.61,-116.8,2515,2358,3220,3229,552.5,-11.5,230,3876,0.00,2.33,0.00,0.000,2564,0.000,0.058,2515,946,3224,3220,3229,0,0,0,0,0,0,15.39,15.11,15.39
$GC,3891,-0.61,-116.8,2515,946,3220,3230,552.5,-11.5,230,3896,0.05,2.35,0.00,0.000,3078,0.324,0.061,2534,2341,3225,3220,3230,0,0,0,0,0,0,14.91,15.07,15.14
$GC,4148,-0.61,-116.8,2533,2342,3220,3226,579.4,-9.3,237,4152,0.00,2.33,0.00,0.000,4612,0.000,0.059,2534,939,3223,3220,3226,0,0,0,0,0,0,15.39,15.11,15.39
$GC,4172,-0.61,-116.8,2533,939,3219,3227,579.4,-9.3,237,4177,0.00,2.40,0.00,0.000,3078,0.000,0.063,2525,2354,3222,3219,3226,0,0,0,0,0,0,15.23,15.06,15.23
$STATE,4383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4383,begin apogee
$GC,4387,-0.14,0.0,2524,2095,3219,3224,602.6,-9.9,243,4488,0.43,0.05,97.03,1.857,10246,0.259,0.198,2678,2137,2759,2831,2688,0,0,0,0,0,0,14.91,14.37,13.78
$STATE,4489,end apogee,CONTROL_FINISHED_OK
$STATE,4489,begin climb
$GC,4490,0.61,116.8,2678,2137,2831,2689,604.7,0.0,245,4599,0.60,0.00,105.12,1.795,10758,0.154,0.000,2921,2137,2281,2368,2194,0,0,0,0,0,0,14.40,14.26,13.64
$GC,4824,0.61,116.8,2921,2137,2362,2187,558.6,17.0,254,4829,0.00,2.38,0.00,0.000,260,0.000,0.073,2921,3532,2274,2362,2187,0,0,0,0,0,0,15.00,14.74,15.00
$GC,4838,0.61,116.8,2921,3532,2361,2187,558.6,17.0,254,4843,0.00,2.33,0.00,0.000,5126,0.000,0.051,2932,2165,2274,2362,2187,0,0,0,0,0,0,14.81,14.76,14.82
$GC,5106,0.61,116.8,2932,2162,2361,2185,512.4,16.1,261,5112,0.00,2.42,0.00,0.000,4612,0.000,0.067,2944,712,2273,2361,2185,0,0,0,0,0,0,15.14,14.88,15.15
$GC,5163,0.61,116.8,2944,711,2355,2185,505.9,16.1,262,5168,0.08,2.42,0.00,0.000,5126,0.389,0.059,2921,2154,2270,2354,2186,0,0,0,0,0,0,14.71,14.90,14.95
$GC,5425,0.61,116.8,2921,2155,2355,2185,463.6,14.8,269,5429,0.00,2.33,0.00,0.000,260,0.000,0.071,2922,3549,2270,2355,2185,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5454,0.61,116.8,2921,3549,2354,2186,463.6,14.8,269,5458,0.00,2.38,0.00,0.000,5126,0.000,0.050,2930,2134,2270,2354,2186,0,0,0,0,0,0,15.00,14.95,15.02
$GC,5706,0.61,116.8,2930,2131,2354,2185,420.4,15.3,276,5710,0.00,2.35,0.00,0.000,4612,0.000,0.065,2941,718,2269,2354,2185,0,0,0,0,0,0,15.26,14.98,15.27
$GC,5730,0.61,116.8,2941,718,2351,2185,420.4,15.3,276,5735,0.05,2.38,0.00,0.000,5126,0.442,0.058,2927,2148,2268,2351,2185,0,0,0,0,0,0,14.78,14.99,15.04
$GC,5982,0.61,116.8,2927,2149,2351,2185,379.8,14.6,283,5986,0.00,2.40,0.00,0.000,4612,0.000,0.063,2936,712,2268,2351,2185,0,0,0,0,0,0,15.28,15.01,15.29
$GC,6041,0.61,116.8,2936,711,2349,2184,374.5,14.6,284,6045,0.00,2.40,0.00,0.000,5126,0.000,0.058,2936,2158,2267,2349,2185,0,0,0,0,0,0,15.13,15.01,15.14
$GC,6298,0.61,116.8,2936,2158,2349,2184,334.2,14.1,291,6302,0.00,2.40,0.00,0.000,4612,0.000,0.062,2947,717,2267,2349,2185,0,0,0,0,0,0,15.30,15.02,15.31
$GC,6312,0.61,116.8,2947,716,2349,2185,334.2,14.1,291,6317,0.05,2.40,0.00,0.000,5126,0.381,0.059,2922,2134,2267,2349,2185,0,0,0,0,0,0,14.81,15.00,15.08
$GC,6579,0.61,116.8,2922,2135,2348,2183,298.7,12.3,298,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2135,2266,2349,2184,0,0,0,0,0,0,15.31,15.32,15.32
$GC,6819,0.61,116.8,2921,2135,2348,2184,272.2,10.9,304,6823,0.00,2.33,0.00,0.000,260,0.000,0.070,2922,3540,2266,2349,2184,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6918,0.61,116.8,2922,3540,2349,2185,262.1,11.5,306,6923,0.00,2.35,0.00,0.000,5126,0.000,0.050,2930,2129,2266,2348,2185,0,0,0,0,0,0,15.09,15.03,15.11
$GC,7180,0.61,116.8,2930,2126,2349,2185,232.7,9.9,313,7181,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2126,2266,2348,2185,0,0,0,0,0,0,15.34,15.34,15.34
$GC,7420,0.61,116.8,2930,2127,2349,2184,206.8,11.0,319,7424,0.00,2.38,0.00,0.000,4356,0.000,0.070,2930,3549,2267,2349,2185,0,0,0,0,0,0,15.35,15.05,15.35
$GC,7582,0.61,116.8,2930,3549,2349,2185,187.6,11.8,329,7587,0.08,2.33,0.00,0.000,5126,0.411,0.049,2919,2122,2267,2350,2185,0,0,0,0,0,0,14.80,15.07,15.09
$GC,7834,0.61,116.8,2919,2119,2349,2185,161.8,8.9,354,7838,0.00,2.30,0.00,0.000,516,0.000,0.061,2928,713,2267,2349,2185,0,0,0,0,0,0,15.31,15.03,15.32
$GC,8091,0.68,173.7,2928,712,2346,2185,144.2,5.4,387,8144,0.00,2.35,44.40,1.255,11270,0.000,0.055,2928,2138,2048,2137,1959,0,0,0,0,0,0,15.13,15.02,14.26
$GC,8392,0.68,173.7,2928,2138,2136,1956,112.4,13.1,443,8400,0.00,2.40,0.00,0.000,2564,0.000,0.060,2939,714,2046,2137,1956,0,0,0,0,0,0,15.09,14.84,15.09
$GC,8459,0.68,173.7,2939,714,2128,1956,104.1,12.6,455,8467,0.00,2.38,0.00,0.000,3078,0.000,0.055,2939,2136,2042,2128,1956,0,0,0,0,0,0,14.96,14.85,14.97
$GC,8717,0.68,173.7,2939,2136,2128,1956,70.3,12.4,504,8724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2939,2136,2042,2128,1956,0,0,0,0,0,0,15.13,15.13,15.13
$GC,8976,0.68,173.7,2939,2136,2128,1956,42.7,10.9,553,8984,0.00,2.40,0.00,0.000,2308,0.000,0.068,2939,3543,2041,2127,1956,0,0,0,0,0,0,15.12,14.83,15.13
$GC,9199,0.68,173.7,2939,3543,2128,1959,20.8,8.8,595,9208,0.00,2.35,0.00,0.000,5126,0.000,0.041,2950,2133,2043,2128,1959,0,0,0,0,0,0,14.90,14.86,14.92
$STATE,9371,end climb,SURFACE_DEPTH_REACHED
$STATE,9371,begin surface coast
$FINISH,0.1,0.999261
$STATE,9398,end surface coast,CONTROL_FINISHED_OK
$STATE,9398,begin surface
$SM_CCo,9412,103.88,0.188,0,0,1127,400.08
$SM_GC,1.16,6.53,0.38,103.88,0.070,0.064,0.188,150,2371,1127,-7.86,-0.90,400.08,0,0,0,0,0,0,14.93,14.92,14.70
$IRIDIUM_FIX,2134.17,-15533.75,300721,065323
$TT8_MAMPS,0.02247,0.281624
$HUMID,47.40
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.64,18.956
$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,16.050,99.300,246.550,103.875,0.000,28.893,42.650,137.511,0.000,0.000,17.381,1750.580,5730.405,459.485,1814.623,72.716,0.000,1161.562,0.000,1566.361,0.000,0.552,0.000
$DEVICE_MAMPS,442.170,198.135,1856.655,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,425.581,361.285,680.175,623.060,747.997,0.000,0.000,0.000,0.000,0.000
$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,57292,632
$CAP_FILE_SIZE,109708,0
$CFSIZE,1023623168,1015939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.132,261.10,1
$GPS,300721,093732,2143.253,-15534.627,13,0.8,37,9.9,0.3,267.6,9,8.7