version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 60
start: 7 30 121 12 24 59
data:
$ID,626
$MISSION,3
$DIVE,60
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,300721,121901,2142.5952,-15534.0996,16,0.8,39,9.9,0.0,234.4,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.1
$GPS2,300721,122434,2142.5811,-15534.1533,6,0.8,20,9.9,0.8,266.0,10,9.0
$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,113.0,14132,-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,14,-0.61,-116.8,125,2379,1148,1089,0.0,0.0,0,81,0.00,0.00,-63.95,0.000,16386,0.000,0.000,125,2380,3193,3156,3230,0,0,0,0,0,0,15.03,28.83,15.04
$GC,83,-0.61,-116.8,124,2380,3157,3229,4.1,-9.0,9,98,7.97,2.35,-0.73,0.000,18948,0.430,0.059,2526,917,3237,3207,3268,0,0,0,0,0,0,14.49,14.13,14.69
$GC,106,-0.61,-116.8,2525,918,3211,3265,15.6,-37.0,12,113,0.00,2.40,0.00,0.000,3078,0.000,0.049,2517,2356,3238,3214,3263,0,0,0,0,0,0,14.90,14.80,14.91
$GC,366,-0.61,-116.8,2517,2357,3218,3260,92.8,-26.5,61,372,0.00,2.30,0.00,0.000,2308,0.000,0.060,2507,3754,3239,3219,3260,0,0,0,0,0,0,15.10,14.85,15.11
$GC,451,-0.61,-116.8,2506,3754,3219,3261,111.7,-20.2,77,459,0.05,2.30,0.00,0.000,3078,0.401,0.046,2524,2347,3239,3219,3260,0,0,0,0,0,0,14.69,14.88,14.91
$GC,705,-0.61,-116.8,2524,2343,3223,3258,163.9,-19.3,119,709,0.00,2.30,0.00,0.000,2564,0.000,0.055,2525,936,3240,3223,3258,0,0,0,0,0,0,15.17,14.92,15.18
$GC,757,-0.61,-116.8,2525,935,3224,3257,173.4,-18.2,124,766,0.00,2.33,0.00,0.000,3078,0.000,0.053,2518,2351,3241,3225,3257,0,0,0,0,0,0,15.03,14.92,15.04
$GC,1007,-0.61,-116.8,2517,2351,3225,3258,213.6,-16.2,143,1008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2517,2351,3241,3225,3258,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1246,-0.61,-116.8,2517,2351,3225,3258,253.8,-16.5,149,1251,0.00,2.30,0.00,0.000,2564,0.000,0.052,2517,941,3240,3223,3258,0,0,0,0,0,0,15.28,15.02,15.28
$GC,1305,-0.61,-116.8,2517,940,3226,3258,260.0,-15.9,150,1311,0.05,2.35,0.00,0.000,3078,0.335,0.054,2535,2350,3242,3226,3258,0,0,0,0,0,0,14.84,15.00,15.06
$GC,1568,-0.61,-116.8,2535,2349,3227,3257,297.9,-13.2,157,1572,0.00,2.30,0.00,0.000,4356,0.000,0.067,2526,3755,3241,3226,3257,0,0,0,0,0,0,15.32,15.04,15.32
$GC,1604,-0.61,-116.8,2526,3754,3227,3257,302.3,-12.8,158,1610,0.00,2.25,0.00,0.000,1030,0.000,0.042,2526,2340,3242,3227,3257,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1883,-0.61,-116.8,2526,2336,3227,3254,337.9,-12.6,165,1887,0.00,2.25,0.00,0.000,2564,0.000,0.055,2526,948,3240,3227,3254,0,0,0,0,0,0,15.34,15.07,15.34
$GC,1973,-0.61,-116.8,2526,948,3227,3254,346.7,-12.3,167,1977,0.00,2.30,0.00,0.000,3078,0.000,0.057,2516,2351,3240,3227,3254,0,0,0,0,0,0,15.17,15.07,15.19
$GC,2234,-0.61,-116.8,2515,2351,3227,3252,380.9,-12.7,174,2235,0.00,0.00,0.00,0.000,2054,0.000,0.000,2516,2352,3239,3227,3252,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2475,-0.61,-116.8,2515,2352,3227,3250,410.7,-12.2,180,2480,0.00,2.30,0.00,0.000,2564,0.000,0.055,2516,948,3238,3227,3250,0,0,0,0,0,0,15.36,15.09,15.37
$GC,2527,-0.61,-116.8,2515,947,3227,3249,415.7,-12.2,181,2533,0.05,2.35,0.00,0.000,3078,0.324,0.058,2534,2350,3238,3227,3249,0,0,0,0,0,0,14.90,15.05,15.13
$GC,2794,-0.61,-116.8,2533,2350,3225,3245,446.8,-10.8,188,2795,0.00,0.00,0.00,0.000,4102,0.000,0.000,2533,2350,3236,3228,3245,0,0,0,0,0,0,15.37,15.38,15.38
$GC,3035,-0.61,-116.8,2533,2350,3226,3242,471.6,-10.2,194,3040,0.00,2.30,0.00,0.000,4612,0.000,0.057,2534,950,3234,3227,3242,0,0,0,0,0,0,15.38,15.10,15.38
$GC,3062,-0.61,-116.8,2533,949,3227,3242,471.6,-10.2,194,3066,0.00,2.35,0.00,0.000,1030,0.000,0.060,2525,2343,3234,3226,3242,0,0,0,0,0,0,15.12,15.07,15.15
$GC,3314,-0.61,-116.8,2525,2344,3226,3238,501.6,-10.9,201,3315,0.00,0.00,0.00,0.000,2054,0.000,0.000,2525,2344,3232,3227,3238,0,0,0,0,0,0,15.38,15.38,15.38
$GC,3555,-0.61,-116.8,2525,2344,3226,3236,528.3,-11.1,207,3556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2524,2344,3231,3226,3236,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3794,-0.61,-116.8,2525,2344,3226,3231,555.1,-11.2,213,3798,0.00,2.30,0.00,0.000,2564,0.000,0.059,2525,950,3228,3226,3231,0,0,0,0,0,0,15.39,15.10,15.39
$GC,3830,-0.61,-116.8,2525,949,3224,3233,559.0,-11.2,214,3834,0.00,2.35,0.00,0.000,3078,0.000,0.062,2514,2361,3228,3224,3233,0,0,0,0,0,0,15.22,15.09,15.23
$GC,4106,-0.61,-116.8,2514,2362,3224,3228,589.8,-11.1,221,4107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2514,2362,3226,3224,3228,0,0,0,0,0,0,15.39,15.39,15.39
$STATE,4226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4226,begin apogee
$GC,4230,-0.14,0.0,2515,2104,3224,3227,602.6,-10.7,224,4331,0.45,0.00,97.75,1.861,10246,0.260,0.000,2676,2101,2759,2830,2688,0,0,0,0,0,0,14.91,14.43,13.78
$STATE,4332,end apogee,CONTROL_FINISHED_OK
$STATE,4332,begin climb
$GC,4333,0.61,116.8,2677,2102,2831,2688,604.7,0.0,226,4442,0.62,0.00,105.72,1.796,10246,0.155,0.000,2923,2102,2282,2369,2195,0,0,0,0,0,0,14.39,14.26,13.63
$GC,4666,0.61,116.8,2923,2101,2361,2187,557.7,17.0,235,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2101,2274,2361,2187,0,0,0,0,0,0,14.99,15.00,15.00
$GC,4906,0.61,116.8,2923,2101,2359,2185,518.6,16.4,241,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2101,2272,2359,2185,0,0,0,0,0,0,15.12,15.14,15.13
$GC,5145,0.61,116.8,2923,2101,2358,2185,480.4,16.0,247,5150,0.00,2.45,0.00,0.000,260,0.000,0.073,2923,3549,2271,2358,2184,0,0,0,0,0,0,15.19,14.92,15.21
$GC,5190,0.61,116.8,2923,3549,2358,2184,473.4,16.3,248,5194,0.00,2.30,0.00,0.000,5126,0.000,0.050,2934,2152,2271,2358,2185,0,0,0,0,0,0,15.05,14.95,15.07
$GC,5462,0.61,116.8,2934,2150,2358,2183,426.9,16.9,255,5463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2934,2150,2270,2358,2183,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5702,0.61,116.8,2934,2150,2357,2182,389.0,15.9,261,5706,0.00,2.38,0.00,0.000,4612,0.000,0.067,2946,719,2270,2358,2182,0,0,0,0,0,0,15.28,15.00,15.28
$GC,5751,0.61,116.8,2946,720,2351,2182,383.5,15.8,262,5756,0.08,2.35,0.00,0.000,5126,0.396,0.059,2923,2132,2266,2351,2182,0,0,0,0,0,0,14.78,15.01,15.05
$GC,6013,0.61,116.8,2923,2134,2352,2181,345.7,13.5,269,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2134,2266,2351,2182,0,0,0,0,0,0,15.29,15.30,15.30
$GC,6253,0.61,116.8,2923,2134,2351,2181,313.9,13.1,275,6259,0.00,2.35,0.00,0.000,260,0.000,0.070,2923,3549,2266,2352,2181,0,0,0,0,0,0,15.30,15.02,15.31
$GC,6271,0.61,116.8,2923,3549,2351,2182,313.9,13.1,275,6275,0.00,2.33,0.00,0.000,5126,0.000,0.051,2932,2130,2266,2351,2182,0,0,0,0,0,0,15.15,15.04,15.16
$GC,6528,0.61,116.8,2932,2127,2351,2181,279.0,12.1,282,6532,0.00,2.38,0.00,0.000,4356,0.000,0.070,2932,3540,2266,2351,2181,0,0,0,0,0,0,15.33,15.03,15.33
$GC,6582,0.61,116.8,2932,3540,2351,2181,274.5,11.9,283,6587,0.08,2.33,0.00,0.000,5126,0.413,0.050,2921,2122,2266,2351,2181,0,0,0,0,0,0,14.81,15.06,15.09
$GC,6838,0.61,116.8,2920,2119,2351,2181,248.6,9.3,290,6843,0.00,2.30,0.00,0.000,516,0.000,0.063,2928,721,2266,2352,2181,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6987,0.61,116.8,2929,721,2347,2181,237.6,9.3,293,6996,0.00,2.38,0.00,0.000,5126,0.000,0.057,2929,2128,2264,2347,2181,0,0,0,0,0,0,15.07,15.02,15.10
$GC,7234,0.61,116.8,2929,2128,2347,2181,209.8,10.4,300,7239,0.00,2.35,0.00,0.000,4356,0.000,0.070,2929,3546,2264,2347,2181,0,0,0,0,0,0,15.34,15.04,15.34
$GC,7313,0.61,116.8,2929,3546,2347,2184,201.4,10.5,302,7318,0.05,2.38,0.00,0.000,5126,0.392,0.050,2915,2122,2265,2347,2184,0,0,0,0,0,0,14.81,15.02,15.09
$GC,7560,0.61,116.8,2915,2119,2347,2183,179.7,8.6,324,7564,0.00,2.30,0.00,0.000,2564,0.000,0.061,2923,714,2265,2347,2184,0,0,0,0,0,0,15.32,15.03,15.32
$GC,7721,0.62,121.9,2923,714,2344,2183,166.7,7.8,339,7729,0.00,2.40,0.00,0.000,1030,0.000,0.055,2923,2139,2263,2344,2183,0,0,0,0,0,0,14.97,14.92,14.99
$GC,7970,0.67,158.9,2923,2139,2345,2183,150.6,6.3,364,8011,0.00,2.33,32.53,1.247,10500,0.000,0.069,2924,3539,2108,2197,2020,0,0,0,0,0,0,15.29,14.83,14.32
$GC,8039,0.67,158.9,2923,3539,2197,2020,144.6,10.9,375,8046,0.00,2.33,0.00,0.000,3078,0.000,0.049,2934,2130,2109,2197,2021,0,0,0,0,0,0,14.95,14.86,14.96
$GC,8295,0.67,158.9,2934,2128,2197,2018,115.5,11.6,424,8303,0.00,2.40,0.00,0.000,2564,0.000,0.061,2946,703,2107,2197,2018,0,0,0,0,0,0,15.13,14.86,15.13
$GC,8329,0.67,158.9,2946,703,2193,2017,111.6,10.9,430,8337,0.00,2.40,0.00,0.000,5126,0.000,0.055,2946,2131,2104,2192,2017,0,0,0,0,0,0,14.98,14.88,15.00
$GC,8587,0.67,158.9,2946,2131,2192,2017,83.4,10.3,479,8595,0.00,2.35,0.00,0.000,4356,0.000,0.067,2946,3538,2105,2193,2018,0,0,0,0,0,0,15.15,14.88,15.15
$GC,8619,0.67,158.9,2946,3538,2192,2020,80.1,11.3,484,8627,0.05,2.38,0.00,0.000,5126,0.454,0.046,2942,2123,2106,2192,2020,0,0,0,0,0,0,14.68,14.89,14.92
$GC,8881,0.69,177.0,2941,2121,2192,2020,53.6,7.2,533,8904,0.00,2.42,15.15,1.056,8452,0.000,0.064,2942,3548,2037,2125,1949,0,0,0,0,0,0,15.13,14.71,14.30
$GC,9057,0.69,177.0,2941,3548,2125,1948,39.7,8.7,565,9065,0.00,2.38,0.00,0.000,5126,0.000,0.046,2951,2132,2037,2126,1949,0,0,0,0,0,0,14.95,14.83,14.96
$GC,9318,0.69,177.0,2951,2131,2126,1949,12.2,11.1,614,9325,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,2131,2036,2125,1948,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,0.3,1.002710
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9441,101.00,0.198,0,0,1126,400.08
$SM_GC,1.21,6.57,0.38,101.00,0.079,0.050,0.198,171,2415,1126,-7.85,-0.71,400.08,0,0,0,0,0,0,14.92,14.94,14.70
$IRIDIUM_FIX,2131.85,-15535.86,300721,122001
$TT8_MAMPS,0.020972,0.340046
$HUMID,46.61
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.63,19.377
$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,16.025,94.350,251.150,101.000,0.000,25.844,47.615,155.951,0.000,0.000,21.396,1750.585,5762.952,493.522,1804.205,74.109,0.000,1175.887,0.000,1526.431,0.000,0.553,0.000
$DEVICE_MAMPS,453.645,72.675,1861.245,198.135,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,426.266,362.574,675.449,615.433,738.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339212
$DATA_FILE_SIZE,57360,634
$CAP_FILE_SIZE,105503,0
$CFSIZE,1023623168,1015758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,215.75,1
$GPS,300721,150502,2141.641,-15533.438,16,0.8,29,9.9,0.5,198.8,9,9.7