version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 61
start: 7 30 121 15 10 49
data:
$ID,626
$MISSION,3
$DIVE,61
$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,75
$R_STBD_OVSHOOT,31
$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
$GPS1,300721,150502,2141.6414,-15533.4375,16,0.8,29,9.9,0.5,198.8,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.0
$GPS2,300721,151023,2141.6277,-15533.4590,6,0.8,20,9.9,0.5,136.8,9,9.6
$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,114.9,12004,-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,-116.8,124,2304,1148,1089,0.0,0.0,0,78,0.00,0.00,-61.03,0.000,16386,0.000,0.000,124,2304,3044,3021,3067,0,0,0,0,0,0,15.04,28.83,15.05
$GC,80,-0.61,-116.8,124,2304,3021,3068,3.2,-6.0,9,105,8.00,2.20,-3.45,0.000,18948,0.431,0.074,2527,973,3240,3218,3262,0,0,0,0,0,0,14.50,13.83,14.70
$GC,111,-0.61,-116.8,2527,972,3219,3261,16.1,-36.7,13,119,0.00,2.33,0.00,0.000,3078,0.000,0.050,2520,2345,3240,3220,3260,0,0,0,0,0,0,14.84,14.78,14.85
$GC,370,-0.61,-116.8,2519,2347,3221,3260,89.0,-21.2,62,377,0.00,2.40,0.00,0.000,2308,0.000,0.063,2509,3778,3240,3221,3260,0,0,0,0,0,0,15.11,14.84,15.11
$GC,476,-0.61,-116.8,2509,3778,3221,3260,110.8,-19.3,82,484,0.05,2.33,0.00,0.000,3078,0.317,0.048,2541,2386,3240,3221,3260,0,0,0,0,0,0,14.71,14.86,14.92
$GC,738,-0.61,-116.8,2540,2382,3224,3258,159.7,-17.5,127,742,0.00,2.38,0.00,0.000,4612,0.000,0.056,2542,935,3241,3225,3258,0,0,0,0,0,0,15.17,14.92,15.18
$GC,789,-0.61,-116.8,2542,934,3227,3258,169.2,-17.7,132,794,0.00,2.33,0.00,0.000,5126,0.000,0.055,2533,2349,3242,3227,3257,0,0,0,0,0,0,15.03,14.92,15.04
$GC,1034,-0.61,-116.8,2533,2349,3227,3258,207.7,-15.4,153,1039,0.00,2.33,0.00,0.000,4612,0.000,0.053,2533,931,3242,3227,3258,0,0,0,0,0,0,15.23,14.97,15.24
$GC,1063,-0.61,-116.8,2533,930,3226,3258,207.7,-15.4,153,1067,0.00,2.38,0.00,0.000,3078,0.000,0.053,2522,2355,3242,3227,3257,0,0,0,0,0,0,15.01,14.95,15.03
$GC,1315,-0.61,-116.8,2522,2356,3227,3258,253.0,-16.7,160,1316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2522,2356,3242,3227,3258,0,0,0,0,0,0,15.28,15.29,15.29
$GC,1555,-0.61,-116.8,2522,2356,3228,3258,288.3,-14.8,166,1560,0.00,2.33,0.00,0.000,2564,0.000,0.054,2522,935,3242,3227,3258,0,0,0,0,0,0,15.32,15.05,15.32
$GC,1620,-0.61,-116.8,2522,933,3228,3258,294.7,-15.1,167,1624,0.00,2.33,0.00,0.000,3078,0.000,0.054,2512,2355,3243,3228,3258,0,0,0,0,0,0,15.16,15.05,15.17
$GC,1872,-0.61,-116.8,2511,2357,3228,3257,334.5,-14.4,174,1873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2512,2358,3242,3228,3257,0,0,0,0,0,0,15.34,15.35,15.34
$GC,2111,-0.61,-116.8,2511,2357,3228,3255,365.8,-13.0,180,2113,0.03,0.00,0.00,0.000,2054,0.581,0.000,2521,2357,3241,3228,3255,0,0,0,0,0,0,14.99,15.17,15.13
$GC,2352,-0.61,-116.8,2521,2357,3227,3252,392.6,-10.9,186,2358,0.00,2.33,0.00,0.000,2564,0.000,0.057,2522,941,3240,3228,3252,0,0,0,0,0,0,15.37,15.09,15.37
$GC,2394,-0.61,-116.8,2521,940,3228,3252,397.1,-10.9,187,2399,0.00,2.33,0.00,0.000,3078,0.000,0.058,2512,2359,3240,3228,3252,0,0,0,0,0,0,15.20,15.09,15.21
$GC,2671,-0.61,-116.8,2512,2360,3228,3250,431.1,-12.4,194,2676,0.00,2.35,0.00,0.000,2564,0.000,0.058,2512,935,3239,3228,3250,0,0,0,0,0,0,15.38,15.09,15.38
$GC,2707,-0.61,-116.8,2512,935,3228,3250,435.8,-12.7,195,2712,0.08,2.35,0.00,0.000,3078,0.353,0.060,2528,2356,3238,3228,3249,0,0,0,0,0,0,14.91,15.09,15.14
$GC,2984,-0.61,-116.8,2528,2356,3227,3244,466.0,-10.5,202,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2356,3236,3228,3244,0,0,0,0,0,0,15.38,15.38,15.38
$GC,3224,-0.61,-116.8,2528,2356,3227,3242,492.4,-11.0,208,3230,0.00,2.33,0.00,0.000,516,0.000,0.058,2528,942,3234,3226,3242,0,0,0,0,0,0,15.38,15.11,15.38
$GC,3256,-0.61,-116.8,2528,941,3227,3242,492.4,-11.0,208,3265,0.00,2.38,0.00,0.000,3078,0.000,0.061,2519,2345,3234,3228,3241,0,0,0,0,0,0,15.22,15.07,15.23
$GC,3504,-0.61,-116.8,2519,2345,3227,3237,524.2,-11.5,215,3505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2520,2346,3232,3227,3238,0,0,0,0,0,0,15.39,15.39,15.39
$GC,3744,-0.61,-116.8,2519,2346,3227,3235,550.1,-10.6,221,3745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2519,2345,3231,3227,3235,0,0,0,0,0,0,15.39,15.40,15.39
$GC,3984,-0.61,-116.8,2519,2345,3227,3230,574.5,-10.0,227,3985,0.00,0.00,0.00,0.000,2054,0.000,0.000,2519,2345,3229,3227,3231,0,0,0,0,0,0,15.39,15.40,15.40
$GC,4224,-0.61,-116.8,2519,2345,3226,3228,597.6,-9.6,233,4225,0.00,0.00,0.00,0.000,2054,0.000,0.000,2520,2345,3227,3226,3228,0,0,0,0,0,0,15.40,15.40,15.40
$STATE,4264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4264,begin apogee
$GC,4268,-0.14,0.0,2519,2106,3226,3228,601.3,-9.5,234,4369,0.45,0.00,98.00,1.851,10246,0.264,0.000,2681,2103,2759,2831,2688,0,0,0,0,0,0,14.91,14.43,13.78
$STATE,4370,end apogee,CONTROL_FINISHED_OK
$STATE,4370,begin climb
$GC,4371,0.61,116.8,2681,2103,2830,2687,602.6,0.0,236,4480,0.62,0.00,105.45,1.787,10246,0.148,0.000,2929,2103,2281,2367,2195,0,0,0,0,0,0,14.40,14.26,13.65
$GC,4704,0.61,116.8,2929,2102,2361,2188,550.6,18.7,245,4708,0.00,2.47,0.00,0.000,4356,0.000,0.071,2930,3543,2274,2360,2188,0,0,0,0,0,0,15.00,14.74,15.00
$GC,4728,0.61,116.8,2929,3543,2360,2188,550.6,18.7,245,4733,0.05,2.33,0.00,0.000,5126,0.470,0.053,2928,2151,2274,2360,2188,0,0,0,0,0,0,14.57,14.78,14.83
$GC,4980,0.61,116.8,2927,2148,2360,2186,504.6,15.8,252,4981,0.00,0.00,0.00,0.000,4102,0.000,0.000,2928,2148,2273,2360,2186,0,0,0,0,0,0,15.14,15.15,15.15
$GC,5220,0.61,116.8,2928,2148,2360,2184,467.2,15.5,258,5221,0.00,0.00,0.00,0.000,4102,0.000,0.000,2928,2148,2272,2360,2184,0,0,0,0,0,0,15.21,15.21,15.21
$GC,5460,0.61,116.8,2928,2148,2358,2184,429.4,15.5,264,5461,0.00,0.00,0.00,0.000,4102,0.000,0.000,2928,2148,2271,2358,2184,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5700,0.61,116.8,2928,2148,2359,2184,390.4,16.2,270,5704,0.00,2.40,0.00,0.000,4612,0.000,0.069,2937,716,2271,2358,2184,0,0,0,0,0,0,15.28,15.00,15.28
$GC,5776,0.61,116.8,2937,715,2351,2184,378.9,15.6,272,5781,0.05,2.38,0.00,0.000,5126,0.451,0.060,2923,2135,2267,2351,2184,0,0,0,0,0,0,14.78,15.01,15.06
$GC,6052,0.61,116.8,2922,2136,2351,2184,342.4,12.7,279,6056,0.00,2.35,0.00,0.000,260,0.000,0.073,2921,3545,2268,2352,2184,0,0,0,0,0,0,15.29,15.01,15.30
$GC,6111,0.61,116.8,2921,3545,2351,2185,337.8,12.5,280,6116,0.00,2.38,0.00,0.000,5126,0.000,0.054,2930,2134,2268,2351,2185,0,0,0,0,0,0,15.06,15.00,15.08
$GC,6368,0.61,116.8,2930,2131,2351,2184,301.9,12.6,287,6373,0.00,2.38,0.00,0.000,4356,0.000,0.070,2930,3545,2267,2351,2184,0,0,0,0,0,0,15.31,15.02,15.32
$GC,6393,0.61,116.8,2930,3545,2351,2185,301.9,12.6,287,6398,0.05,2.35,0.00,0.000,5126,0.478,0.054,2928,2120,2268,2351,2185,0,0,0,0,0,0,14.79,15.04,15.09
$GC,6645,0.61,116.8,2928,2117,2349,2184,269.1,11.4,294,6651,0.00,2.33,0.00,0.000,4612,0.000,0.067,2937,718,2267,2351,2184,0,0,0,0,0,0,15.33,15.04,15.33
$GC,6725,0.61,116.8,2937,718,2348,2184,259.9,11.4,296,6732,0.05,2.35,0.00,0.000,5126,0.459,0.058,2923,2134,2266,2348,2184,0,0,0,0,0,0,14.81,15.05,15.09
$GC,7004,0.61,116.8,2923,2134,2348,2184,234.4,8.9,303,7009,0.00,2.35,0.00,0.000,516,0.000,0.063,2932,718,2266,2348,2184,0,0,0,0,0,0,15.33,15.04,15.34
$GC,7088,0.61,116.8,2931,718,2347,2184,226.8,9.5,305,7093,0.00,2.40,0.00,0.000,5126,0.000,0.059,2931,2163,2265,2346,2184,0,0,0,0,0,0,15.16,15.04,15.18
$GC,7360,0.61,116.8,2931,2164,2347,2184,198.2,10.0,312,7365,0.00,2.40,0.00,0.000,4612,0.000,0.061,2942,714,2265,2347,2184,0,0,0,0,0,0,15.34,15.05,15.35
$GC,7374,0.61,116.8,2942,714,2347,2184,197.1,10.0,313,7383,0.05,2.38,0.00,0.000,5126,0.372,0.057,2927,2128,2265,2347,2184,0,0,0,0,0,0,14.76,15.00,14.95
$GC,7622,0.61,116.8,2926,2129,2347,2184,173.7,8.1,338,7627,0.00,2.35,0.00,0.000,4612,0.000,0.060,2935,708,2265,2346,2185,0,0,0,0,0,0,15.32,15.03,15.32
$GC,7727,0.66,156.9,2935,707,2347,2184,167.0,6.2,348,7766,0.00,2.42,31.38,1.273,9222,0.000,0.057,2935,2138,2117,2205,2029,0,0,0,0,0,0,15.03,14.97,14.33
$GC,8009,0.66,156.9,2935,2138,2203,2026,137.2,12.0,386,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2138,2114,2203,2025,0,0,0,0,0,0,15.14,15.15,15.15
$GC,8272,0.66,156.9,2935,2138,2203,2026,105.3,12.4,435,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2138,2114,2203,2026,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8533,0.66,156.9,2935,2138,2203,2026,75.5,10.9,484,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2138,2114,2203,2026,0,0,0,0,0,0,15.16,15.17,15.16
$GC,8795,0.66,156.9,2935,2138,2203,2026,50.2,9.1,533,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2138,2114,2203,2026,0,0,0,0,0,0,15.14,15.15,15.15
$GC,9053,0.72,205.3,2935,2138,2203,2027,33.9,5.8,582,9098,0.00,2.38,37.08,1.064,10500,0.000,0.064,2935,3542,1920,2005,1836,0,0,0,0,0,0,15.14,14.60,14.21
$GC,9184,0.72,205.3,2935,3542,2005,1836,20.5,12.4,604,9192,0.00,2.40,0.00,0.000,3078,0.000,0.048,2947,2104,1920,2005,1836,0,0,0,0,0,0,14.88,14.78,14.88
$STATE,9332,end climb,SURFACE_DEPTH_REACHED
$STATE,9333,begin surface coast
$FINISH,0.2,1.022564
$STATE,9356,end surface coast,CONTROL_FINISHED_OK
$STATE,9356,begin surface
$SM_CCo,9369,87.53,0.191,0,0,1126,400.08
$SM_GC,1.15,6.43,0.43,87.53,0.053,0.061,0.191,176,2368,1126,-7.82,-0.90,400.08,0,0,0,0,0,0,14.88,14.85,14.69
$IRIDIUM_FIX,2131.85,-15533.75,300721,150616
$TT8_MAMPS,0.02247,0.339297
$HUMID,47.08
$INTERNAL_PRESSURE,9.10154
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.65,19.590
$10V_AH,13.52,0.000
$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,15.900,81.000,271.900,87.525,0.000,32.929,51.910,139.222,0.000,0.000,21.280,1731.805,5739.930,479.824,1763.573,73.525,0.000,1147.987,0.000,1501.489,0.000,0.554,0.000
$DEVICE_MAMPS,580.635,106.335,1850.535,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,427.607,368.441,686.043,634.536,768.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339192
$DATA_FILE_SIZE,57350,636
$CAP_FILE_SIZE,105096,0
$CFSIZE,1023623168,1015676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.126,218.83,1
$GPS,300721,174932,2140.535,-15532.881,16,0.9,34,9.9,0.0,141.5,9,8.8