version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 103
start: 8 4 121 14 3 10
data:
$ID,626
$MISSION,3
$DIVE,103
$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,20
$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,2300
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2795
$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
$GPS1,040821,135719,2150.4917,-15620.8760,16,0.8,39,9.8,0.4,275.1,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.5
$GPS2,040821,140229,2150.4958,-15620.9189,7,0.8,15,9.8,0.6,358.6,9,9.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AchlW5
$TGT_LATLONG,2200.000,-15630.000
$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,324.1,23516,-15.9,-8.000,-19.19,2501
$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,-0.59,-116.8,123,2324,1181,1125,0.0,0.0,0,73,0.00,0.00,-55.58,0.000,16386,0.000,0.000,123,2324,2914,2900,2929,0,0,0,0,0,0,15.06,28.83,15.07
$GC,75,-0.59,-116.8,123,2324,2900,2929,3.0,-6.3,8,99,8.07,2.28,-6.38,0.000,18692,0.433,0.073,2522,3702,3274,3253,3295,0,0,0,0,0,0,14.48,14.11,14.70
$GC,289,-0.59,-116.8,2522,3705,3253,3296,58.4,-20.5,47,297,0.00,2.35,0.00,0.000,3078,0.000,0.045,2523,2303,3275,3255,3295,0,0,0,0,0,0,14.88,14.83,14.95
$GC,551,-0.59,-116.8,2522,2299,3258,3293,118.1,-21.8,96,559,0.00,2.38,0.00,0.000,2564,0.000,0.055,2522,889,3275,3259,3291,0,0,0,0,0,0,15.15,14.87,15.15
$GC,604,-0.59,-116.8,2521,890,3261,3290,129.0,-21.2,105,612,0.08,2.33,0.00,0.000,3078,0.354,0.054,2538,2293,3275,3261,3289,0,0,0,0,0,0,14.71,14.90,14.93
$GC,861,-0.59,-116.8,2537,2296,3261,3290,177.6,-15.3,139,870,0.00,2.30,0.00,0.000,260,0.000,0.062,2528,3711,3275,3261,3290,0,0,0,0,0,0,15.21,14.86,15.21
$GC,923,-0.59,-116.8,2528,3712,3261,3290,186.2,-13.4,145,932,0.00,2.30,0.00,0.000,3078,0.000,0.044,2528,2296,3276,3262,3290,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1171,-0.59,-116.8,2527,2293,3262,3290,229.3,-18.2,158,1176,0.00,2.28,0.00,0.000,2564,0.000,0.053,2528,892,3276,3262,3290,0,0,0,0,0,0,15.27,15.00,15.28
$GC,1210,-0.59,-116.8,2528,890,3262,3290,236.2,-18.7,159,1215,0.03,2.35,0.00,0.000,3078,0.415,0.053,2527,2300,3276,3262,3290,0,0,0,0,0,0,14.77,14.97,14.92
$GC,1487,-0.59,-116.8,2527,2303,3263,3289,284.9,-17.0,166,1492,0.00,2.33,0.00,0.000,2308,0.000,0.065,2518,3714,3276,3263,3289,0,0,0,0,0,0,15.31,15.02,15.31
$GC,1561,-0.59,-116.8,2518,3714,3263,3290,291.8,-16.6,167,1569,0.05,2.33,0.00,0.000,3078,0.367,0.044,2536,2270,3276,3263,3290,0,0,0,0,0,0,14.86,15.04,15.07
$GC,1809,-0.59,-116.8,2536,2267,3263,3289,326.7,-11.5,174,1813,0.00,2.20,0.00,0.000,516,0.000,0.053,2536,892,3276,3263,3289,0,0,0,0,0,0,15.33,15.07,15.34
$GC,1832,-0.59,-116.8,2536,890,3263,3289,326.7,-11.5,174,1836,0.00,2.30,0.00,0.000,3078,0.000,0.054,2527,2299,3276,3263,3289,0,0,0,0,0,0,15.16,15.06,15.19
$GC,2084,-0.59,-116.8,2527,2300,3263,3288,359.4,-12.0,181,2089,0.00,2.33,0.00,0.000,2308,0.000,0.067,2517,3710,3276,3263,3289,0,0,0,0,0,0,15.35,15.05,15.35
$GC,2103,-0.59,-116.8,2516,3712,3265,3289,359.4,-12.0,181,2108,0.05,2.30,0.00,0.000,3078,0.356,0.043,2535,2278,3276,3263,3289,0,0,0,0,0,0,14.90,15.08,15.11
$GC,2360,-0.59,-116.8,2536,2274,3264,3286,388.2,-10.6,188,2365,0.00,2.38,0.00,0.000,260,0.000,0.067,2527,3708,3274,3263,3286,0,0,0,0,0,0,15.36,15.07,15.36
$GC,2407,-0.59,-116.8,2527,3707,3263,3286,392.9,-10.9,189,2411,0.00,2.25,0.00,0.000,3078,0.000,0.043,2527,2299,3274,3263,3286,0,0,0,0,0,0,15.20,15.10,15.21
$GC,2678,-0.59,-116.8,2526,2296,3263,3283,427.3,-12.4,196,2679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2527,2296,3273,3264,3283,0,0,0,0,0,0,15.37,15.37,15.37
$GC,2917,-0.59,-116.8,2526,2296,3263,3280,454.5,-11.5,202,2922,0.00,2.30,0.00,0.000,2564,0.000,0.058,2526,894,3272,3263,3281,0,0,0,0,0,0,15.38,15.09,15.38
$GC,2956,-0.59,-116.8,2526,893,3263,3281,458.9,-11.8,203,2961,0.05,2.38,0.00,0.000,3078,0.309,0.058,2536,2300,3272,3263,3281,0,0,0,0,0,0,14.85,15.04,15.02
$GC,3233,-0.59,-116.8,2536,2301,3263,3276,490.1,-11.3,210,3238,0.00,2.33,0.00,0.000,260,0.000,0.071,2526,3713,3269,3263,3276,0,0,0,0,0,0,15.38,15.07,15.38
$GC,3287,-0.59,-116.8,2526,3713,3262,3275,494.9,-11.4,211,3292,0.00,2.33,0.00,0.000,3078,0.000,0.046,2527,2280,3268,3262,3275,0,0,0,0,0,0,15.21,15.09,15.21
$GC,3554,-0.59,-116.8,2526,2276,3262,3271,527.9,-11.7,218,3558,0.00,2.28,0.00,0.000,2564,0.000,0.060,2526,892,3266,3262,3270,0,0,0,0,0,0,15.38,15.08,15.38
$GC,3590,-0.59,-116.8,2526,892,3261,3272,532.2,-11.8,219,3597,0.05,2.35,0.00,0.000,3078,0.389,0.060,2534,2301,3266,3261,3272,0,0,0,0,0,0,14.88,15.07,15.11
$GC,3870,-0.59,-116.8,2533,2302,3261,3268,561.0,-10.0,226,3871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2301,3264,3261,3268,0,0,0,0,0,0,15.38,15.38,15.38
$GC,4111,-0.59,-116.8,2533,2301,3261,3264,583.4,-9.2,232,4112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2301,3262,3260,3264,0,0,0,0,0,0,15.38,15.38,15.38
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4309,begin apogee
$GC,4313,-0.14,0.0,2534,2104,3261,3261,601.8,-9.2,237,4414,0.40,0.05,97.05,1.865,10246,0.250,0.195,2681,2146,2794,2862,2727,0,0,0,0,0,0,14.88,14.38,13.79
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4416,0.59,116.8,2681,2146,2861,2727,603.4,0.0,239,4528,0.60,2.50,105.05,1.801,10500,0.150,0.071,2920,3538,2316,2398,2234,0,0,0,0,0,0,14.41,14.27,13.66
$GC,4552,0.59,116.8,2920,3538,2397,2234,591.6,9.8,243,4558,0.05,2.40,0.00,0.000,5126,0.398,0.050,2918,2170,2316,2398,2234,0,0,0,0,0,0,14.28,14.43,14.43
$GC,4830,0.59,116.8,2917,2167,2392,2228,545.4,16.4,250,4835,0.00,2.42,0.00,0.000,4612,0.000,0.063,2927,733,2309,2392,2226,0,0,0,0,0,0,15.07,14.80,15.07
$GC,4884,0.59,116.8,2927,731,2386,2228,538.5,16.5,251,4889,0.00,2.38,0.00,0.000,5126,0.000,0.057,2927,2138,2306,2385,2228,0,0,0,0,0,0,14.94,14.83,14.95
$GC,5151,0.59,116.8,2926,2137,2385,2227,494.2,16.0,258,5156,0.00,2.38,0.00,0.000,4612,0.000,0.063,2937,732,2305,2385,2226,0,0,0,0,0,0,15.19,14.91,15.19
$GC,5166,0.59,116.8,2937,731,2383,2227,494.2,16.0,258,5171,0.08,2.38,0.00,0.000,5126,0.393,0.058,2915,2140,2304,2382,2227,0,0,0,0,0,0,14.70,14.92,14.97
$GC,5423,0.59,116.8,2915,2142,2382,2226,455.8,13.6,265,5427,0.00,2.38,0.00,0.000,260,0.000,0.072,2915,3557,2304,2382,2226,0,0,0,0,0,0,15.23,14.95,15.24
$GC,5507,0.59,116.8,2914,3557,2382,2228,444.5,14.1,267,5511,0.00,2.35,0.00,0.000,5126,0.000,0.052,2924,2142,2305,2382,2228,0,0,0,0,0,0,15.08,14.97,15.10
$GC,5779,0.59,116.8,2924,2139,2382,2225,400.9,15.4,274,5783,0.00,2.35,0.00,0.000,4612,0.000,0.063,2936,722,2304,2383,2225,0,0,0,0,0,0,15.28,14.99,15.28
$GC,5798,0.59,116.8,2935,721,2379,2225,400.9,15.4,274,5803,0.05,2.42,0.00,0.000,5126,0.383,0.059,2921,2144,2302,2379,2225,0,0,0,0,0,0,14.73,14.96,14.92
$GC,6055,0.59,116.8,2920,2145,2379,2224,363.5,12.5,281,6059,0.00,2.35,0.00,0.000,4356,0.000,0.072,2921,3552,2302,2379,2225,0,0,0,0,0,0,15.30,15.00,15.30
$GC,6344,0.59,116.8,2920,3552,2377,2226,328.4,12.5,288,6349,0.05,2.33,0.00,0.000,5126,0.479,0.050,2917,2137,2302,2379,2226,0,0,0,0,0,0,14.74,15.01,15.05
$GC,6616,0.59,116.8,2917,2135,2379,2224,298.5,11.1,295,6620,0.00,2.40,0.00,0.000,4356,0.000,0.070,2917,3558,2301,2379,2224,0,0,0,0,0,0,15.32,15.01,15.32
$GC,6920,0.59,116.8,2917,3558,2379,2224,269.3,8.9,302,6924,0.00,2.35,0.00,0.000,5126,0.000,0.051,2927,2131,2302,2379,2225,0,0,0,0,0,0,15.14,15.02,15.16
$GC,7172,0.65,169.9,2927,2129,2379,2223,251.3,5.8,309,7221,0.00,2.35,42.12,1.438,10756,0.000,0.063,2938,726,2098,2184,2012,0,0,0,0,0,0,15.33,14.78,14.23
$GC,7286,0.68,190.1,2938,725,2175,2012,243.8,7.2,311,7310,0.00,2.40,17.42,1.359,9222,0.000,0.058,2938,2144,2015,2098,1933,0,0,0,0,0,0,14.91,14.82,14.16
$GC,7552,0.68,190.1,2938,2144,2096,1929,195.2,16.9,320,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2144,2012,2096,1929,0,0,0,0,0,0,15.11,15.12,15.12
$GC,7794,0.68,190.1,2938,2143,2097,1928,161.3,12.3,344,7803,0.00,2.38,0.00,0.000,516,0.000,0.062,2949,731,2012,2096,1928,0,0,0,0,0,0,15.16,14.83,15.17
$GC,7828,0.68,190.1,2949,731,2090,1928,157.6,11.4,347,7835,0.00,2.38,0.00,0.000,5126,0.000,0.058,2949,2144,2009,2090,1929,0,0,0,0,0,0,15.02,14.90,15.03
$GC,8086,0.68,190.1,2949,2144,2090,1929,122.1,16.2,390,8094,0.00,2.40,0.00,0.000,4612,0.000,0.061,2960,731,2009,2090,1929,0,0,0,0,0,0,15.17,14.90,15.18
$GC,8150,0.68,190.1,2960,731,2090,1929,112.3,15.1,401,8157,0.05,2.38,0.00,0.000,5126,0.396,0.055,2945,2139,2009,2090,1929,0,0,0,0,0,0,14.71,14.91,14.96
$GC,8412,0.68,190.1,2944,2142,2089,1929,77.1,12.4,450,8420,0.00,2.38,0.00,0.000,4356,0.000,0.065,2944,3552,2009,2089,1930,0,0,0,0,0,0,15.17,14.89,15.17
$GC,8438,0.68,190.1,2944,3552,2089,1931,73.3,15.0,454,8446,0.00,2.40,0.00,0.000,5126,0.000,0.050,2955,2122,2010,2090,1931,0,0,0,0,0,0,15.02,14.90,15.04
$GC,8700,0.68,192.3,2954,2119,2090,1931,43.6,7.9,503,8709,0.00,2.38,0.00,0.000,4612,0.000,0.058,2966,727,2010,2090,1931,0,0,0,0,0,0,15.15,14.82,15.16
$GC,8748,0.69,202.7,2965,727,2089,1931,40.2,7.6,511,8765,0.05,2.40,10.43,1.034,13318,0.383,0.054,2949,2151,1966,2045,1887,0,0,0,0,0,0,14.69,14.88,14.35
$GC,9020,0.69,202.7,2948,2151,2044,1887,10.3,10.2,561,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2152,1965,2044,1887,0,0,0,0,0,0,15.11,15.12,15.11
$STATE,9084,end climb,SURFACE_DEPTH_REACHED
$STATE,9084,begin surface coast
$FINISH,0.5,1.023200
$STATE,9106,end surface coast,CONTROL_FINISHED_OK
$STATE,9106,begin surface
$SM_CCo,9120,87.15,0.228,0,0,1161,400.08
$SM_GC,1.08,6.43,0.22,87.15,0.055,0.080,0.228,178,2346,1161,-7.81,-1.13,400.08,0,0,0,0,0,0,14.90,14.90,14.66
$IRIDIUM_FIX,2141.13,-15622.77,040821,135825
$TT8_MAMPS,0.023219,0.280126
$HUMID,48.46
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.66,28.908
$10V_AH,13.79,0.000
$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,16.125,108.650,272.075,87.150,0.000,25.898,46.153,139.553,0.000,0.000,16.353,1688.911,5449.611,493.275,1827.675,80.667,0.000,1219.175,0.000,1573.899,0.000,0.552,0.000
$DEVICE_MAMPS,478.890,195.075,1865.070,227.970,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,388.003,320.309,600.743,561.642,677.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,50643,577
$CAP_FILE_SIZE,110415,0
$CFSIZE,1023623168,1011695616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1174.37,0x2131ca,0,24
$CURRENT,0.156,300.40,1
$GPS,040821,163749,2151.710,-15622.075,17,0.8,39,9.8,0.0,269.6,10,8.4