version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 106
start: 8 4 121 22 15 12
data:
$ID,626
$MISSION,3
$DIVE,106
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,040821,220919,2154.2693,-15624.3047,18,0.8,40,9.8,0.5,351.7,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.5
$GPS2,040821,221430,2154.2715,-15624.3516,7,0.8,15,9.8,0.6,297.7,10,9.9
$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,309.0,14375,-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,14,-0.59,-116.8,124,2317,1186,1122,0.0,0.0,0,80,0.00,0.00,-63.38,0.000,16386,0.000,0.000,124,2318,3202,3166,3238,0,0,0,0,0,0,15.05,28.83,15.06
$GC,83,-0.59,-116.8,124,2317,3166,3239,3.7,-7.2,9,98,8.07,2.35,-1.12,0.000,18692,0.436,0.071,2516,3723,3274,3244,3305,0,0,0,0,0,0,14.47,13.81,14.69
$GC,273,-0.59,-116.8,2516,3723,3250,3303,59.2,-22.1,44,282,0.05,2.40,0.00,0.000,3078,0.381,0.052,2533,2292,3276,3254,3299,0,0,0,0,0,0,14.66,14.83,14.88
$GC,532,-0.59,-116.8,2533,2289,3258,3296,114.4,-22.5,93,539,0.00,2.38,0.00,0.000,2308,0.000,0.060,2525,3708,3276,3258,3295,0,0,0,0,0,0,15.14,14.87,15.14
$GC,566,-0.59,-116.8,2525,3709,3258,3296,121.4,-19.4,99,574,0.00,2.33,0.00,0.000,3078,0.000,0.046,2525,2289,3277,3259,3295,0,0,0,0,0,0,15.00,14.90,15.01
$GC,821,-0.59,-116.8,2524,2285,3261,3296,175.2,-19.6,136,829,0.00,2.28,0.00,0.000,2564,0.000,0.054,2525,889,3278,3262,3295,0,0,0,0,0,0,15.19,14.83,15.20
$GC,844,-0.59,-116.8,2524,889,3262,3295,179.1,-18.3,138,853,0.05,2.35,0.00,0.000,3078,0.337,0.053,2532,2288,3278,3262,3294,0,0,0,0,0,0,14.60,14.79,14.76
$GC,1091,-0.59,-116.8,2531,2290,3263,3294,222.9,-18.0,154,1097,0.00,2.35,0.00,0.000,2308,0.000,0.065,2522,3711,3279,3263,3295,0,0,0,0,0,0,15.25,14.96,15.25
$GC,1139,-0.59,-116.8,2523,3712,3263,3294,230.1,-18.1,155,1145,0.00,2.30,0.00,0.000,3078,0.000,0.045,2522,2284,3278,3263,3294,0,0,0,0,0,0,15.09,14.98,15.10
$GC,1411,-0.59,-116.8,2522,2281,3263,3295,278.9,-17.0,162,1416,0.00,2.28,0.00,0.000,2564,0.000,0.056,2522,888,3279,3263,3295,0,0,0,0,0,0,15.30,15.01,15.30
$GC,1516,-0.59,-116.8,2522,886,3264,3294,291.4,-16.4,164,1521,0.08,2.33,0.00,0.000,3078,0.337,0.054,2538,2304,3279,3264,3295,0,0,0,0,0,0,14.83,15.02,15.05
$GC,1768,-0.59,-116.8,2538,2305,3266,3294,323.6,-11.4,171,1774,0.00,2.30,0.00,0.000,260,0.000,0.065,2529,3716,3279,3265,3294,0,0,0,0,0,0,15.33,15.03,15.33
$GC,1850,-0.59,-116.8,2529,3717,3265,3293,332.2,-11.0,173,1855,0.00,2.33,0.00,0.000,3078,0.000,0.044,2529,2301,3279,3265,3294,0,0,0,0,0,0,15.07,15.03,15.09
$GC,2127,-0.59,-116.8,2529,2297,3265,3291,366.6,-12.6,180,2129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2529,2298,3278,3265,3291,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2368,-0.59,-116.8,2528,2297,3265,3289,396.8,-12.6,186,2374,0.00,2.35,0.00,0.000,2308,0.000,0.066,2519,3709,3277,3265,3289,0,0,0,0,0,0,15.35,15.05,15.36
$GC,2426,-0.59,-116.8,2518,3710,3265,3290,401.8,-12.7,187,2431,0.05,2.28,0.00,0.000,3078,0.357,0.047,2538,2299,3277,3265,3289,0,0,0,0,0,0,14.89,15.09,15.11
$GC,2682,-0.59,-116.8,2537,2295,3265,3286,431.7,-10.5,194,2686,0.00,2.28,0.00,0.000,516,0.000,0.057,2538,890,3275,3265,3286,0,0,0,0,0,0,15.36,15.07,15.36
$GC,2737,-0.59,-116.8,2537,890,3265,3286,435.5,-10.4,195,2741,0.00,2.33,0.00,0.000,3078,0.000,0.057,2529,2301,3275,3265,3285,0,0,0,0,0,0,15.19,15.07,15.20
$GC,2993,-0.59,-116.8,2529,2302,3264,3282,466.0,-11.5,202,2997,0.00,2.35,0.00,0.000,2308,0.000,0.071,2518,3716,3273,3264,3282,0,0,0,0,0,0,15.37,15.06,15.37
$GC,3037,-0.59,-116.8,2518,3716,3264,3281,470.4,-11.8,203,3042,0.05,2.33,0.00,0.000,3078,0.350,0.049,2538,2288,3273,3264,3282,0,0,0,0,0,0,14.90,15.07,15.11
$GC,3309,-0.59,-116.8,2537,2285,3263,3278,502.0,-11.2,210,3313,0.00,2.28,0.00,0.000,516,0.000,0.060,2538,892,3270,3264,3277,0,0,0,0,0,0,15.36,15.07,15.38
$GC,3363,-0.59,-116.8,2538,890,3262,3279,506.3,-11.3,211,3367,0.00,2.35,0.00,0.000,3078,0.000,0.058,2529,2303,3270,3262,3279,0,0,0,0,0,0,15.19,15.07,15.21
$GC,3625,-0.59,-116.8,2529,2304,3262,3275,534.2,-9.6,218,3629,0.00,2.35,0.00,0.000,2308,0.000,0.073,2518,3710,3268,3261,3275,0,0,0,0,0,0,15.38,15.05,15.38
$GC,3644,-0.59,-116.8,2518,3710,3261,3275,534.2,-9.6,218,3650,0.05,2.30,0.00,0.000,3078,0.357,0.049,2537,2297,3268,3262,3275,0,0,0,0,0,0,14.90,15.08,15.11
$GC,3906,-0.59,-116.8,2537,2293,3262,3271,559.2,-8.9,225,3910,0.00,2.30,0.00,0.000,516,0.000,0.061,2538,892,3266,3262,3271,0,0,0,0,0,0,15.37,15.06,15.38
$GC,3955,-0.59,-116.8,2537,892,3260,3273,562.6,-9.2,226,3960,0.00,2.35,0.00,0.000,3078,0.000,0.060,2529,2301,3266,3261,3271,0,0,0,0,0,0,15.19,15.07,15.21
$GC,4222,-0.59,-116.8,2528,2301,3261,3268,591.8,-10.6,233,4226,0.00,2.35,0.00,0.000,2308,0.000,0.075,2518,3710,3264,3261,3268,0,0,0,0,0,0,15.38,15.04,15.38
$GC,4246,-0.59,-116.8,2518,3710,3257,3268,591.8,-10.6,233,4252,0.05,2.30,0.00,0.000,3078,0.355,0.050,2537,2302,3264,3260,3268,0,0,0,0,0,0,14.89,15.07,15.11
$STATE,4337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4341,-0.14,0.0,2537,2106,3260,3267,603.9,-10.5,236,4443,0.38,0.05,98.03,1.873,10246,0.245,0.195,2676,2147,2794,2861,2728,0,0,0,0,0,0,14.89,14.36,13.76
$STATE,4444,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4446,0.59,116.8,2676,2147,2860,2728,606.4,0.0,238,4554,0.60,0.00,104.30,1.816,10502,0.155,0.000,2918,2147,2316,2399,2234,0,0,0,0,0,0,14.38,14.27,13.64
$GC,4778,0.59,116.8,2918,2147,2390,2229,562.3,16.9,247,4783,0.00,2.38,0.00,0.000,4612,0.000,0.063,2929,758,2309,2390,2229,0,0,0,0,0,0,15.00,14.74,15.00
$GC,4792,0.59,116.8,2928,757,2387,2229,562.3,16.9,247,4797,0.05,2.35,0.00,0.000,5126,0.412,0.058,2914,2139,2307,2386,2229,0,0,0,0,0,0,14.57,14.76,14.81
$GC,5054,0.59,116.8,2914,2141,2387,2227,519.3,15.0,254,5059,0.00,2.38,0.00,0.000,260,0.000,0.070,2914,3549,2306,2386,2227,0,0,0,0,0,0,15.14,14.86,15.15
$GC,5079,0.59,116.8,2914,3549,2386,2229,519.3,15.0,254,5083,0.00,2.30,0.00,0.000,5126,0.000,0.051,2923,2169,2307,2386,2229,0,0,0,0,0,0,15.00,14.89,15.02
$GC,5331,0.59,116.8,2923,2165,2387,2226,476.6,15.5,261,5337,0.00,2.35,0.00,0.000,4356,0.000,0.068,2923,3555,2306,2387,2226,0,0,0,0,0,0,15.21,14.93,15.22
$GC,5349,0.59,116.8,2923,3555,2386,2227,476.6,15.5,261,5354,0.08,2.38,0.00,0.000,5126,0.414,0.056,2912,2139,2306,2386,2227,0,0,0,0,0,0,14.70,14.94,14.99
$GC,5606,0.59,116.8,2912,2137,2386,2225,438.3,13.6,268,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2138,2305,2386,2225,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5846,0.59,116.8,2912,2137,2387,2224,406.1,13.3,274,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2137,2305,2387,2223,0,0,0,0,0,0,15.28,15.28,15.28
$GC,6086,0.59,116.8,2912,2137,2387,2223,377.8,11.4,280,6090,0.00,2.35,0.00,0.000,516,0.000,0.065,2921,726,2305,2387,2224,0,0,0,0,0,0,15.30,15.00,15.30
$GC,6100,0.59,116.8,2921,725,2382,2223,377.8,11.4,280,6104,0.00,2.38,0.00,0.000,5126,0.000,0.060,2921,2146,2302,2382,2223,0,0,0,0,0,0,15.13,15.00,15.15
$GC,6356,0.59,116.8,2921,2146,2382,2223,343.4,12.5,287,6361,0.00,2.35,0.00,0.000,4356,0.000,0.073,2921,3549,2302,2382,2223,0,0,0,0,0,0,15.31,15.00,15.31
$GC,6600,0.59,116.8,2920,3549,2382,2225,312.6,12.8,293,6605,0.05,2.35,0.00,0.000,5126,0.463,0.055,2919,2132,2303,2382,2225,0,0,0,0,0,0,14.76,15.02,15.06
$GC,6872,0.59,116.8,2918,2129,2382,2224,287.7,8.7,300,6877,0.00,2.40,0.00,0.000,4356,0.000,0.070,2918,3552,2302,2382,2223,0,0,0,0,0,0,15.33,15.01,15.33
$GC,7292,0.59,116.8,2918,3552,2382,2224,244.2,10.0,310,7296,0.00,2.35,0.00,0.000,5126,0.000,0.054,2927,2133,2303,2382,2224,0,0,0,0,0,0,15.14,15.02,15.16
$GC,7549,0.68,191.3,2927,2131,2382,2224,228.6,4.9,317,7613,0.00,2.40,58.95,1.408,10756,0.000,0.064,2938,725,2011,2094,1928,0,0,0,0,0,0,15.33,14.59,14.14
$GC,7618,0.76,258.8,2938,724,2092,1928,226.2,5.2,318,7680,0.05,2.42,54.97,1.353,11270,0.258,0.056,3009,2149,1737,1813,1662,0,0,0,0,0,0,14.65,14.70,13.94
$GC,7921,0.76,258.8,3009,2149,1810,1653,145.0,25.2,342,7929,0.10,2.50,0.00,0.000,4612,0.376,0.066,2981,706,1731,1810,1653,0,0,0,0,0,0,14.46,14.69,14.61
$GC,7952,0.76,258.8,2981,707,1805,1652,138.3,21.4,347,7959,0.00,2.42,0.00,0.000,5126,0.000,0.054,2982,2139,1728,1805,1652,0,0,0,0,0,0,14.88,14.77,14.89
$GC,8206,0.76,258.8,2981,2142,1804,1652,85.1,23.5,396,8214,0.00,2.42,0.00,0.000,4356,0.000,0.067,2982,3548,1728,1805,1651,0,0,0,0,0,0,15.08,14.79,15.09
$GC,8257,0.76,258.8,2981,3547,1805,1651,74.1,20.7,405,8266,0.08,2.40,0.00,0.000,5126,0.388,0.051,2970,2130,1728,1805,1651,0,0,0,0,0,0,14.62,14.83,14.88
$GC,8517,0.76,258.8,2969,2128,1805,1651,32.3,15.2,454,8526,0.00,2.40,0.00,0.000,516,0.000,0.066,2978,734,1728,1805,1651,0,0,0,0,0,0,15.09,14.76,15.10
$GC,8579,0.76,258.8,2979,733,1803,1651,23.2,14.9,465,8586,0.00,2.40,0.00,0.000,5126,0.000,0.053,2978,2153,1726,1803,1650,0,0,0,0,0,0,14.95,14.84,14.97
$STATE,8708,end climb,SURFACE_DEPTH_REACHED
$STATE,8708,begin surface coast
$FINISH,0.2,1.023072
$STATE,8727,end surface coast,CONTROL_FINISHED_OK
$STATE,8727,begin surface
$SM_CCo,8740,62.58,0.229,0,0,1160,400.08
$SM_GC,1.11,6.45,0.22,62.58,0.040,0.083,0.229,178,2313,1160,-7.83,-1.02,400.08,0,0,0,0,0,0,14.88,14.88,14.66
$IRIDIUM_FIX,2145.77,-15624.90,040821,221022
$TT8_MAMPS,0.023219,0.31458
$HUMID,50.55
$INTERNAL_PRESSURE,9.05271
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,13.64,29.575
$10V_AH,13.36,0.000
$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,16.275,108.625,316.250,62.575,0.000,27.204,43.626,137.601,0.000,0.000,16.350,1487.844,5430.522,464.124,1681.743,76.140,0.000,1176.690,0.000,1423.855,0.000,0.552,0.000
$DEVICE_MAMPS,462.825,195.075,1873.485,228.735,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,330.938,257.897,481.687,441.484,527.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339048
$DATA_FILE_SIZE,44030,492
$CAP_FILE_SIZE,107562,0
$CFSIZE,1023623168,1011449856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.128,323.05,1
$GPS,050821,004301,2155.403,-15625.426,16,0.9,33,9.8,0.0,275.0,9,9.0