version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 122
start: 8 6 121 20 9 56
data:
$ID,626
$MISSION,3
$DIVE,122
$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,34
$R_STBD_OVSHOOT,40
$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
$GPS1,060821,195901,2215.8169,-15633.1230,15,0.8,38,9.9,0.3,106.5,11,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.3
$GPS2,060821,200912,2215.8562,-15633.1465,8,1.1,22,9.9,0.5,265.2,8,9.6
$SPEED_LIMITS,0.220,0.230
$TGT_NAME,AchlW7
$TGT_LATLONG,2215.000,-15633.000
$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,164.4,1606,-16.8,-8.000,-20.00,2264
$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,-116.8,123,2328,1186,1122,0.0,0.0,0,82,0.00,0.00,-65.00,0.000,16390,0.000,0.000,123,2329,3273,3237,3309,0,0,0,0,0,0,15.06,13.68,15.04
$GC,84,-0.61,-116.8,123,2328,3237,3309,4.0,-8.4,9,99,8.02,2.33,0.00,0.000,2564,0.430,0.033,2527,866,3274,3243,3306,0,0,0,0,0,0,14.47,14.76,14.68
$GC,220,-0.61,-116.8,2527,866,3257,3295,49.5,-25.0,34,227,0.00,2.40,0.00,0.000,3078,0.000,0.053,2519,2293,3276,3258,3294,0,0,0,0,0,0,14.94,14.83,14.95
$GC,462,-0.61,-116.8,2519,2296,3257,3294,112.8,-22.7,79,468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2519,2296,3276,3258,3294,0,0,0,0,0,0,15.14,15.15,15.14
$GC,702,-0.61,-116.8,2519,2296,3257,3295,171.0,-23.3,116,707,0.00,2.35,0.00,0.000,2308,0.000,0.061,2509,3713,3276,3257,3295,0,0,0,0,0,0,15.20,14.91,15.20
$GC,734,-0.61,-116.8,2508,3713,3258,3294,177.2,-19.9,119,739,0.05,2.30,0.00,0.000,3078,0.392,0.044,2524,2293,3276,3258,3295,0,0,0,0,0,0,14.73,14.95,14.95
$GC,989,-0.61,-116.8,2524,2290,3260,3295,222.9,-18.2,135,990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2524,2290,3277,3259,3295,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1229,-0.61,-116.8,2524,2290,3260,3295,262.0,-16.9,141,1235,0.00,2.28,0.00,0.000,2564,0.000,0.054,2525,889,3277,3260,3294,0,0,0,0,0,0,15.30,15.02,15.30
$GC,1257,-0.61,-116.8,2524,889,3261,3293,262.0,-16.9,141,1261,0.00,2.30,0.00,0.000,3078,0.000,0.053,2516,2300,3276,3261,3292,0,0,0,0,0,0,15.13,15.02,15.14
$GC,1509,-0.61,-116.8,2516,2301,3261,3291,305.4,-15.1,148,1513,0.00,2.33,0.00,0.000,2308,0.000,0.064,2504,3714,3276,3262,3291,0,0,0,0,0,0,15.33,15.03,15.33
$GC,1545,-0.61,-116.8,2504,3714,3261,3291,310.9,-15.1,149,1550,0.08,2.28,0.00,0.000,3078,0.308,0.044,2533,2299,3276,3261,3291,0,0,0,0,0,0,14.87,15.06,15.08
$GC,1781,-0.61,-116.8,2532,2295,3261,3290,339.2,-11.6,155,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2295,3275,3261,3289,0,0,0,0,0,0,15.33,15.35,15.35
$GC,2021,-0.61,-116.8,2532,2294,3261,3289,367.5,-11.8,161,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2295,3275,3261,3289,0,0,0,0,0,0,15.35,15.36,15.35
$GC,2261,-0.61,-116.8,2532,2295,3261,3286,394.4,-10.9,167,2265,0.00,2.30,0.00,0.000,4612,0.000,0.057,2533,893,3273,3261,3286,0,0,0,0,0,0,15.37,15.07,15.38
$GC,2315,-0.61,-116.8,2533,893,3261,3285,398.7,-11.1,168,2320,0.00,2.33,0.00,0.000,3078,0.000,0.056,2524,2304,3273,3261,3285,0,0,0,0,0,0,15.19,15.07,15.21
$GC,2572,-0.61,-116.8,2523,2306,3261,3281,431.7,-12.0,175,2576,0.00,2.33,0.00,0.000,2308,0.000,0.070,2512,3709,3271,3261,3282,0,0,0,0,0,0,15.38,15.06,15.38
$GC,2608,-0.61,-116.8,2514,3709,3261,3281,436.2,-11.9,176,2614,0.00,2.28,0.00,0.000,3078,0.000,0.046,2514,2301,3271,3261,3282,0,0,0,0,0,0,15.20,15.09,15.21
$GC,2848,-0.61,-116.8,2513,2297,3261,3278,467.3,-13.1,182,2852,0.00,2.33,0.00,0.000,2564,0.000,0.059,2514,886,3269,3261,3278,0,0,0,0,0,0,15.38,15.07,15.38
$GC,2884,-0.61,-116.8,2513,886,3261,3279,472.0,-13.2,183,2891,0.08,2.35,0.00,0.000,3078,0.347,0.058,2528,2302,3269,3260,3278,0,0,0,0,0,0,14.85,15.07,15.10
$GC,3124,-0.61,-116.8,2527,2302,3261,3274,498.7,-11.1,189,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2302,3268,3261,3275,0,0,0,0,0,0,15.37,15.38,15.38
$GC,3364,-0.61,-116.8,2528,2302,3261,3270,525.7,-11.0,195,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2302,3266,3261,3271,0,0,0,0,0,0,15.37,15.38,15.38
$GC,3605,-0.61,-116.8,2528,2302,3261,3267,551.0,-10.5,201,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2302,3264,3261,3267,0,0,0,0,0,0,15.37,15.38,15.38
$GC,3844,-0.61,-116.8,2528,2302,3260,3263,575.9,-10.6,207,3848,0.00,2.33,0.00,0.000,516,0.000,0.060,2528,895,3261,3260,3263,0,0,0,0,0,0,15.38,15.07,15.38
$GC,3868,-0.61,-116.8,2528,895,3257,3266,575.9,-10.6,207,3873,0.00,2.35,0.00,0.000,3078,0.000,0.061,2519,2302,3261,3257,3266,0,0,0,0,0,0,15.20,15.07,15.21
$STATE,4079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4079,begin apogee
$GC,4083,-0.14,0.0,2520,2103,3257,3263,601.8,-11.1,213,4184,0.45,0.08,97.18,1.867,10246,0.259,0.158,2680,2156,2794,2862,2727,0,0,0,0,0,0,14.84,14.40,13.78
$STATE,4185,end apogee,CONTROL_FINISHED_OK
$STATE,4185,begin climb
$GC,4186,0.61,116.8,2680,2156,2861,2727,604.1,0.0,215,4300,0.60,2.45,104.00,1.803,10756,0.150,0.062,2934,764,2315,2399,2232,0,0,0,0,0,0,14.40,14.29,13.67
$GC,4329,0.61,116.8,2933,764,2389,2233,592.6,9.8,219,4334,0.00,2.42,0.00,0.000,5126,0.000,0.058,2934,2126,2311,2389,2233,0,0,0,0,0,0,14.52,14.46,14.53
$GC,4562,0.61,116.8,2933,2128,2389,2228,551.0,17.5,225,4566,0.00,2.33,0.00,0.000,4612,0.000,0.063,2944,763,2308,2389,2228,0,0,0,0,0,0,15.04,14.78,15.05
$GC,4591,0.61,116.8,2944,762,2384,2228,551.0,17.5,225,4600,0.08,2.35,0.00,0.000,5126,0.380,0.057,2921,2144,2306,2385,2228,0,0,0,0,0,0,14.59,14.80,14.85
$GC,4838,0.61,116.8,2920,2145,2385,2226,505.7,15.9,232,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2145,2306,2385,2227,0,0,0,0,0,0,15.16,15.17,15.17
$GC,5078,0.61,116.8,2921,2145,2385,2224,469.4,15.0,238,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2145,2305,2385,2225,0,0,0,0,0,0,15.23,15.23,15.23
$GC,5318,0.61,116.8,2921,2145,2385,2224,433.7,14.5,244,5322,0.00,2.35,0.00,0.000,260,0.000,0.070,2922,3549,2304,2385,2224,0,0,0,0,0,0,15.26,14.96,15.26
$GC,5367,0.61,116.8,2921,3549,2384,2225,427.9,14.8,245,5372,0.00,2.28,0.00,0.000,5126,0.000,0.051,2930,2172,2305,2385,2225,0,0,0,0,0,0,15.10,14.99,15.11
$GC,5629,0.61,116.8,2930,2169,2384,2223,386.3,14.9,252,5633,0.00,2.33,0.00,0.000,4356,0.000,0.070,2930,3549,2304,2384,2224,0,0,0,0,0,0,15.29,14.98,15.29
$GC,5643,0.61,116.8,2930,3549,2382,2224,386.3,14.9,252,5648,0.08,2.33,0.00,0.000,5126,0.418,0.052,2919,2141,2304,2385,2224,0,0,0,0,0,0,14.73,15.00,15.04
$GC,5905,0.61,116.8,2920,2138,2385,2222,351.5,11.8,259,5909,0.00,2.38,0.00,0.000,260,0.000,0.069,2920,3549,2303,2384,2222,0,0,0,0,0,0,15.30,15.00,15.30
$GC,5934,0.61,116.8,2919,3549,2384,2224,351.5,11.8,259,5938,0.00,2.33,0.00,0.000,5126,0.000,0.051,2928,2140,2303,2384,2223,0,0,0,0,0,0,15.13,15.02,15.15
$GC,6186,0.61,116.8,2928,2137,2384,2221,317.7,11.7,266,6190,0.00,2.40,0.00,0.000,4356,0.000,0.070,2928,3555,2302,2384,2220,0,0,0,0,0,0,15.32,15.00,15.33
$GC,6365,0.61,116.8,2928,3555,2384,2222,297.1,13.2,270,6370,0.05,2.33,0.00,0.000,5126,0.480,0.051,2926,2139,2303,2384,2222,0,0,0,0,0,0,14.73,15.02,15.05
$GC,6622,0.61,116.8,2926,2136,2384,2219,269.1,9.4,277,6626,0.00,2.38,0.00,0.000,4356,0.000,0.067,2926,3552,2301,2384,2219,0,0,0,0,0,0,15.33,15.01,15.33
$GC,6686,0.61,116.8,2925,3552,2384,2220,265.7,9.0,278,6691,0.00,2.33,0.00,0.000,5126,0.000,0.048,2935,2132,2302,2384,2220,0,0,0,0,0,0,15.14,15.02,15.16
$GC,6938,0.61,116.8,2934,2130,2384,2219,240.4,8.6,285,6942,0.00,2.38,0.00,0.000,4356,0.000,0.067,2935,3551,2301,2384,2219,0,0,0,0,0,0,15.33,15.02,15.34
$GC,6962,0.61,116.8,2934,3551,2384,2220,240.4,8.6,285,6967,0.08,2.33,0.00,0.000,5126,0.418,0.049,2923,2134,2301,2384,2219,0,0,0,0,0,0,14.73,15.04,15.07
$GC,7215,0.61,116.8,2923,2132,2384,2218,217.4,8.7,292,7220,0.00,2.30,0.00,0.000,516,0.000,0.060,2932,732,2301,2384,2218,0,0,0,0,0,0,15.33,15.03,15.34
$GC,7415,0.61,118.9,2932,731,2377,2218,201.4,7.9,297,7421,0.00,2.35,0.00,0.000,5126,0.000,0.055,2932,2146,2298,2377,2219,0,0,0,0,0,0,15.15,15.04,15.17
$GC,7646,0.61,118.9,2931,2146,2377,2219,182.5,8.4,317,7650,0.00,2.33,0.00,0.000,4356,0.000,0.069,2932,3549,2298,2377,2220,0,0,0,0,0,0,15.31,15.00,15.32
$GC,8040,0.68,176.6,2932,3549,2377,2225,154.3,5.4,356,8092,0.00,2.33,46.72,1.266,9222,0.000,0.046,2943,2129,2074,2162,1986,0,0,0,0,0,0,15.10,15.01,14.24
$GC,8318,0.68,176.6,2942,2127,2158,1981,125.2,12.7,403,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2129,2069,2158,1981,0,0,0,0,0,0,15.08,15.09,15.09
$GC,8551,0.68,176.6,2943,2128,2158,1981,95.2,13.9,448,8558,0.00,2.38,0.00,0.000,516,0.000,0.061,2954,734,2069,2158,1981,0,0,0,0,0,0,15.12,14.82,15.12
$GC,8615,0.68,176.6,2954,734,2151,1981,86.6,12.3,460,8623,0.00,2.40,0.00,0.000,5126,0.000,0.055,2954,2148,2066,2151,1981,0,0,0,0,0,0,14.97,14.85,15.00
$GC,8856,0.68,176.6,2954,2148,2151,1982,57.7,9.6,505,8865,0.00,2.40,0.00,0.000,4612,0.000,0.057,2965,729,2066,2151,1982,0,0,0,0,0,0,15.14,14.85,15.14
$GC,8970,0.68,176.6,2965,729,2150,1982,48.1,8.0,526,8979,0.05,2.42,0.00,0.000,5126,0.323,0.054,2947,2146,2066,2151,1981,0,0,0,0,0,0,14.59,14.81,14.75
$GC,9211,0.68,176.6,2947,2146,2150,1984,28.7,8.3,571,9218,0.00,0.00,0.00,0.000,4102,0.000,0.000,2947,2146,2067,2151,1984,0,0,0,0,0,0,15.14,15.14,15.14
$GC,9451,0.68,176.6,2947,2148,2150,1985,8.6,9.1,616,9458,0.00,2.40,0.00,0.000,4612,0.000,0.060,2957,733,2068,2151,1985,0,0,0,0,0,0,15.14,14.85,15.14
$STATE,9505,end climb,SURFACE_DEPTH_REACHED
$STATE,9505,begin surface coast
$FINISH,0.5,1.023114
$STATE,9533,end surface coast,CONTROL_FINISHED_OK
$STATE,9533,begin surface
$SM_CCo,9549,95.90,0.235,0,0,1162,400.08
$SM_GC,1.03,6.50,2.65,95.90,0.067,0.050,0.235,168,2297,1162,-7.82,-1.05,400.08,0,0,0,0,0,0,14.92,14.87,14.65
$IRIDIUM_FIX,2206.70,-15633.71,060821,200416
$TT8_MAMPS,0.023219,0.341544
$HUMID,47.44
$INTERNAL_PRESSURE,9.12107
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.67,33.187
$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,16.100,99.075,247.900,95.900,0.000,56.180,100.551,239.397,0.000,0.000,23.082,1799.273,5805.242,436.927,2138.001,101.421,0.000,1193.710,0.000,1649.385,0.000,0.552,0.000
$DEVICE_MAMPS,479.655,157.590,1866.600,234.855,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,424.931,369.063,678.118,621.323,751.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339364
$DATA_FILE_SIZE,57417,631
$CAP_FILE_SIZE,118825,0
$CFSIZE,1023623168,1009909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,358.27,1
$GPS,060821,225155,2215.039,-15632.967,24,0.9,42,9.9,0.0,8.7,10,9.5