version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 251
start: 8 26 121 10 4 37
data:
$ID,626
$MISSION,3
$DIVE,251
$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,200
$T_MISSION,500
$T_ABORT,550
$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,0.0019952599
$HD_B,0.011885
$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,2730
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,41
$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,2275
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,2780
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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
$GPS1,260821,095419,2229.6797,-15725.5986,15,0.9,38,9.8,0.7,91.7,8,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.6
$GPS2,260821,100411,2229.6121,-15725.5371,7,0.9,16,9.8,0.0,312.9,9,9.6
$SPEED_LIMITS,0.173,0.212
$TGT_NAME,AC14
$TGT_LATLONG,2208.940,-15752.080
$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,240.2,59487,-19.4,-10.000,-25.24,1758
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,123,2297,1173,1105,0.0,0.0,0,81,0.00,0.00,-62.75,0.000,16386,0.000,0.000,122,2298,3217,3177,3258,0,0,0,0,0,0,15.04,28.83,15.04
$GC,83,-0.55,-116.8,123,2298,3180,3254,4.2,-8.7,9,99,8.27,2.38,-0.65,0.000,18948,0.435,0.058,2556,846,3260,3227,3293,0,0,0,0,0,0,14.33,13.64,14.59
$GC,243,-0.55,-116.8,2556,844,3243,3281,51.2,-23.8,38,251,0.00,2.42,0.00,0.000,3078,0.000,0.053,2548,2253,3262,3245,3279,0,0,0,0,0,0,14.80,14.73,14.83
$GC,500,-0.55,-116.8,2547,2254,3246,3280,114.3,-20.2,87,506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2256,3263,3246,3280,0,0,0,0,0,0,15.12,15.13,15.13
$GC,757,-0.55,-116.8,2547,2256,3246,3281,166.7,-19.5,129,758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2256,3264,3246,3282,0,0,0,0,0,0,15.18,15.19,15.18
$GC,997,-0.55,-116.8,2547,2256,3247,3281,207.3,-15.7,150,998,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2256,3264,3247,3281,0,0,0,0,0,0,15.22,15.23,15.23
$GC,1238,-0.55,-116.8,2547,2256,3247,3281,244.6,-15.0,156,1239,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2256,3264,3247,3281,0,0,0,0,0,0,15.27,15.28,15.27
$GC,1477,-0.55,-116.8,2548,2256,3247,3281,276.9,-13.2,162,1484,0.00,2.38,0.00,0.000,2308,0.000,0.063,2536,3687,3264,3247,3281,0,0,0,0,0,0,15.30,14.94,15.30
$GC,1535,-0.55,-116.8,2537,3687,3247,3281,281.6,-12.7,163,1540,0.05,2.30,0.00,0.000,3078,0.362,0.042,2555,2263,3264,3247,3281,0,0,0,0,0,0,14.75,15.00,14.98
$GC,1792,-0.55,-116.8,2554,2259,3248,3278,311.8,-11.2,170,1797,0.00,2.25,0.00,0.000,516,0.000,0.052,2555,871,3263,3248,3278,0,0,0,0,0,0,15.31,14.98,15.33
$GC,1842,-0.55,-116.8,2555,871,3249,3278,316.7,-11.5,171,1846,0.00,2.33,0.00,0.000,3078,0.000,0.055,2546,2277,3263,3249,3277,0,0,0,0,0,0,15.11,14.97,15.12
$GC,2109,-0.55,-116.8,2546,2278,3249,3275,347.6,-11.1,178,2111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2277,3262,3249,3275,0,0,0,0,0,0,15.33,15.34,15.33
$GC,2349,-0.55,-116.8,2546,2278,3249,3273,373.8,-11.0,184,2350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2278,3260,3249,3272,0,0,0,0,0,0,15.34,15.34,15.35
$GC,2589,-0.55,-116.8,2546,2278,3249,3269,401.2,-11.4,190,2591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2278,3259,3249,3269,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2830,-0.55,-116.8,2546,2278,3249,3266,427.5,-10.9,196,2836,0.00,2.35,0.00,0.000,2308,0.000,0.070,2535,3681,3257,3249,3265,0,0,0,0,0,0,15.35,14.92,15.35
$GC,2878,-0.55,-116.8,2535,3681,3248,3265,431.9,-10.9,197,2883,0.05,2.30,0.00,0.000,3078,0.350,0.044,2554,2269,3257,3248,3266,0,0,0,0,0,0,14.78,15.02,15.00
$GC,3145,-0.55,-116.8,2553,2265,3248,3261,458.8,-9.5,204,3150,0.00,2.33,0.00,0.000,516,0.000,0.057,2554,864,3254,3248,3261,0,0,0,0,0,0,15.35,14.97,15.35
$GC,3195,-0.55,-116.8,2553,863,3247,3262,462.7,-9.4,205,3200,0.00,2.38,0.00,0.000,3078,0.000,0.059,2545,2279,3254,3246,3262,0,0,0,0,0,0,15.12,14.97,15.14
$GC,3463,-0.55,-116.8,2544,2279,3247,3258,489.4,-9.7,212,3464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2279,3252,3247,3258,0,0,0,0,0,0,15.35,15.35,15.35
$GC,3702,-0.55,-116.8,2544,2279,3247,3253,513.1,-10.0,218,3709,0.00,2.40,0.00,0.000,2564,0.000,0.059,2545,862,3250,3247,3254,0,0,0,0,0,0,15.35,14.96,15.36
$GC,3745,-0.55,-116.8,2544,863,3245,3255,517.2,-10.1,219,3751,0.05,2.38,0.00,0.000,3078,0.398,0.060,2552,2274,3250,3245,3255,0,0,0,0,0,0,14.71,14.96,14.96
$GC,4024,-0.55,-116.8,2551,2275,3244,3251,544.4,-9.8,226,4025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2551,2275,3247,3244,3251,0,0,0,0,0,0,15.34,15.35,15.35
$GC,4263,-0.55,-116.8,2551,2274,3244,3249,566.8,-9.1,232,4264,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2275,3247,3245,3249,0,0,0,0,0,0,15.35,15.35,15.35
$GC,4504,-0.55,-116.8,2551,2274,3245,3245,586.7,-8.3,238,4505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2551,2274,3244,3244,3245,0,0,0,0,0,0,15.35,15.35,15.35
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4666,-0.12,0.0,2552,2064,3244,3243,600.2,-8.4,242,4767,0.38,0.00,97.62,1.813,10246,0.238,0.000,2690,2063,2780,2850,2710,0,0,0,0,0,0,14.66,14.43,13.73
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4770,0.55,116.8,2690,2063,2849,2710,602.7,0.0,244,4882,0.52,2.38,103.97,1.761,10756,0.141,0.063,2918,720,2301,2386,2217,0,0,0,0,0,0,14.38,14.28,13.61
$GC,4973,0.56,141.1,2919,720,2373,2217,590.3,8.6,249,5002,0.00,2.40,21.62,1.674,13318,0.000,0.059,2919,2096,2202,2286,2118,0,0,0,0,0,0,14.67,14.56,13.78
$GC,5265,0.56,141.1,2919,2096,2286,2111,542.2,15.3,257,5266,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2096,2199,2286,2112,0,0,0,0,0,0,15.06,15.06,15.06
$GC,5505,0.56,141.1,2919,2096,2286,2109,506.1,15.0,263,5506,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2096,2197,2286,2109,0,0,0,0,0,0,15.15,15.16,15.16
$GC,5744,0.56,141.1,2919,2096,2285,2108,471.2,14.5,269,5751,0.00,2.38,0.00,0.000,4612,0.000,0.065,2930,723,2197,2286,2108,0,0,0,0,0,0,15.21,14.85,15.21
$GC,5773,0.56,141.1,2930,722,2280,2109,471.2,14.5,269,5778,0.08,2.35,0.00,0.000,5126,0.373,0.060,2907,2101,2194,2280,2109,0,0,0,0,0,0,14.57,14.87,14.90
$GC,6020,0.56,141.1,2907,2102,2280,2109,432.0,14.3,275,6024,0.00,2.40,0.00,0.000,260,0.000,0.071,2907,3512,2194,2280,2109,0,0,0,0,0,0,15.23,14.86,15.25
$GC,6084,0.56,141.1,2907,3512,2280,2109,425.7,14.6,276,6089,0.00,2.33,0.00,0.000,5126,0.000,0.050,2916,2132,2195,2280,2110,0,0,0,0,0,0,15.03,14.90,15.06
$GC,6337,0.56,141.1,2915,2129,2280,2108,383.5,15.3,283,6343,0.00,2.42,0.00,0.000,4612,0.000,0.066,2927,693,2193,2279,2108,0,0,0,0,0,0,15.26,14.88,15.26
$GC,6379,0.56,141.1,2927,693,2276,2108,377.4,15.3,284,6384,0.05,2.42,0.00,0.000,5126,0.425,0.058,2912,2123,2192,2276,2108,0,0,0,0,0,0,14.62,14.88,14.93
$GC,6657,0.56,141.1,2912,2123,2276,2108,337.8,13.9,291,6663,0.00,2.35,0.00,0.000,260,0.000,0.070,2912,3511,2192,2276,2109,0,0,0,0,0,0,15.27,14.88,15.28
$GC,6725,0.56,141.1,2912,3511,2276,2109,332.3,14.0,292,6729,0.00,2.38,0.00,0.000,5126,0.000,0.052,2921,2093,2192,2276,2109,0,0,0,0,0,0,15.06,14.92,15.08
$GC,6971,0.56,141.1,2921,2091,2276,2109,296.3,12.7,298,6976,0.00,2.35,0.00,0.000,4612,0.000,0.062,2932,690,2192,2276,2109,0,0,0,0,0,0,15.29,14.90,15.30
$GC,6986,0.56,141.1,2932,689,2276,2108,296.3,12.7,298,6991,0.08,2.40,0.00,0.000,5126,0.377,0.058,2909,2106,2191,2275,2108,0,0,0,0,0,0,14.59,14.92,14.92
$GC,7249,0.56,141.1,2909,2107,2275,2107,263.4,11.5,305,7255,0.00,2.38,0.00,0.000,260,0.000,0.069,2908,3510,2191,2275,2108,0,0,0,0,0,0,15.29,14.88,15.30
$GC,7363,0.56,141.1,2908,3510,2275,2109,254.6,11.1,307,7371,0.00,2.38,0.00,0.000,5126,0.000,0.050,2917,2089,2192,2275,2109,0,0,0,0,0,0,15.07,14.93,15.09
$GC,7610,0.57,157.4,2917,2086,2275,2108,228.0,9.0,314,7629,0.00,2.35,13.23,1.323,12804,0.000,0.061,2928,687,2136,2223,2049,0,0,0,0,0,0,15.30,14.82,14.26
$GC,7700,0.58,165.8,2928,687,2218,2049,220.3,9.5,316,7713,0.00,2.40,8.35,1.226,13318,0.000,0.056,2928,2108,2102,2189,2015,0,0,0,0,0,0,15.02,14.88,14.21
$GC,7957,0.58,165.8,2928,2108,2189,2013,187.1,12.6,328,7966,0.00,2.38,0.00,0.000,4356,0.000,0.070,2928,3512,2100,2188,2012,0,0,0,0,0,0,15.21,14.70,15.21
$GC,8143,0.58,165.8,2926,3511,2189,2013,164.4,11.4,346,8152,0.05,2.33,0.00,0.000,5126,0.366,0.047,2924,2101,2101,2189,2013,0,0,0,0,0,0,14.43,14.78,14.63
$GC,8398,0.58,170.4,2923,2101,2189,2013,142.0,9.7,379,8413,0.00,2.42,5.35,1.015,12548,0.000,0.065,2923,3506,2083,2172,1995,0,0,0,0,0,0,15.20,14.87,14.21
$GC,8536,0.58,170.4,2923,3506,2172,1995,126.7,11.1,404,8545,0.05,2.40,0.00,0.000,5126,0.422,0.050,2919,2096,2083,2172,1995,0,0,0,0,0,0,14.59,14.85,14.86
$GC,8801,0.59,197.8,2919,2093,2172,1995,101.9,8.4,453,8833,0.00,2.40,23.45,1.109,8708,0.000,0.058,2929,687,1970,2055,1886,0,0,0,0,0,0,15.16,14.76,14.26
$GC,8845,0.60,200.0,2928,687,2052,1887,97.6,9.9,460,8854,0.00,2.42,0.00,0.000,5126,0.000,0.050,2928,2111,1969,2051,1887,0,0,0,0,0,0,14.90,14.80,14.91
$GC,9113,0.60,200.0,2928,2113,2052,1886,67.6,11.5,509,9120,0.00,2.47,0.00,0.000,4612,0.000,0.059,2939,683,1969,2052,1886,0,0,0,0,0,0,15.09,14.78,15.09
$GC,9160,0.61,218.0,2939,683,2047,1886,63.1,8.9,517,9182,0.03,2.45,16.62,1.024,13318,0.405,0.052,2929,2096,1890,1973,1808,0,0,0,0,0,0,14.54,14.73,14.23
$GC,9437,0.62,239.6,2929,2097,1971,1805,38.3,8.7,568,9466,0.00,2.40,18.27,0.985,8452,0.000,0.060,2930,3502,1801,1886,1717,0,0,0,0,0,0,15.06,14.66,14.22
$GC,9510,0.62,239.6,2929,3502,1886,1717,30.8,11.2,580,9519,0.00,2.40,0.00,0.000,5126,0.000,0.048,2939,2091,1801,1886,1717,0,0,0,0,0,0,14.85,14.73,14.86
$GC,9772,0.62,240.6,2939,2089,1886,1716,6.8,9.9,629,9779,0.00,2.40,0.00,0.000,4612,0.000,0.057,2950,682,1801,1886,1716,0,0,0,0,0,0,15.07,14.75,15.07
$STATE,9807,end climb,SURFACE_DEPTH_REACHED
$STATE,9807,begin surface coast
$FINISH,1.9,1.022994
$STATE,9820,end surface coast,CONTROL_FINISHED_OK
$STATE,9820,begin surface
$SM_CCo,9837,68.03,0.216,0,0,1146,400.08
$SM_GC,1.03,6.75,2.72,68.03,0.109,0.050,0.216,169,2272,1146,-7.83,-1.05,400.08,0,0,0,0,0,0,14.90,14.78,14.57
$IRIDIUM_FIX,2220.67,-15726.40,260821,100109
$TT8_MAMPS,0.023219,0.341544
$HUMID,48.93
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.61,66.242
$10V_AH,13.17,0.000
$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,16.400,95.725,308.500,68.025,0.000,53.301,84.840,244.582,0.000,0.000,17.535,1762.662,6081.258,469.810,2056.830,134.488,0.000,1216.450,0.000,1605.382,0.000,0.553,0.000
$DEVICE_MAMPS,435.285,71.145,1813.050,216.495,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,427.847,395.086,714.212,626.587,747.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339168
$DATA_FILE_SIZE,57436,637
$CAP_FILE_SIZE,135753,0
$CFSIZE,1023623168,996130816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.089,168.86,1
$GPS,260821,125058,2228.755,-15726.467,39,0.8,42,9.8,0.6,67.9,9,9.9