version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 270
start: 8 28 121 17 15 18
data:
$ID,626
$MISSION,3
$DIVE,270
$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,2731
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39.700001
$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,58
$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,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
$GPS1,280821,170925,2213.5435,-15745.9727,16,0.8,39,9.8,0.0,187.8,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.2
$GPS2,280821,171451,2213.5383,-15745.9863,6,0.9,14,9.8,0.5,24.0,9,9.3
$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,208.9,13483,-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,-0.56,-116.8,124,2244,1176,1102,0.0,0.0,0,80,0.00,0.00,-62.22,0.000,16386,0.000,0.000,124,2243,3123,3089,3157,0,0,0,0,0,0,15.03,28.83,15.04
$GC,83,-0.56,-116.8,123,2244,3089,3156,3.3,-5.7,9,99,8.32,2.28,-2.20,0.000,18948,0.438,0.063,2551,876,3259,3230,3289,0,0,0,0,0,0,14.31,13.56,14.54
$GC,233,-0.56,-116.8,2550,873,3244,3280,48.7,-21.8,36,240,0.00,2.40,0.00,0.000,3078,0.000,0.054,2542,2280,3262,3246,3279,0,0,0,0,0,0,14.88,14.74,14.90
$GC,493,-0.56,-116.8,2542,2282,3247,3279,108.1,-20.7,85,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2283,3263,3247,3279,0,0,0,0,0,0,15.11,15.12,15.11
$GC,748,-0.56,-116.8,2542,2283,3247,3280,163.5,-21.2,128,757,0.00,2.30,0.00,0.000,2564,0.000,0.051,2542,890,3264,3247,3281,0,0,0,0,0,0,15.16,14.73,15.16
$GC,770,-0.56,-116.8,2542,889,3247,3280,168.6,-22.3,130,779,0.03,2.30,0.00,0.000,3078,0.441,0.050,2540,2280,3263,3248,3279,0,0,0,0,0,0,14.48,14.71,14.62
$GC,1049,-0.56,-116.8,2540,2283,3249,3280,222.3,-17.8,149,1050,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2282,3264,3248,3280,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1289,-0.56,-116.8,2540,2282,3248,3280,266.2,-18.2,155,1290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2282,3264,3248,3281,0,0,0,0,0,0,15.27,15.28,15.27
$GC,1529,-0.56,-116.8,2540,2282,3248,3280,305.7,-16.1,161,1531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2282,3264,3248,3280,0,0,0,0,0,0,15.29,15.30,15.30
$GC,1769,-0.56,-116.8,2540,2282,3248,3280,335.4,-12.0,167,1775,0.00,2.33,0.00,0.000,2308,0.000,0.063,2531,3684,3264,3248,3280,0,0,0,0,0,0,15.32,14.94,15.32
$GC,1788,-0.56,-116.8,2531,3684,3248,3280,335.4,-12.0,167,1793,0.05,2.25,0.00,0.000,3078,0.362,0.040,2549,2285,3264,3248,3281,0,0,0,0,0,0,14.73,15.00,14.97
$GC,2045,-0.56,-116.8,2549,2281,3249,3278,369.6,-12.5,174,2050,0.00,2.33,0.00,0.000,516,0.000,0.052,2549,867,3263,3249,3278,0,0,0,0,0,0,15.33,14.97,15.33
$GC,2127,-0.56,-116.8,2549,865,3250,3277,379.2,-12.1,176,2131,0.00,2.35,0.00,0.000,3078,0.000,0.054,2540,2279,3263,3250,3277,0,0,0,0,0,0,15.10,14.97,15.11
$GC,2408,-0.56,-116.8,2540,2279,3250,3274,410.0,-10.5,183,2414,0.00,2.35,0.00,0.000,2308,0.000,0.067,2529,3686,3262,3250,3274,0,0,0,0,0,0,15.34,14.94,15.34
$GC,2451,-0.56,-116.8,2529,3686,3250,3274,413.9,-10.3,184,2456,0.05,2.30,0.00,0.000,3078,0.343,0.042,2548,2270,3262,3250,3274,0,0,0,0,0,0,14.76,15.00,14.98
$GC,2724,-0.56,-116.8,2548,2265,3250,3270,439.6,-9.4,191,2730,0.00,2.33,0.00,0.000,2564,0.000,0.054,2549,864,3260,3250,3270,0,0,0,0,0,0,15.34,14.96,15.34
$GC,2787,-0.56,-116.8,2549,864,3250,3270,443.5,-9.4,192,2791,0.00,2.38,0.00,0.000,3078,0.000,0.057,2540,2278,3259,3250,3269,0,0,0,0,0,0,15.10,14.96,15.12
$GC,3044,-0.56,-116.8,2539,2278,3250,3266,472.3,-10.4,199,3045,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2278,3258,3250,3266,0,0,0,0,0,0,15.34,15.35,15.35
$GC,3283,-0.56,-116.8,2539,2278,3250,3263,498.7,-10.9,205,3285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2278,3256,3250,3262,0,0,0,0,0,0,15.35,15.35,15.35
$GC,3524,-0.56,-116.8,2539,2278,3249,3260,523.3,-10.3,211,3530,0.00,2.38,0.00,0.000,2308,0.000,0.071,2529,3682,3255,3250,3260,0,0,0,0,0,0,15.35,14.92,15.35
$GC,3546,-0.56,-116.8,2529,3682,3249,3260,523.3,-10.3,211,3551,0.05,2.33,0.00,0.000,3078,0.344,0.044,2548,2269,3254,3249,3259,0,0,0,0,0,0,14.74,14.97,14.97
$GC,3804,-0.56,-116.8,2547,2266,3249,3256,549.2,-9.1,218,3810,0.00,2.35,0.00,0.000,2564,0.000,0.058,2548,864,3252,3248,3256,0,0,0,0,0,0,15.35,14.95,15.35
$GC,3883,-0.56,-116.8,2548,864,3247,3257,556.6,-9.2,220,3891,0.00,2.40,0.00,0.000,3078,0.000,0.060,2539,2281,3251,3247,3256,0,0,0,0,0,0,15.09,14.94,15.11
$GC,4164,-0.56,-116.8,2539,2282,3247,3252,584.7,-10.1,227,4165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2281,3249,3246,3252,0,0,0,0,0,0,15.34,15.35,15.34
$STATE,4322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4322,begin apogee
$GC,4327,-0.13,0.0,2539,2062,3247,3250,600.8,-10.1,231,4430,0.43,0.08,98.72,1.792,10246,0.251,0.154,2691,2115,2779,2850,2709,0,0,0,0,0,0,14.62,14.38,13.71
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4431,begin climb
$GC,4432,0.56,116.8,2691,2115,2850,2709,603.5,0.0,233,4541,0.55,0.00,104.30,1.748,10758,0.136,0.000,2917,2115,2302,2389,2216,0,0,0,0,0,0,14.40,14.28,13.62
$GC,4764,0.56,116.8,2917,2115,2382,2210,569.1,14.0,242,4771,0.00,2.40,0.00,0.000,4612,0.000,0.060,2928,728,2296,2382,2210,0,0,0,0,0,0,15.00,14.69,15.00
$GC,4792,0.56,116.8,2928,726,2376,2210,569.1,14.0,242,4797,0.05,2.35,0.00,0.000,5126,0.400,0.057,2913,2092,2293,2376,2210,0,0,0,0,0,0,14.49,14.71,14.76
$GC,5038,0.56,116.8,2913,2094,2377,2210,531.0,13.9,248,5043,0.00,2.33,0.00,0.000,4612,0.000,0.058,2922,728,2293,2376,2210,0,0,0,0,0,0,15.14,14.80,15.14
$GC,5138,0.56,116.8,2922,728,2372,2209,519.1,14.3,250,5142,0.00,2.35,0.00,0.000,5126,0.000,0.057,2922,2111,2291,2372,2210,0,0,0,0,0,0,14.96,14.83,14.98
$GC,5400,0.56,116.8,2922,2111,2370,2209,478.0,14.7,257,5406,0.00,2.38,0.00,0.000,4356,0.000,0.070,2922,3510,2290,2372,2209,0,0,0,0,0,0,15.21,14.83,15.21
$GC,5463,0.56,116.8,2922,3511,2371,2210,471.9,14.8,258,5468,0.08,2.30,0.00,0.000,5126,0.410,0.050,2911,2139,2290,2371,2210,0,0,0,0,0,0,14.50,14.88,14.86
$GC,5715,0.56,116.8,2910,2136,2372,2209,434.0,13.0,265,5721,0.00,2.42,0.00,0.000,516,0.000,0.060,2921,694,2289,2371,2208,0,0,0,0,0,0,15.24,14.87,15.25
$GC,5768,0.56,116.8,2920,693,2367,2208,429.1,12.4,266,5772,0.00,2.40,0.00,0.000,5126,0.000,0.057,2921,2108,2287,2367,2208,0,0,0,0,0,0,15.02,14.88,15.04
$GC,6030,0.56,116.8,2921,2109,2367,2208,397.4,11.2,273,6034,0.00,2.38,0.00,0.000,4356,0.000,0.070,2921,3511,2288,2368,2208,0,0,0,0,0,0,15.27,14.85,15.27
$GC,6224,0.56,116.8,2920,3511,2368,2209,377.7,12.2,277,6232,0.08,2.38,0.00,0.000,5126,0.399,0.050,2910,2100,2287,2367,2208,0,0,0,0,0,0,14.51,14.90,14.88
$GC,6471,0.56,116.8,2910,2098,2367,2207,346.8,10.9,284,6477,0.00,2.38,0.00,0.000,516,0.000,0.060,2919,684,2288,2368,2208,0,0,0,0,0,0,15.28,14.88,15.28
$GC,6665,0.56,116.8,2919,683,2364,2206,330.1,10.5,288,6671,0.00,2.40,0.00,0.000,5126,0.000,0.057,2919,2100,2284,2364,2205,0,0,0,0,0,0,15.03,14.88,15.06
$GC,6911,0.58,147.1,2919,2100,2364,2205,306.1,8.2,295,6941,0.00,2.38,24.05,1.450,8452,0.000,0.067,2919,3509,2178,2265,2092,0,0,0,0,0,0,15.28,14.73,14.19
$GC,7242,0.59,158.7,2919,3509,2264,2092,275.8,9.3,303,7260,0.00,2.38,11.38,1.319,13318,0.000,0.047,2930,2089,2130,2217,2043,0,0,0,0,0,0,14.97,14.85,14.19
$GC,7509,0.59,158.7,2930,2089,2217,2041,243.9,11.8,310,7510,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2089,2129,2217,2041,0,0,0,0,0,0,15.19,15.19,15.19
$GC,7748,0.59,158.7,2930,2089,2216,2041,216.3,11.4,316,7749,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2089,2129,2217,2041,0,0,0,0,0,0,15.23,15.23,15.23
$GC,7989,0.59,158.7,2930,2089,2216,2041,188.9,11.0,328,7999,0.00,2.42,0.00,0.000,4356,0.000,0.066,2930,3511,2129,2217,2041,0,0,0,0,0,0,15.24,14.85,15.25
$GC,8011,0.59,158.7,2930,3511,2216,2040,186.3,11.0,330,8022,0.08,2.35,0.00,0.000,5126,0.367,0.049,2918,2100,2129,2217,2041,0,0,0,0,0,0,14.57,14.90,14.87
$GC,8263,0.59,162.5,2917,2099,2216,2041,162.1,9.8,355,8271,0.00,0.00,4.35,0.939,8710,0.000,0.000,2918,2099,2116,2204,2028,0,0,0,0,0,0,15.23,14.93,14.21
$GC,8514,0.60,179.7,2917,2099,2204,2028,139.4,9.0,391,8536,0.00,2.40,15.88,1.127,10756,0.000,0.058,2927,687,2045,2133,1957,0,0,0,0,0,0,15.20,14.88,14.29
$GC,8559,0.60,186.8,2927,687,2128,1957,135.3,9.6,398,8573,0.00,2.40,7.03,1.019,9222,0.000,0.053,2927,2103,2016,2101,1931,0,0,0,0,0,0,14.95,14.85,14.23
$GC,8819,0.60,186.8,2927,2103,2101,1931,106.4,11.2,448,8826,0.00,2.40,0.00,0.000,260,0.000,0.064,2927,3507,2016,2101,1931,0,0,0,0,0,0,15.11,14.77,15.11
$GC,8863,0.60,186.8,2927,3507,2101,1931,100.7,12.6,456,8872,0.00,2.40,0.00,0.000,5126,0.000,0.047,2939,2107,2016,2101,1931,0,0,0,0,0,0,14.78,14.72,14.80
$GC,9122,0.60,186.8,2938,2104,2101,1931,68.4,12.6,505,9131,0.00,2.42,0.00,0.000,4356,0.000,0.063,2939,3507,2016,2101,1931,0,0,0,0,0,0,15.12,14.78,15.13
$GC,9164,0.60,186.8,2938,3508,2101,1931,62.7,13.8,512,9172,0.08,2.40,0.00,0.000,5126,0.347,0.044,2926,2083,2016,2101,1931,0,0,0,0,0,0,14.55,14.81,14.82
$GC,9427,0.65,263.7,2926,2080,2102,1931,44.0,5.5,561,9495,0.00,2.35,60.38,1.003,10756,0.000,0.055,2936,697,1703,1790,1616,0,0,0,0,0,0,15.12,14.52,14.14
$GC,9603,0.66,283.0,2935,697,1782,1616,29.8,8.9,590,9624,0.00,2.40,12.27,0.930,11270,0.000,0.050,2936,2105,1623,1713,1533,0,0,0,0,0,0,14.80,14.68,14.10
$STATE,9840,end climb,SURFACE_DEPTH_REACHED
$STATE,9840,begin surface coast
$FINISH,0.2,1.022732
$STATE,9864,end surface coast,CONTROL_FINISHED_OK
$STATE,9864,begin surface
$SM_CCo,9879,49.17,0.219,0,0,1148,400.08
$SM_GC,1.39,6.53,0.28,49.17,0.066,0.066,0.219,144,2317,1148,-7.88,-0.88,400.08,0,0,0,0,0,0,14.84,14.81,14.56
$IRIDIUM_FIX,2204.37,-15746.82,280821,171039
$TT8_MAMPS,0.023219,0.283122
$HUMID,48.81
$INTERNAL_PRESSURE,9.12107
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.56,70.642
$10V_AH,13.35,0.000
$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,16.350,95.225,338.350,49.175,0.000,25.456,43.986,143.868,0.250,0.000,15.349,1783.996,5924.972,481.356,1938.238,133.548,0.000,1272.188,0.000,1693.530,0.000,0.553,0.000
$DEVICE_MAMPS,440.640,153.765,1792.395,218.790,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,427.754,362.450,710.024,624.218,749.305,0.000,0.000,0.000,0.000,0.000
$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,57471,638
$CAP_FILE_SIZE,134695,0
$CFSIZE,1023623168,994361344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.131,270.54,1
$GPS,280821,200202,2212.747,-15747.378,18,0.8,42,9.8,0.6,263.1,10,8.5