version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 278
start: 8 29 121 16 35 26
data:
$ID,626
$MISSION,3
$DIVE,278
$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,53
$R_STBD_OVSHOOT,80
$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
$GPS1,290821,162935,2209.1692,-15752.0586,21,0.9,33,9.8,0.0,359.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.1
$GPS2,290821,163457,2209.2058,-15752.0957,6,0.9,14,9.8,0.0,266.9,9,9.8
$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,133.8,493,-24.9,-10.000,-30.00,1168
$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,-0.68,-77.0,120,2257,1173,1105,0.0,0.0,0,80,0.00,0.00,-60.40,0.000,16390,0.000,0.000,120,2257,3096,3066,3126,0,0,0,0,0,0,15.02,13.33,14.99
$GC,82,-0.68,-90.0,120,2257,3066,3126,4.1,-8.9,9,98,8.18,2.25,-0.77,0.000,18948,0.435,0.060,2515,864,3146,3118,3175,0,0,0,0,0,0,14.31,13.94,14.56
$GC,136,-0.68,-90.0,2515,864,3132,3164,27.9,-34.3,18,143,0.00,2.35,0.00,0.000,3078,0.000,0.050,2507,2224,3148,3133,3163,0,0,0,0,0,0,14.76,14.69,14.77
$GC,397,-0.68,-90.0,2507,2226,3135,3163,96.1,-23.4,67,404,0.00,2.25,0.00,0.000,2564,0.000,0.051,2509,882,3148,3134,3163,0,0,0,0,0,0,15.09,14.79,15.09
$GC,411,-0.68,-90.0,2509,882,3136,3162,100.1,-24.6,69,418,0.00,2.25,0.00,0.000,3078,0.000,0.045,2501,2236,3149,3136,3162,0,0,0,0,0,0,14.92,14.81,14.94
$GC,675,-0.68,-90.0,2501,2238,3136,3163,163.2,-24.2,114,685,0.00,2.38,0.00,0.000,2308,0.000,0.058,2490,3673,3149,3136,3163,0,0,0,0,0,0,15.15,14.55,15.15
$GC,801,-0.68,-90.0,2489,3675,3136,3163,190.8,-19.2,126,810,0.05,2.33,0.00,0.000,3078,0.327,0.042,2508,2289,3150,3137,3163,0,0,0,0,0,0,14.40,14.69,14.58
$GC,1048,-0.68,-90.0,2507,2285,3137,3163,240.9,-20.1,136,1049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,2285,3150,3137,3163,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1288,-0.68,-90.0,2508,2285,3137,3164,284.9,-17.7,142,1292,0.00,2.33,0.00,0.000,2308,0.000,0.058,2499,3683,3150,3137,3164,0,0,0,0,0,0,15.28,14.91,15.28
$GC,1342,-0.68,-90.0,2499,3683,3136,3163,291.8,-17.1,143,1347,0.00,2.30,0.00,0.000,3078,0.000,0.047,2501,2273,3150,3137,3163,0,0,0,0,0,0,15.07,14.95,15.08
$GC,1605,-0.68,-90.0,2500,2270,3138,3163,330.6,-14.3,150,1606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,2270,3150,3137,3163,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1845,-0.68,-90.0,2500,2270,3137,3163,362.8,-12.9,156,1846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,2270,3150,3137,3163,0,0,0,0,0,0,15.32,15.32,15.32
$GC,2085,-0.68,-90.0,2500,2270,3138,3161,395.1,-13.5,162,2091,0.00,2.33,0.00,0.000,2564,0.000,0.054,2502,861,3149,3138,3161,0,0,0,0,0,0,15.33,14.96,15.33
$GC,2143,-0.68,-90.0,2502,861,3138,3159,400.3,-13.2,163,2148,0.05,2.35,0.00,0.000,3078,0.399,0.054,2509,2279,3148,3138,3159,0,0,0,0,0,0,14.70,14.96,14.95
$GC,2400,-0.68,-90.0,2509,2280,3138,3157,430.8,-10.9,170,2406,0.00,2.35,0.00,0.000,2308,0.000,0.067,2500,3683,3147,3138,3156,0,0,0,0,0,0,15.33,14.93,15.34
$GC,2563,-0.68,-90.0,2500,3683,3138,3154,448.9,-11.3,174,2567,0.00,2.30,0.00,0.000,3078,0.000,0.044,2501,2275,3146,3138,3154,0,0,0,0,0,0,15.11,14.99,15.12
$GC,2835,-0.68,-90.0,2500,2272,3138,3149,480.6,-11.5,181,2842,0.00,2.35,0.00,0.000,2564,0.000,0.057,2505,858,3144,3138,3150,0,0,0,0,0,0,15.33,14.95,15.33
$GC,2898,-0.68,-90.0,2504,858,3138,3150,485.5,-11.8,182,2903,0.00,2.38,0.00,0.000,3078,0.000,0.054,2496,2275,3144,3138,3150,0,0,0,0,0,0,15.09,14.95,15.11
$GC,3156,-0.68,-90.0,2496,2275,3138,3146,521.6,-13.0,189,3157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2496,2275,3142,3138,3146,0,0,0,0,0,0,15.33,15.34,15.34
$GC,3395,-0.68,-90.0,2495,2275,3138,3143,553.4,-13.4,195,3402,0.00,2.40,0.00,0.000,2308,0.000,0.069,2485,3689,3140,3138,3143,0,0,0,0,0,0,15.34,14.91,15.35
$GC,3453,-0.68,-90.0,2484,3689,3137,3143,558.7,-13.2,196,3458,0.08,2.33,0.00,0.000,3078,0.334,0.045,2509,2276,3139,3137,3142,0,0,0,0,0,0,14.65,14.97,14.92
$GC,3710,-0.68,-90.0,2509,2273,3137,3138,592.1,-11.8,203,3715,0.00,2.33,0.00,0.000,516,0.000,0.057,2510,869,3138,3138,3138,0,0,0,0,0,0,15.33,14.93,15.34
$GC,3730,-0.68,-90.0,2509,868,3136,3140,592.1,-11.8,203,3734,0.00,2.38,0.00,0.000,3078,0.000,0.058,2501,2276,3137,3136,3139,0,0,0,0,0,0,15.09,14.93,15.11
$STATE,3791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3791,begin apogee
$GC,3795,-0.13,0.0,2501,2054,3136,3138,602.0,-11.7,205,3875,0.52,0.10,75.30,1.777,10246,0.268,0.132,2684,2129,2779,2846,2713,0,0,0,0,0,0,14.57,14.50,13.79
$STATE,3876,end apogee,CONTROL_FINISHED_OK
$STATE,3876,begin climb
$GC,3878,0.68,90.0,2684,2129,2846,2713,605.4,0.0,207,3963,0.65,0.00,81.12,1.730,10758,0.146,0.000,2949,2129,2412,2493,2332,0,0,0,0,0,0,14.45,14.31,13.63
$GC,4192,0.68,90.0,2949,2129,2482,2329,572.1,13.3,215,4199,0.00,2.33,0.00,0.000,260,0.000,0.070,2949,3489,2406,2483,2329,0,0,0,0,0,0,15.00,14.69,15.01
$GC,4234,0.68,90.0,2949,3489,2483,2330,566.7,13.1,216,4239,0.00,2.33,0.00,0.000,5126,0.000,0.047,2960,2139,2406,2483,2330,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4512,0.68,90.0,2959,2137,2483,2326,528.8,13.2,223,4518,0.00,2.33,0.00,0.000,4356,0.000,0.068,2960,3489,2404,2483,2325,0,0,0,0,0,0,15.15,14.79,15.16
$GC,4564,0.68,90.0,2959,3489,2483,2327,522.6,13.7,224,4570,0.08,2.35,0.00,0.000,5126,0.418,0.048,2949,2092,2405,2483,2327,0,0,0,0,0,0,14.46,14.84,14.83
$GC,4832,0.68,90.0,2949,2089,2481,2323,486.0,12.6,231,4839,0.00,2.40,0.00,0.000,260,0.000,0.067,2949,3493,2402,2481,2324,0,0,0,0,0,0,15.21,14.83,15.22
$GC,4850,0.68,90.0,2949,3493,2481,2325,486.0,12.6,231,4854,0.00,2.33,0.00,0.000,5126,0.000,0.047,2958,2100,2403,2481,2325,0,0,0,0,0,0,15.00,14.88,15.02
$GC,5107,0.68,90.0,2957,2097,2479,2323,449.1,13.3,238,5108,0.00,0.00,0.00,0.000,4102,0.000,0.000,2957,2097,2401,2479,2323,0,0,0,0,0,0,15.25,15.26,15.25
$GC,5347,0.68,90.0,2957,2097,2478,2322,419.9,12.0,244,5353,0.00,2.40,0.00,0.000,4356,0.000,0.068,2958,3492,2400,2478,2322,0,0,0,0,0,0,15.27,14.85,15.28
$GC,5605,0.68,90.0,2958,3492,2478,2323,391.4,11.5,250,5610,0.05,2.35,0.00,0.000,5126,0.474,0.052,2956,2098,2401,2478,2324,0,0,0,0,0,0,14.53,14.90,14.88
$GC,5862,0.69,100.8,2956,2095,2478,2320,365.3,9.1,257,5876,0.00,2.35,8.68,1.412,12804,0.000,0.060,2965,689,2367,2446,2288,0,0,0,0,0,0,15.28,14.80,14.16
$GC,5901,0.69,108.4,2965,689,2443,2289,361.6,9.3,258,5916,0.00,2.35,8.27,1.373,13318,0.000,0.054,2965,2089,2336,2417,2255,0,0,0,0,0,0,15.03,14.92,14.16
$GC,6178,0.69,108.4,2965,2089,2417,2252,329.9,11.0,265,6183,0.00,2.38,0.00,0.000,4612,0.000,0.055,2976,686,2334,2417,2251,0,0,0,0,0,0,15.22,14.88,15.23
$GC,6198,0.69,108.4,2975,685,2413,2252,329.9,11.0,265,6203,0.08,2.38,0.00,0.000,5126,0.389,0.054,2952,2098,2332,2413,2252,0,0,0,0,0,0,14.55,14.88,14.86
$GC,6461,0.72,144.1,2952,2098,2412,2252,308.5,6.9,272,6501,0.00,2.42,31.10,1.450,11012,0.000,0.057,2961,689,2189,2275,2104,0,0,0,0,0,0,15.25,14.77,14.16
$GC,6681,0.72,144.1,2961,689,2265,2104,288.0,10.7,277,6685,0.00,2.40,0.00,0.000,1030,0.000,0.056,2961,2100,2184,2265,2104,0,0,0,0,0,0,14.90,14.78,14.92
$GC,6938,0.72,144.1,2961,2101,2265,2103,253.3,12.5,284,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2101,2184,2265,2103,0,0,0,0,0,0,15.18,15.19,15.19
$GC,7178,0.72,144.1,2961,2101,2266,2103,225.1,11.6,290,7184,0.00,2.38,0.00,0.000,260,0.000,0.069,2961,3510,2184,2265,2103,0,0,0,0,0,0,15.22,14.83,15.23
$GC,7252,0.72,144.1,2961,3511,2264,2104,220.2,11.6,291,7260,0.00,2.35,0.00,0.000,5126,0.000,0.047,2971,2097,2184,2265,2104,0,0,0,0,0,0,15.01,14.88,15.03
$GC,7501,0.72,144.1,2971,2095,2265,2104,187.9,11.4,304,7509,0.00,2.38,0.00,0.000,4356,0.000,0.064,2971,3506,2184,2265,2104,0,0,0,0,0,0,15.23,14.69,15.23
$GC,7577,0.72,144.1,2971,3506,2265,2104,178.1,13.6,311,7585,0.08,2.35,0.00,0.000,5126,0.380,0.048,2961,2098,2184,2265,2104,0,0,0,0,0,0,14.52,14.90,14.88
$GC,7824,0.72,153.2,2960,2096,2265,2104,153.5,9.2,336,7834,0.00,0.00,8.20,1.094,8198,0.000,0.000,2961,2096,2154,2238,2070,0,0,0,0,0,0,15.23,14.94,14.28
$GC,8078,0.73,160.7,2960,2096,2237,2069,128.6,9.3,382,8093,0.00,2.40,6.90,1.019,8452,0.000,0.062,2959,3515,2127,2211,2043,0,0,0,0,0,0,15.16,14.71,14.19
$GC,8205,0.73,160.7,2959,3515,2211,2044,114.2,11.9,406,8213,0.00,2.40,0.00,0.000,5126,0.000,0.046,2968,2097,2127,2211,2044,0,0,0,0,0,0,14.96,14.83,14.97
$GC,8464,0.73,160.7,2968,2094,2212,2044,86.2,10.9,455,8471,0.00,2.35,0.00,0.000,4612,0.000,0.057,2979,692,2127,2210,2044,0,0,0,0,0,0,15.14,14.81,15.15
$GC,8568,0.73,160.7,2979,692,2209,2044,73.2,12.8,474,8576,0.05,2.40,0.00,0.000,5126,0.398,0.052,2961,2104,2126,2209,2044,0,0,0,0,0,0,14.55,14.81,14.82
$GC,8831,0.78,242.4,2963,2104,2209,2044,57.0,2.8,523,8902,0.00,0.00,65.62,1.024,10758,0.000,0.000,2963,2105,1788,1870,1706,0,0,0,0,0,0,15.12,14.48,14.11
$GC,9157,0.78,242.4,2962,2107,1870,1700,23.8,13.8,581,9164,0.00,2.45,0.00,0.000,2564,0.000,0.055,2972,683,1784,1868,1700,0,0,0,0,0,0,15.02,14.71,15.02
$GC,9177,0.78,242.4,2972,684,1864,1701,21.0,13.5,584,9186,0.00,2.45,0.00,0.000,3078,0.000,0.048,2972,2103,1782,1864,1701,0,0,0,0,0,0,14.71,14.64,14.72
$STATE,9306,end climb,SURFACE_DEPTH_REACHED
$STATE,9306,begin surface coast
$FINISH,0.2,1.009704
$STATE,9329,end surface coast,CONTROL_FINISHED_OK
$STATE,9329,begin surface
$SM_CCo,9344,65.90,0.208,0,0,1148,400.08
$SM_GC,1.07,6.57,0.28,65.90,0.062,0.073,0.208,139,2292,1148,-7.86,-0.96,400.08,0,0,0,0,0,0,14.88,14.81,14.55
$IRIDIUM_FIX,2159.71,-15752.89,290821,163051
$TT8_MAMPS,0.02247,0.315329
$HUMID,48.70
$INTERNAL_PRESSURE,9.13084
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.33,72.426
$10V_AH,13.20,0.000
$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,16.425,99.625,285.200,65.900,0.000,27.147,42.102,147.119,0.000,0.000,15.343,1726.901,5551.302,451.615,1880.028,131.953,0.000,1218.754,0.000,1641.151,0.000,0.553,0.000
$DEVICE_MAMPS,473.535,136.170,1777.095,208.080,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,410.594,347.310,683.407,606.233,725.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339180
$DATA_FILE_SIZE,54027,612
$CAP_FILE_SIZE,131159,0
$CFSIZE,1023623168,993591296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.135,289.37,1
$GPS,290821,191331,2208.711,-15752.241,18,0.8,41,9.8,0.6,307.2,10,9.8