version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 335
start: 9 5 121 15 47 31
data:
$ID,626
$MISSION,3
$DIVE,335
$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,35
$R_STBD_OVSHOOT,60
$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
$GPS1,050921,154132,2209.2012,-15738.2490,17,0.9,29,9.8,0.5,267.4,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.3
$GPS2,050921,154701,2209.1816,-15738.2949,6,0.9,18,9.8,0.4,263.4,9,9.2
$SPEED_LIMITS,0.173,0.212
$TGT_NAME,AC16
$TGT_LATLONG,2208.940,-15737.920
$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,84.5,783,-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,-77.0,122,2317,1176,1100,0.0,0.0,0,78,0.00,0.00,-60.58,0.000,16386,0.000,0.000,122,2317,3068,3037,3099,0,0,0,0,0,0,15.02,28.83,15.02
$GC,81,-0.70,-114.6,122,2317,3037,3099,3.4,-6.7,9,104,8.23,2.45,-3.00,0.000,18948,0.439,0.067,2510,863,3251,3226,3277,0,0,0,0,0,0,14.26,13.45,14.51
$GC,280,-0.70,-114.6,2509,863,3234,3272,67.0,-22.7,45,287,0.00,2.40,0.00,0.000,3078,0.000,0.050,2501,2267,3253,3235,3271,0,0,0,0,0,0,14.88,14.73,14.89
$GC,536,-0.70,-114.6,2501,2270,3235,3271,130.0,-22.9,94,543,0.00,2.40,0.00,0.000,2564,0.000,0.051,2505,862,3253,3235,3271,0,0,0,0,0,0,15.11,14.76,15.11
$GC,677,-0.70,-114.6,2503,861,3237,3271,159.2,-19.8,116,685,0.00,2.38,0.00,0.000,3078,0.000,0.052,2495,2275,3254,3237,3271,0,0,0,0,0,0,14.94,14.81,14.95
$GC,945,-0.70,-114.6,2495,2275,3238,3271,217.6,-20.9,137,946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2495,2275,3254,3238,3271,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1185,-0.70,-114.6,2495,2275,3237,3272,261.3,-17.6,143,1191,0.00,2.35,0.00,0.000,2564,0.000,0.050,2495,863,3254,3238,3271,0,0,0,0,0,0,15.25,14.90,15.25
$GC,1203,-0.70,-114.6,2496,863,3239,3271,261.3,-17.6,143,1208,0.05,2.35,0.00,0.000,3078,0.406,0.052,2501,2276,3255,3239,3271,0,0,0,0,0,0,14.62,14.90,14.88
$GC,1460,-0.70,-114.6,2501,2277,3240,3271,301.5,-14.7,150,1461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,2277,3255,3240,3271,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1700,-0.70,-114.6,2501,2277,3240,3269,335.6,-14.0,156,1705,0.00,2.38,0.00,0.000,2308,0.000,0.065,2492,3692,3253,3239,3268,0,0,0,0,0,0,15.30,14.90,15.30
$GC,1745,-0.70,-114.6,2492,3692,3240,3268,341.4,-13.9,157,1750,0.00,2.30,0.00,0.000,3078,0.000,0.040,2493,2271,3254,3240,3269,0,0,0,0,0,0,15.08,14.97,15.09
$GC,2018,-0.70,-114.6,2493,2267,3240,3267,383.4,-15.6,164,2019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2492,2267,3253,3240,3267,0,0,0,0,0,0,15.31,15.32,15.32
$GC,2257,-0.70,-114.6,2493,2267,3240,3263,420.6,-15.2,170,2264,0.00,2.33,0.00,0.000,2564,0.000,0.055,2493,871,3251,3240,3263,0,0,0,0,0,0,15.33,14.93,15.33
$GC,2320,-0.70,-114.6,2493,871,3239,3263,426.5,-15.0,171,2325,0.08,2.38,0.00,0.000,3078,0.348,0.057,2509,2277,3251,3239,3263,0,0,0,0,0,0,14.62,14.92,14.90
$GC,2578,-0.70,-114.6,2509,2277,3239,3260,459.6,-11.4,178,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2277,3249,3239,3260,0,0,0,0,0,0,15.31,15.33,15.33
$GC,2817,-0.70,-114.6,2509,2277,3239,3257,488.2,-12.2,184,2824,0.00,2.35,0.00,0.000,516,0.000,0.054,2509,871,3248,3239,3257,0,0,0,0,0,0,15.32,14.92,15.33
$GC,2870,-0.70,-114.6,2509,870,3238,3257,493.0,-12.2,185,2874,0.00,2.38,0.00,0.000,3078,0.000,0.057,2500,2274,3247,3238,3257,0,0,0,0,0,0,15.07,14.92,15.09
$GC,3132,-0.70,-114.6,2500,2275,3238,3252,526.6,-12.6,192,3137,0.00,2.40,0.00,0.000,2308,0.000,0.070,2490,3681,3245,3238,3252,0,0,0,0,0,0,15.33,14.88,15.33
$GC,3177,-0.70,-114.6,2489,3681,3238,3252,532.1,-12.8,193,3183,0.05,2.33,0.00,0.000,3078,0.359,0.044,2507,2272,3245,3238,3252,0,0,0,0,0,0,14.69,14.95,14.92
$GC,3450,-0.70,-114.6,2507,2267,3238,3249,564.6,-11.7,200,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2268,3244,3238,3250,0,0,0,0,0,0,15.32,15.33,15.33
$GC,3690,-0.70,-114.6,2507,2268,3237,3245,593.5,-12.0,206,3696,0.00,2.35,0.00,0.000,516,0.000,0.058,2507,871,3241,3236,3246,0,0,0,0,0,0,15.33,14.90,15.33
$GC,3708,-0.70,-114.6,2507,870,3235,3248,593.5,-12.0,206,3712,0.00,2.40,0.00,0.000,3078,0.000,0.059,2499,2274,3241,3235,3248,0,0,0,0,0,0,15.06,14.90,15.08
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3768,-0.13,0.0,2498,2050,3235,3246,602.7,-12.1,208,3869,0.55,0.10,97.45,1.789,10246,0.264,0.130,2691,2125,2779,2849,2709,0,0,0,0,0,0,14.50,14.39,13.66
$STATE,3870,end apogee,CONTROL_FINISHED_OK
$STATE,3871,begin climb
$GC,3872,0.70,114.6,2691,2125,2849,2708,605.2,0.0,210,3979,0.65,0.00,102.65,1.742,10758,0.135,0.000,2958,2125,2311,2396,2226,0,0,0,0,0,0,14.35,14.25,13.55
$GC,4205,0.70,114.6,2957,2125,2389,2221,563.2,16.3,219,4206,0.00,0.00,0.00,0.000,4102,0.000,0.000,2958,2124,2305,2389,2222,0,0,0,0,0,0,14.99,15.00,14.99
$GC,4445,0.70,114.6,2957,2125,2388,2218,525.2,15.5,225,4451,0.00,2.35,0.00,0.000,4356,0.000,0.067,2958,3490,2303,2388,2219,0,0,0,0,0,0,15.11,14.76,15.11
$GC,4463,0.70,114.6,2957,3490,2388,2220,525.2,15.5,225,4467,0.00,2.35,0.00,0.000,5126,0.000,0.048,2968,2103,2303,2388,2219,0,0,0,0,0,0,14.92,14.79,14.94
$GC,4720,0.70,114.6,2968,2099,2388,2217,479.8,16.6,232,4726,0.00,2.40,0.00,0.000,4356,0.000,0.065,2968,3490,2303,2388,2218,0,0,0,0,0,0,15.18,14.81,15.19
$GC,4818,0.70,114.6,2968,3490,2388,2218,466.4,16.8,234,4823,0.08,2.35,0.00,0.000,5126,0.422,0.050,2958,2100,2303,2388,2219,0,0,0,0,0,0,14.44,14.85,14.82
$GC,5075,0.70,114.6,2958,2097,2388,2215,426.7,14.3,241,5081,0.00,2.38,0.00,0.000,4612,0.000,0.059,2968,693,2301,2388,2215,0,0,0,0,0,0,15.23,14.83,15.23
$GC,5195,0.70,114.6,2967,692,2378,2216,408.9,14.6,244,5202,0.00,2.38,0.00,0.000,5126,0.000,0.056,2968,2083,2297,2378,2216,0,0,0,0,0,0,15.00,14.85,15.02
$GC,5475,0.70,114.6,2967,2083,2378,2216,370.6,13.5,251,5477,0.00,0.00,0.00,0.000,4102,0.000,0.000,2967,2083,2297,2378,2216,0,0,0,0,0,0,15.25,15.26,15.26
$GC,5715,0.70,114.6,2967,2083,2378,2216,338.5,13.7,257,5721,0.00,2.42,0.00,0.000,4356,0.000,0.065,2967,3510,2297,2378,2216,0,0,0,0,0,0,15.27,14.83,15.27
$GC,5938,0.70,114.6,2966,3510,2378,2217,310.4,14.2,262,5943,0.08,2.38,0.00,0.000,5126,0.418,0.048,2955,2097,2297,2378,2217,0,0,0,0,0,0,14.42,14.88,14.81
$GC,6196,0.70,114.6,2955,2094,2378,2215,278.4,10.7,269,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2094,2297,2378,2216,0,0,0,0,0,0,15.27,15.28,15.28
$GC,6435,0.70,114.6,2955,2094,2378,2215,251.4,11.2,275,6442,0.00,2.42,0.00,0.000,260,0.000,0.063,2952,3510,2296,2378,2215,0,0,0,0,0,0,15.28,14.83,15.29
$GC,6508,0.70,114.6,2951,3510,2378,2216,246.3,11.4,276,6515,0.00,2.38,0.00,0.000,5126,0.000,0.045,2960,2092,2296,2378,2215,0,0,0,0,0,0,15.02,14.90,15.05
$GC,6756,0.70,114.6,2960,2090,2378,2215,214.9,10.9,283,6762,0.00,2.35,0.00,0.000,4612,0.000,0.055,2971,687,2296,2378,2215,0,0,0,0,0,0,15.29,14.86,15.29
$GC,6908,0.70,119.8,2971,688,2374,2214,203.9,9.5,286,6917,0.05,2.40,0.00,0.000,5126,0.408,0.052,2957,2106,2294,2374,2214,0,0,0,0,0,0,14.54,14.87,14.81
$GC,7156,0.73,169.0,2956,2106,2374,2214,186.4,5.7,308,7207,0.00,2.40,43.55,1.294,10500,0.000,0.061,2955,3508,2087,2174,2001,0,0,0,0,0,0,15.26,14.59,14.09
$GC,7249,0.73,169.0,2955,3509,2174,2001,178.2,11.0,317,7254,0.00,2.38,0.00,0.000,1030,0.000,0.045,2964,2103,2087,2174,2001,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7497,0.73,169.0,2964,2100,2176,1997,148.4,11.9,342,7504,0.00,2.45,0.00,0.000,516,0.000,0.056,2975,686,2085,2173,1997,0,0,0,0,0,0,15.09,14.73,15.09
$GC,7518,0.73,169.0,2975,686,2169,1997,146.0,11.7,345,7525,0.00,2.42,0.00,0.000,5126,0.000,0.052,2975,2103,2083,2169,1997,0,0,0,0,0,0,14.89,14.73,14.91
$GC,7781,0.73,169.0,2975,2104,2169,1997,111.1,14.1,394,7789,0.00,2.47,0.00,0.000,4612,0.000,0.055,2986,696,2083,2169,1997,0,0,0,0,0,0,15.11,14.69,15.11
$GC,7839,0.73,169.0,2985,696,2166,1997,103.8,13.0,404,7849,0.05,2.47,0.00,0.000,5126,0.330,0.054,2969,2105,2081,2166,1997,0,0,0,0,0,0,14.33,14.61,14.52
$GC,8106,0.74,182.8,2969,2105,2165,1997,76.5,8.8,453,8128,0.00,2.42,11.68,1.043,8452,0.000,0.059,2969,3517,2032,2116,1949,0,0,0,0,0,0,15.11,14.81,14.17
$GC,8146,0.74,182.8,2968,3517,2116,1949,72.4,10.2,459,8153,0.00,2.42,0.00,0.000,5126,0.000,0.044,2979,2090,2032,2116,1949,0,0,0,0,0,0,14.89,14.78,14.90
$GC,8411,0.76,222.1,2978,2087,2116,1949,51.1,6.5,508,8455,0.00,2.50,32.03,1.028,12548,0.000,0.063,2979,3512,1872,1953,1791,0,0,0,0,0,0,15.07,14.69,14.14
$GC,8565,0.76,222.1,2978,3512,1952,1791,34.2,13.3,535,8573,0.00,2.42,0.00,0.000,5126,0.000,0.044,2990,2093,1872,1953,1791,0,0,0,0,0,0,14.81,14.69,14.83
$STATE,8788,end climb,SURFACE_DEPTH_REACHED
$STATE,8788,begin surface coast
$FINISH,0.1,1.023136
$STATE,8812,end surface coast,CONTROL_FINISHED_OK
$STATE,8812,begin surface
$SM_CCo,8827,75.75,0.210,0,0,1148,400.08
$SM_GC,1.26,6.65,0.32,75.75,0.068,0.054,0.210,163,2325,1148,-7.84,-0.79,400.08,0,0,0,0,0,0,14.85,14.81,14.51
$IRIDIUM_FIX,2159.71,-15738.21,050921,154252
$TT8_MAMPS,0.023219,0.282373
$HUMID,50.82
$INTERNAL_PRESSURE,9.08201
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,13.45,85.686
$10V_AH,13.04,0.000
$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,16.500,91.550,287.350,75.750,0.000,27.177,41.745,141.929,0.000,0.000,19.686,1607.283,5285.086,459.044,1748.711,141.193,0.000,1169.460,0.000,1512.958,0.000,0.553,0.000
$DEVICE_MAMPS,439.110,130.050,1788.570,209.610,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,390.226,331.921,661.369,575.669,687.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339032
$DATA_FILE_SIZE,50660,581
$CAP_FILE_SIZE,123714,0
$CFSIZE,1023623168,988151808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.106,270.20,1
$GPS,050921,181702,2209.227,-15737.993,15,0.9,33,9.8,0.5,228.2,9,9.6