version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 337
start: 9 5 121 21 14 34
data:
$ID,626
$MISSION,3
$DIVE,337
$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,63
$R_STBD_OVSHOOT,74
$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
$GPS1,050921,210831,2208.5554,-15737.6377,16,0.9,37,9.8,0.4,242.2,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.2
$GPS2,050921,211404,2208.5420,-15737.6953,6,0.8,17,9.8,0.6,183.3,10,9.5
$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,349.4,832,-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,-77.0,122,2240,1171,1104,0.0,0.0,0,73,0.00,0.00,-55.65,0.000,16386,0.000,0.000,123,2237,2894,2876,2912,0,0,0,0,0,0,15.01,28.83,15.02
$GC,76,-0.70,-116.8,122,2237,2877,2911,3.0,-6.3,8,99,8.20,2.38,-6.38,0.000,18692,0.435,0.073,2488,3645,3256,3233,3279,0,0,0,0,0,0,14.23,13.83,14.50
$GC,242,-0.70,-116.8,2488,3645,3235,3281,52.5,-25.1,38,252,0.00,2.30,0.00,0.000,3078,0.000,0.047,2493,2312,3258,3238,3279,0,0,0,0,0,0,14.72,14.64,14.70
$GC,508,-0.70,-116.8,2493,2308,3241,3277,120.0,-24.4,87,515,0.00,2.42,0.00,0.000,2564,0.000,0.052,2493,860,3259,3242,3276,0,0,0,0,0,0,15.10,14.77,15.10
$GC,544,-0.70,-116.8,2493,858,3243,3276,128.2,-21.1,93,552,0.08,2.33,0.00,0.000,3078,0.373,0.051,2507,2238,3259,3243,3276,0,0,0,0,0,0,14.46,14.78,14.76
$GC,804,-0.70,-116.8,2507,2241,3244,3276,182.3,-19.7,128,812,0.00,2.38,0.00,0.000,260,0.000,0.058,2498,3686,3260,3244,3276,0,0,0,0,0,0,15.15,14.65,15.16
$GC,868,-0.70,-116.8,2498,3687,3244,3276,193.5,-17.2,134,875,0.00,2.33,0.00,0.000,3078,0.000,0.043,2499,2276,3260,3244,3276,0,0,0,0,0,0,14.96,14.85,14.98
$GC,1145,-0.70,-116.8,2499,2272,3245,3276,245.1,-17.8,144,1151,0.00,2.40,0.00,0.000,2308,0.000,0.059,2490,3691,3260,3245,3276,0,0,0,0,0,0,15.23,14.85,15.23
$GC,1163,-0.70,-116.8,2489,3691,3245,3276,245.1,-17.8,144,1168,0.00,2.33,0.00,0.000,3078,0.000,0.041,2490,2263,3261,3245,3277,0,0,0,0,0,0,15.02,14.91,15.04
$GC,1420,-0.70,-116.8,2490,2260,3246,3277,293.0,-17.6,151,1426,0.03,2.28,0.00,0.000,2564,0.593,0.047,2499,868,3261,3246,3277,0,0,0,0,0,0,14.88,14.90,14.95
$GC,1493,-0.70,-116.8,2499,868,3247,3276,299.8,-17.5,152,1501,0.05,2.33,0.00,0.000,3078,0.412,0.048,2505,2280,3261,3247,3276,0,0,0,0,0,0,14.62,14.91,14.88
$GC,1740,-0.70,-116.8,2505,2280,3247,3275,339.6,-14.6,159,1744,0.00,2.33,0.00,0.000,260,0.000,0.062,2496,3684,3260,3246,3275,0,0,0,0,0,0,15.29,14.88,15.29
$GC,1765,-0.70,-116.8,2496,3684,3246,3275,339.6,-14.6,159,1769,0.00,2.30,0.00,0.000,3078,0.000,0.041,2498,2271,3261,3247,3275,0,0,0,0,0,0,15.07,14.96,15.09
$GC,2017,-0.70,-116.8,2497,2267,3247,3272,380.3,-14.7,166,2023,0.00,2.33,0.00,0.000,2564,0.000,0.050,2498,861,3260,3247,3273,0,0,0,0,0,0,15.30,14.92,15.30
$GC,2057,-0.70,-116.8,2497,861,3247,3273,386.1,-14.4,167,2064,0.05,2.38,0.00,0.000,3078,0.393,0.052,2505,2280,3259,3247,3272,0,0,0,0,0,0,14.65,14.92,14.90
$GC,2336,-0.70,-116.8,2505,2281,3247,3269,424.9,-13.8,174,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2281,3258,3247,3269,0,0,0,0,0,0,15.30,15.31,15.31
$GC,2577,-0.70,-116.8,2505,2281,3247,3265,455.9,-12.9,180,2583,0.00,2.35,0.00,0.000,260,0.000,0.067,2496,3682,3255,3246,3265,0,0,0,0,0,0,15.31,14.89,15.32
$GC,2625,-0.70,-116.8,2496,3681,3247,3265,460.7,-12.5,181,2629,0.00,2.33,0.00,0.000,3078,0.000,0.043,2498,2278,3256,3247,3265,0,0,0,0,0,0,15.08,14.96,15.10
$GC,2892,-0.70,-116.8,2497,2274,3247,3261,499.1,-14.4,188,2893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,2274,3253,3246,3261,0,0,0,0,0,0,15.32,15.33,15.33
$GC,3132,-0.70,-116.8,2497,2274,3247,3258,532.5,-13.6,194,3133,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,2274,3252,3246,3258,0,0,0,0,0,0,15.33,15.33,15.33
$GC,3372,-0.70,-116.8,2497,2274,3246,3253,564.5,-13.2,200,3377,0.00,2.38,0.00,0.000,2564,0.000,0.053,2498,866,3250,3246,3254,0,0,0,0,0,0,15.33,14.91,15.33
$GC,3400,-0.70,-116.8,2498,866,3244,3255,564.5,-13.2,200,3405,0.05,2.40,0.00,0.000,3078,0.389,0.055,2505,2279,3249,3244,3255,0,0,0,0,0,0,14.64,14.91,14.89
$GC,3652,-0.70,-116.8,2505,2279,3244,3251,597.7,-11.5,207,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2280,3248,3244,3252,0,0,0,0,0,0,15.33,15.33,15.33
$STATE,3691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3691,begin apogee
$GC,3696,-0.13,0.0,2505,2050,3244,3251,602.3,-11.4,208,3799,0.52,0.10,98.75,1.787,10246,0.259,0.126,2692,2130,2779,2850,2709,0,0,0,0,0,0,14.50,14.38,13.66
$STATE,3800,end apogee,CONTROL_FINISHED_OK
$STATE,3800,begin climb
$GC,3801,0.70,116.8,2692,2130,2850,2708,604.4,0.0,210,3911,0.68,0.00,105.35,1.741,10758,0.130,0.000,2966,2130,2302,2388,2217,0,0,0,0,0,0,14.38,14.25,13.54
$GC,4133,0.70,116.8,2966,2130,2382,2211,560.5,17.4,219,4140,0.00,2.40,0.00,0.000,4612,0.000,0.054,2977,739,2295,2381,2210,0,0,0,0,0,0,14.97,14.64,14.98
$GC,4145,0.70,116.8,2976,739,2377,2211,560.5,17.4,219,4150,0.08,2.30,0.00,0.000,5126,0.378,0.051,2955,2079,2294,2377,2211,0,0,0,0,0,0,14.40,14.69,14.71
$GC,4407,0.70,116.8,2954,2081,2376,2209,517.8,15.2,226,4412,0.00,2.45,0.00,0.000,260,0.000,0.066,2955,3510,2293,2377,2209,0,0,0,0,0,0,15.11,14.75,15.12
$GC,4457,0.70,116.8,2955,3510,2376,2210,511.2,15.5,227,4461,0.00,2.28,0.00,0.000,5126,0.000,0.044,2964,2149,2293,2376,2210,0,0,0,0,0,0,14.93,14.81,14.95
$GC,4724,0.70,116.8,2964,2147,2376,2208,470.6,14.7,234,4730,0.00,2.35,0.00,0.000,4356,0.000,0.066,2964,3512,2292,2376,2209,0,0,0,0,0,0,15.19,14.80,15.19
$GC,4747,0.70,116.8,2963,3512,2376,2209,470.6,14.7,234,4752,0.05,2.38,0.00,0.000,5126,0.462,0.047,2961,2102,2292,2376,2209,0,0,0,0,0,0,14.50,14.85,14.83
$GC,4999,0.70,116.8,2961,2099,2376,2207,430.4,14.0,241,5005,0.00,2.42,0.00,0.000,4356,0.000,0.065,2961,3510,2291,2376,2207,0,0,0,0,0,0,15.23,14.81,15.23
$GC,5113,0.70,116.8,2961,3510,2376,2207,418.0,14.8,243,5120,0.05,2.38,0.00,0.000,5126,0.470,0.045,2958,2092,2291,2376,2207,0,0,0,0,0,0,14.50,14.88,14.84
$GC,5359,0.70,116.8,2957,2090,2376,2204,378.4,14.1,250,5364,0.00,2.38,0.00,0.000,516,0.000,0.057,2967,686,2290,2376,2204,0,0,0,0,0,0,15.24,14.84,15.25
$GC,5445,0.70,116.8,2967,686,2369,2204,367.5,13.7,252,5449,0.00,2.38,0.00,0.000,5126,0.000,0.050,2967,2100,2286,2369,2203,0,0,0,0,0,0,15.00,14.87,15.03
$GC,5717,0.70,116.8,2967,2100,2369,2204,332.4,12.9,259,5723,0.00,2.40,0.00,0.000,4612,0.000,0.055,2977,687,2286,2369,2204,0,0,0,0,0,0,15.26,14.85,15.27
$GC,5744,0.70,116.8,2977,687,2367,2204,332.4,12.9,259,5749,0.08,2.40,0.00,0.000,5126,0.384,0.052,2955,2108,2286,2367,2205,0,0,0,0,0,0,14.48,14.87,14.84
$GC,5991,0.70,116.8,2954,2108,2368,2204,297.7,12.2,265,5997,0.00,2.38,0.00,0.000,260,0.000,0.064,2952,3510,2285,2367,2204,0,0,0,0,0,0,15.27,14.84,15.28
$GC,6049,0.70,116.8,2952,3510,2367,2206,293.2,11.7,266,6053,0.00,2.35,0.00,0.000,5126,0.000,0.045,2961,2094,2287,2367,2207,0,0,0,0,0,0,15.02,14.90,15.05
$GC,6307,0.70,118.4,2961,2092,2367,2205,265.9,9.9,273,6313,0.00,2.35,0.00,0.000,4612,0.000,0.054,2972,689,2286,2368,2205,0,0,0,0,0,0,15.28,14.87,15.28
$GC,6419,0.70,124.3,2972,689,2364,2204,258.5,9.5,275,6430,0.05,2.40,4.62,1.128,13318,0.420,0.051,2957,2103,2272,2355,2189,0,0,0,0,0,0,14.54,14.87,14.03
$GC,6708,0.71,131.6,2957,2104,2355,2190,228.6,9.4,283,6721,0.00,2.38,8.00,1.235,8452,0.000,0.061,2955,3516,2242,2328,2157,0,0,0,0,0,0,15.26,14.78,14.18
$GC,6903,0.71,131.6,2955,3517,2328,2159,207.7,10.8,288,6908,0.00,2.38,0.00,0.000,5126,0.000,0.045,2964,2093,2243,2328,2159,0,0,0,0,0,0,15.01,14.89,15.03
$GC,7157,0.72,146.9,2964,2090,2328,2159,187.1,8.7,304,7178,0.00,2.38,14.70,1.246,8708,0.000,0.053,2975,692,2179,2265,2093,0,0,0,0,0,0,15.22,14.90,14.21
$GC,7188,0.73,160.2,2975,692,2263,2093,184.5,8.8,307,7207,0.00,2.38,12.65,1.204,13318,0.000,0.049,2975,2113,2125,2211,2039,0,0,0,0,0,0,14.98,14.88,14.16
$GC,7446,0.73,160.2,2975,2112,2210,2035,151.8,14.0,333,7456,0.00,2.38,0.00,0.000,4356,0.000,0.064,2975,3510,2123,2211,2035,0,0,0,0,0,0,15.13,14.77,15.14
$GC,7565,0.73,160.2,2975,3510,2210,2035,134.2,15.1,353,7572,0.08,2.38,0.00,0.000,5126,0.376,0.046,2965,2099,2122,2210,2035,0,0,0,0,0,0,14.47,14.81,14.77
$GC,7827,0.73,160.2,2965,2096,2210,2035,103.2,10.3,402,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2096,2122,2210,2034,0,0,0,0,0,0,15.12,15.13,15.13
$GC,8090,0.73,161.5,2965,2096,2210,2035,78.0,9.9,451,8097,0.00,2.40,0.00,0.000,516,0.000,0.054,2974,697,2122,2210,2035,0,0,0,0,0,0,15.12,14.71,15.13
$GC,8161,0.73,161.5,2974,697,2205,2035,70.6,10.3,464,8169,0.00,2.40,0.00,0.000,5126,0.000,0.046,2974,2110,2120,2205,2035,0,0,0,0,0,0,14.91,14.77,14.93
$GC,8422,0.78,243.6,2974,2111,2205,2036,54.1,2.8,513,8498,0.00,2.47,65.70,1.038,10756,0.000,0.052,2985,695,1784,1866,1702,0,0,0,0,0,0,15.11,14.44,14.02
$GC,8523,0.79,262.2,2984,695,1862,1702,48.9,8.4,527,8544,0.00,2.42,15.68,0.981,9222,0.000,0.048,2983,2104,1710,1794,1626,0,0,0,0,0,0,14.69,14.59,14.03
$GC,8796,0.79,262.2,2985,2104,1793,1620,10.3,14.3,578,8805,0.00,2.42,0.00,0.000,260,0.000,0.062,2984,3513,1706,1793,1620,0,0,0,0,0,0,14.99,14.66,15.00
$GC,8822,0.79,262.2,2984,3512,1793,1620,6.2,15.2,582,8831,0.00,2.40,0.00,0.000,5126,0.000,0.044,2996,2099,1707,1793,1621,0,0,0,0,0,0,14.83,14.70,14.84
$STATE,8841,end climb,SURFACE_DEPTH_REACHED
$STATE,8842,begin surface coast
$FINISH,0.4,1.022888
$STATE,8859,end surface coast,CONTROL_FINISHED_OK
$STATE,8859,begin surface
$SM_CCo,8874,58.38,0.213,0,0,1147,400.08
$SM_GC,1.09,6.47,0.32,58.38,0.035,0.072,0.213,175,2295,1147,-7.84,-0.76,400.08,0,0,0,0,0,0,14.83,14.76,14.50
$IRIDIUM_FIX,2159.71,-15738.21,050921,210954
$TT8_MAMPS,0.023219,0.283122
$HUMID,50.15
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.54,86.107
$10V_AH,13.21,0.000
$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,16.500,109.775,325.450,58.375,0.000,31.137,41.477,147.463,0.000,0.000,18.830,1641.790,5228.337,486.834,1771.226,147.460,0.000,1223.388,0.000,1530.513,0.000,0.552,0.000
$DEVICE_MAMPS,592.875,130.050,1787.040,212.670,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.091,339.098,670.480,588.077,693.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339052
$DATA_FILE_SIZE,54138,588
$CAP_FILE_SIZE,132561,0
$CFSIZE,1023623168,987955200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,263.25,1
$GPS,050921,234431,2209.360,-15738.232,19,0.9,30,9.8,0.6,251.1,10,8.3