version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 338
start: 9 5 121 23 50 27
data:
$ID,626
$MISSION,3
$DIVE,338
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,050921,234431,2209.3596,-15738.2324,19,0.9,30,9.8,0.6,251.1,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.2
$GPS2,050921,234959,2209.3706,-15738.2803,6,0.9,17,9.8,0.0,292.6,10,9.2
$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,106.3,1009,-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,16,-0.68,-77.0,124,2303,1173,1104,0.0,0.0,0,80,0.00,0.00,-60.72,0.000,16390,0.000,0.000,124,2303,3095,3065,3125,0,0,0,0,0,0,15.01,13.23,14.97
$GC,83,-0.69,-103.7,123,2303,3065,3125,3.9,-7.7,9,99,8.18,2.40,-1.73,0.000,18948,0.435,0.054,2508,842,3206,3175,3237,0,0,0,0,0,0,14.26,13.48,14.50
$GC,117,-0.69,-103.7,2508,842,3185,3230,20.9,-48.1,14,125,0.00,2.42,0.00,0.000,3078,0.000,0.047,2500,2265,3207,3186,3228,0,0,0,0,0,0,14.85,14.72,14.86
$GC,377,-0.69,-103.7,2500,2268,3190,3227,100.1,-26.5,63,385,0.00,2.40,0.00,0.000,2308,0.000,0.059,2489,3690,3207,3188,3227,0,0,0,0,0,0,15.08,14.74,15.09
$GC,500,-0.69,-103.7,2488,3690,3189,3227,128.0,-21.6,86,507,0.00,2.40,0.00,0.000,3078,0.000,0.043,2493,2259,3208,3189,3227,0,0,0,0,0,0,14.91,14.78,14.92
$GC,753,-0.69,-103.7,2492,2256,3189,3227,183.9,-21.2,120,763,0.03,2.30,0.00,0.000,2564,0.596,0.048,2500,860,3209,3191,3227,0,0,0,0,0,0,14.81,14.82,14.87
$GC,776,-0.69,-103.7,2500,860,3192,3227,188.7,-21.0,122,786,0.05,2.35,0.00,0.000,3078,0.413,0.050,2506,2274,3209,3192,3226,0,0,0,0,0,0,14.54,14.83,14.81
$GC,1036,-0.69,-103.7,2506,2277,3193,3227,235.0,-17.0,133,1042,0.00,2.35,0.00,0.000,2308,0.000,0.058,2498,3689,3210,3193,3227,0,0,0,0,0,0,15.23,14.85,15.23
$GC,1063,-0.69,-103.7,2497,3690,3193,3227,235.0,-17.0,133,1068,0.00,2.33,0.00,0.000,3078,0.000,0.041,2500,2264,3210,3193,3227,0,0,0,0,0,0,15.02,14.90,15.02
$GC,1310,-0.69,-103.7,2500,2261,3194,3227,279.8,-16.6,139,1316,0.00,2.30,0.00,0.000,2564,0.000,0.050,2500,863,3210,3194,3227,0,0,0,0,0,0,15.26,14.90,15.26
$GC,1393,-0.69,-103.7,2500,863,3195,3227,292.0,-16.1,141,1398,0.05,2.35,0.00,0.000,3078,0.392,0.051,2507,2274,3210,3195,3226,0,0,0,0,0,0,14.64,14.90,14.89
$GC,1666,-0.69,-103.7,2507,2275,3195,3225,333.4,-15.1,148,1672,0.00,2.35,0.00,0.000,260,0.000,0.062,2498,3684,3210,3196,3224,0,0,0,0,0,0,15.28,14.89,15.29
$GC,1719,-0.69,-103.7,2497,3684,3195,3224,339.3,-15.1,149,1723,0.00,2.30,0.00,0.000,3078,0.000,0.044,2500,2277,3209,3195,3224,0,0,0,0,0,0,15.07,14.95,15.08
$GC,1981,-0.69,-103.7,2499,2273,3196,3223,379.2,-14.3,156,1982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2499,2273,3209,3196,3223,0,0,0,0,0,0,15.30,15.31,15.30
$GC,2221,-0.69,-103.7,2499,2273,3196,3220,411.3,-13.0,162,2226,0.00,2.33,0.00,0.000,2564,0.000,0.050,2500,867,3207,3195,3220,0,0,0,0,0,0,15.32,14.94,15.32
$GC,2254,-0.69,-103.7,2499,867,3195,3220,411.3,-13.0,162,2261,0.05,2.35,0.00,0.000,3078,0.389,0.053,2507,2275,3207,3195,3220,0,0,0,0,0,0,14.66,14.93,14.92
$GC,2501,-0.69,-103.7,2507,2276,3195,3217,444.7,-11.5,169,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3206,3195,3217,0,0,0,0,0,0,15.32,15.33,15.32
$GC,2741,-0.69,-103.7,2507,2275,3195,3213,472.6,-11.7,175,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3204,3195,3213,0,0,0,0,0,0,15.32,15.33,15.33
$GC,2981,-0.69,-103.7,2507,2276,3195,3211,500.3,-11.5,181,2985,0.00,2.38,0.00,0.000,260,0.000,0.067,2498,3687,3203,3195,3211,0,0,0,0,0,0,15.33,14.89,15.33
$GC,3040,-0.69,-103.7,2498,3688,3194,3211,505.2,-11.4,182,3045,0.00,2.35,0.00,0.000,3078,0.000,0.044,2499,2268,3202,3194,3210,0,0,0,0,0,0,15.08,14.95,15.10
$GC,3302,-0.69,-103.7,2499,2264,3194,3206,539.0,-12.2,189,3308,0.00,2.35,0.00,0.000,2564,0.000,0.054,2498,861,3200,3194,3206,0,0,0,0,0,0,15.33,14.91,15.33
$GC,3342,-0.69,-103.7,2499,861,3192,3207,544.2,-12.4,190,3349,0.05,2.40,0.00,0.000,3078,0.389,0.055,2506,2281,3199,3192,3207,0,0,0,0,0,0,14.65,14.91,14.90
$GC,3622,-0.69,-103.7,2506,2281,3192,3202,577.0,-11.8,197,3627,0.00,2.40,0.00,0.000,2308,0.000,0.070,2498,3689,3197,3192,3203,0,0,0,0,0,0,15.33,14.88,15.33
$GC,3667,-0.69,-103.7,2497,3688,3191,3203,581.9,-11.7,198,3671,0.00,2.35,0.00,0.000,3078,0.000,0.044,2499,2271,3196,3191,3202,0,0,0,0,0,0,15.07,14.94,15.09
$STATE,3857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3857,begin apogee
$GC,3862,-0.13,0.0,2499,2054,3191,3200,604.5,-11.5,203,3955,0.52,0.10,88.35,1.800,10246,0.264,0.123,2685,2131,2779,2848,2711,0,0,0,0,0,0,14.49,14.43,13.67
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3956,begin climb
$GC,3957,0.69,103.7,2685,2131,2848,2711,606.8,0.0,205,4059,0.68,0.00,95.00,1.753,10246,0.142,0.000,2956,2131,2355,2438,2273,0,0,0,0,0,0,14.40,14.12,13.54
$GC,4299,0.69,103.7,2955,2131,2432,2268,563.7,15.3,214,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2131,2350,2432,2268,0,0,0,0,0,0,15.00,15.01,15.00
$GC,4539,0.69,103.7,2955,2131,2432,2265,529.2,14.3,220,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2131,2348,2431,2265,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4779,0.69,103.7,2955,2131,2430,2263,497.0,13.2,226,4785,0.00,2.33,0.00,0.000,4356,0.000,0.066,2956,3491,2346,2430,2263,0,0,0,0,0,0,15.18,14.79,15.19
$GC,4954,0.69,103.7,2955,3491,2429,2263,473.7,14.5,230,4960,0.00,2.25,0.00,0.000,5126,0.000,0.047,2966,2150,2347,2430,2264,0,0,0,0,0,0,14.98,14.85,15.00
$GC,5219,0.69,103.7,2966,2147,2429,2262,435.1,13.7,237,5220,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2147,2346,2430,2262,0,0,0,0,0,0,15.23,15.23,15.23
$GC,5459,0.69,103.7,2966,2147,2430,2261,405.1,12.0,243,5460,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2147,2345,2429,2261,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5699,0.69,103.7,2966,2147,2430,2260,377.3,11.4,249,5703,0.00,2.30,0.00,0.000,4356,0.000,0.067,2966,3485,2345,2430,2260,0,0,0,0,0,0,15.27,14.83,15.26
$GC,5718,0.69,103.7,2965,3486,2429,2260,377.3,11.4,249,5724,0.08,2.35,0.00,0.000,5126,0.423,0.047,2955,2092,2345,2430,2261,0,0,0,0,0,0,14.44,14.89,14.83
$GC,5981,0.69,103.7,2954,2090,2428,2260,346.0,10.5,256,5987,0.00,2.40,0.00,0.000,260,0.000,0.062,2954,3488,2344,2428,2260,0,0,0,0,0,0,15.27,14.84,15.28
$GC,6049,0.69,103.7,2953,3489,2428,2260,341.2,10.7,257,6054,0.00,2.33,0.00,0.000,5126,0.000,0.045,2963,2097,2344,2428,2260,0,0,0,0,0,0,15.02,14.90,15.05
$GC,6301,0.69,103.7,2962,2094,2428,2258,312.1,10.2,264,6305,0.00,2.40,0.00,0.000,4356,0.000,0.065,2963,3491,2343,2428,2259,0,0,0,0,0,0,15.28,14.83,15.29
$GC,6571,0.69,104.6,2963,3491,2428,2260,288.6,9.9,270,6576,0.05,2.33,0.00,0.000,5126,0.459,0.046,2958,2098,2344,2428,2260,0,0,0,0,0,0,14.50,14.89,14.83
$GC,6819,0.71,130.8,2958,2094,2428,2259,266.7,7.7,276,6843,0.00,0.00,22.38,1.396,8198,0.000,0.000,2958,2093,2244,2331,2158,0,0,0,0,0,0,15.28,14.88,14.15
$GC,7058,0.71,130.8,2958,2093,2330,2155,238.1,13.1,282,7065,0.00,2.35,0.00,0.000,516,0.000,0.054,2968,690,2242,2330,2155,0,0,0,0,0,0,15.18,14.80,15.19
$GC,7166,0.71,130.8,2967,690,2324,2155,228.1,13.0,284,7170,0.00,2.35,0.00,0.000,5126,0.000,0.050,2968,2087,2239,2324,2155,0,0,0,0,0,0,14.96,14.82,14.98
$GC,7413,0.71,132.0,2967,2088,2324,2155,199.5,9.9,290,7418,0.00,2.42,0.00,0.000,4356,0.000,0.063,2968,3514,2239,2324,2155,0,0,0,0,0,0,15.23,14.80,15.23
$GC,7475,0.71,132.0,2967,3514,2324,2157,192.7,11.2,296,7480,0.08,2.35,0.00,0.000,5126,0.401,0.044,2955,2101,2240,2324,2157,0,0,0,0,0,0,14.43,14.86,14.76
$GC,7727,0.71,132.0,2955,2098,2324,2157,165.3,10.8,321,7738,0.00,2.33,0.00,0.000,516,0.000,0.052,2965,692,2240,2324,2157,0,0,0,0,0,0,15.21,14.83,15.22
$GC,7793,0.71,132.0,2964,692,2321,2157,158.9,10.2,327,7801,0.00,2.45,0.00,0.000,5126,0.000,0.050,2965,2104,2239,2321,2157,0,0,0,0,0,0,14.68,14.62,14.73
$GC,8051,0.73,157.7,2965,2103,2321,2157,136.0,7.7,367,8080,0.00,2.42,22.98,1.179,8708,0.000,0.052,2975,689,2135,2221,2049,0,0,0,0,0,0,15.18,14.83,14.19
$GC,8157,0.73,157.7,2974,687,2215,2049,124.9,12.3,385,8164,0.00,2.40,0.00,0.000,5126,0.000,0.048,2975,2106,2132,2215,2049,0,0,0,0,0,0,14.88,14.76,14.90
$GC,8419,0.73,160.3,2975,2107,2215,2049,96.5,9.8,434,8427,0.00,2.42,0.00,0.000,4356,0.000,0.063,2975,3511,2132,2215,2049,0,0,0,0,0,0,15.10,14.73,15.10
$GC,8550,0.74,183.4,2974,3511,2214,2050,84.5,8.0,458,8579,0.05,2.42,21.75,1.072,13318,0.356,0.043,2972,2098,2031,2114,1948,0,0,0,0,0,0,14.40,14.74,14.17
$GC,8833,0.76,208.4,2972,2099,2114,1944,60.6,7.8,510,8862,0.00,2.38,20.95,1.028,8708,0.000,0.050,2982,693,1927,2007,1848,0,0,0,0,0,0,15.04,14.52,14.08
$GC,8891,0.77,224.6,2981,693,2002,1848,56.0,8.6,519,8913,0.00,2.40,13.95,0.992,13318,0.000,0.046,2981,2104,1862,1942,1782,0,0,0,0,0,0,14.81,14.70,14.09
$GC,9166,0.77,224.6,2981,2104,1942,1780,26.2,10.9,570,9174,0.00,2.42,0.00,0.000,4356,0.000,0.063,2981,3509,1861,1942,1780,0,0,0,0,0,0,15.02,14.69,15.02
$GC,9224,0.77,224.6,2981,3510,1942,1780,19.0,12.7,580,9233,0.05,2.40,0.00,0.000,5126,0.406,0.044,2978,2099,1861,1942,1780,0,0,0,0,0,0,14.47,14.73,14.73
$STATE,9353,end climb,SURFACE_DEPTH_REACHED
$STATE,9353,begin surface coast
$FINISH,0.3,1.022899
$STATE,9376,end surface coast,CONTROL_FINISHED_OK
$STATE,9376,begin surface
$SM_CCo,9391,74.55,0.210,0,0,1145,400.08
$SM_GC,1.18,6.60,0.30,74.55,0.066,0.059,0.210,146,2299,1145,-7.85,-1.07,400.08,0,0,0,0,0,0,14.83,14.83,14.52
$IRIDIUM_FIX,2159.71,-15740.36,050921,234545
$TT8_MAMPS,0.023219,0.339297
$HUMID,49.92
$INTERNAL_PRESSURE,9.10154
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.23,86.317
$10V_AH,13.26,0.000
$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,16.500,100.000,285.350,74.550,0.000,24.350,43.565,139.993,0.000,0.000,18.266,1700.741,5685.402,494.306,1777.845,145.382,0.000,1202.096,0.000,1536.959,0.000,0.553,0.000
$DEVICE_MAMPS,595.935,123.165,1800.045,209.610,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,408.311,348.105,680.476,588.427,692.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339020
$DATA_FILE_SIZE,53993,608
$CAP_FILE_SIZE,130185,0
$CFSIZE,1023623168,987889664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,244.88,1
$GPS,060921,022931,2208.769,-15737.771,15,0.8,43,9.8,0.3,227.3,11,7.3