version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 409
start: 9 14 121 18 34 56
data:
$ID,626
$MISSION,3
$DIVE,409
$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,68
$R_STBD_OVSHOOT,70
$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
$GPS1,140921,182606,2223.8494,-15837.2676,28,1.0,46,9.8,1.0,236.4,8,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.7
$GPS2,140921,183425,2223.8210,-15837.4229,8,1.0,16,9.8,0.0,291.0,8,10.0
$SPEED_LIMITS,0.173,0.212
$TGT_NAME,AC19
$TGT_LATLONG,2223.940,-15837.080
$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,75.7,628,-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,14,begin dive
$GC,16,-0.68,-77.0,122,2231,1173,1102,0.0,0.0,0,79,0.00,0.00,-59.85,0.000,16390,0.000,0.000,122,2232,3094,3061,3128,0,0,0,0,0,0,15.02,13.11,14.97
$GC,82,-0.68,-81.2,122,2232,3062,3128,4.2,-9.6,9,98,8.30,2.20,-0.22,0.000,18948,0.438,0.060,2514,881,3111,3084,3138,0,0,0,0,0,0,14.20,13.78,14.45
$GC,106,-0.68,-81.2,2513,881,3092,3133,17.2,-40.5,12,114,0.00,2.35,0.00,0.000,3078,0.000,0.048,2506,2237,3112,3095,3130,0,0,0,0,0,0,14.73,14.66,14.83
$GC,366,-0.68,-81.2,2505,2239,3099,3126,93.1,-24.2,61,373,0.00,2.45,0.00,0.000,2308,0.000,0.057,2494,3693,3112,3099,3126,0,0,0,0,0,0,15.08,14.73,15.09
$GC,526,-0.68,-81.2,2494,3694,3099,3128,125.4,-19.5,91,533,0.00,2.30,0.00,0.000,3078,0.000,0.044,2498,2301,3113,3099,3127,0,0,0,0,0,0,14.91,14.79,14.92
$GC,780,-0.68,-81.2,2498,2298,3101,3127,177.8,-19.0,127,784,0.00,2.38,0.00,0.000,2564,0.000,0.052,2498,867,3114,3101,3127,0,0,0,0,0,0,15.16,14.81,15.16
$GC,804,-0.68,-81.2,2498,867,3105,3125,182.5,-19.7,129,813,0.08,2.42,0.00,0.000,3078,0.315,0.054,2512,2268,3115,3105,3125,0,0,0,0,0,0,14.38,14.66,14.58
$GC,1072,-0.68,-81.2,2511,2269,3105,3125,229.1,-17.2,144,1076,0.00,2.38,0.00,0.000,260,0.000,0.061,2503,3691,3115,3105,3125,0,0,0,0,0,0,15.22,14.83,15.23
$GC,1113,-0.68,-81.2,2503,3691,3105,3125,235.2,-16.0,145,1118,0.00,2.33,0.00,0.000,3078,0.000,0.041,2503,2273,3115,3105,3125,0,0,0,0,0,0,15.00,14.88,15.02
$GC,1395,-0.68,-81.2,2503,2269,3105,3125,277.8,-14.7,152,1401,0.00,2.33,0.00,0.000,2564,0.000,0.054,2503,867,3115,3106,3125,0,0,0,0,0,0,15.28,14.88,15.27
$GC,1435,-0.68,-81.2,2502,865,3106,3124,284.1,-14.7,153,1442,0.08,2.38,0.00,0.000,3078,0.347,0.056,2516,2281,3115,3106,3124,0,0,0,0,0,0,14.57,14.88,14.85
$GC,1715,-0.68,-81.2,2516,2281,3106,3123,320.5,-12.9,160,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2281,3114,3106,3123,0,0,0,0,0,0,15.28,15.30,15.30
$GC,1955,-0.68,-81.2,2516,2281,3106,3121,349.5,-11.8,166,1961,0.00,2.35,0.00,0.000,260,0.000,0.065,2507,3682,3113,3106,3121,0,0,0,0,0,0,15.30,14.88,15.31
$GC,1983,-0.68,-81.2,2507,3682,3107,3121,349.5,-11.8,166,1988,0.00,2.33,0.00,0.000,3078,0.000,0.043,2507,2263,3113,3106,3121,0,0,0,0,0,0,15.06,14.94,15.08
$GC,2235,-0.68,-81.2,2507,2259,3106,3119,382.8,-11.9,173,2240,0.00,2.42,0.00,0.000,2308,0.000,0.064,2497,3683,3112,3106,3118,0,0,0,0,0,0,15.32,14.88,15.32
$GC,2305,-0.68,-81.2,2496,3683,3106,3118,387.6,-11.5,174,2311,0.05,2.33,0.00,0.000,3078,0.362,0.045,2516,2274,3112,3106,3118,0,0,0,0,0,0,14.67,14.93,14.90
$GC,2553,-0.68,-81.2,2516,2270,3106,3114,418.3,-11.1,180,2559,0.00,2.33,0.00,0.000,516,0.000,0.054,2517,868,3110,3106,3114,0,0,0,0,0,0,15.30,14.90,15.32
$GC,2611,-0.68,-81.2,2516,867,3106,3114,422.8,-11.2,181,2615,0.00,2.38,0.00,0.000,3078,0.000,0.057,2508,2277,3110,3106,3114,0,0,0,0,0,0,15.05,14.89,15.07
$GC,2867,-0.68,-81.2,2508,2277,3106,3111,458.3,-13.3,188,2869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,2277,3108,3106,3111,0,0,0,0,0,0,15.33,15.33,15.33
$GC,3107,-0.68,-81.2,2507,2277,3107,3107,488.3,-12.4,194,3109,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,2277,3106,3106,3107,0,0,0,0,0,0,15.33,15.33,15.33
$GC,3348,-0.68,-81.2,2507,2277,3106,3103,515.8,-11.3,200,3353,0.00,2.40,0.00,0.000,2308,0.000,0.070,2497,3685,3104,3106,3102,0,0,0,0,0,0,15.33,14.86,15.33
$GC,3390,-0.68,-81.2,2497,3686,3106,3103,520.5,-11.3,201,3395,0.05,2.35,0.00,0.000,3078,0.357,0.047,2517,2273,3104,3106,3102,0,0,0,0,0,0,14.66,14.92,14.88
$GC,3663,-0.68,-83.4,2516,2269,3106,3099,548.3,-9.8,208,3664,0.00,0.00,0.00,0.000,4102,0.000,0.000,2517,2269,3102,3106,3099,0,0,0,0,0,0,15.33,15.33,15.33
$GC,3903,-0.69,-94.3,2516,2269,3106,3096,570.8,-9.0,214,3905,0.00,0.00,0.00,0.000,4102,0.000,0.000,2517,2269,3101,3106,3096,0,0,0,0,0,0,15.33,15.33,15.33
$GC,4143,-0.69,-99.4,2516,2269,3105,3093,593.4,-9.6,220,4144,0.00,0.00,0.00,0.000,4102,0.000,0.000,2517,2267,3099,3105,3094,0,0,0,0,0,0,15.33,15.33,15.33
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4227,-0.13,0.0,2517,2064,3105,3092,600.9,-9.6,222,4304,0.47,0.05,69.15,1.783,10246,0.258,0.097,2685,2113,2779,2844,2714,0,0,0,0,0,0,14.44,14.35,13.71
$STATE,4305,end apogee,CONTROL_FINISHED_OK
$STATE,4305,begin climb
$GC,4307,0.69,99.4,2685,2113,2843,2714,602.8,0.0,224,4402,0.62,0.00,90.85,1.740,10502,0.145,0.000,2940,2113,2373,2455,2292,0,0,0,0,0,0,14.45,14.27,13.53
$GC,4624,0.69,99.4,2939,2113,2449,2287,569.0,13.2,232,4625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2940,2113,2368,2450,2286,0,0,0,0,0,0,14.99,15.00,14.99
$GC,4863,0.69,99.4,2939,2113,2449,2283,538.4,12.5,238,4869,0.00,2.40,0.00,0.000,2308,0.000,0.072,2940,3500,2366,2449,2283,0,0,0,0,0,0,15.11,14.73,15.12
$GC,4956,0.69,99.4,2939,3500,2449,2284,527.5,12.8,240,4960,0.00,2.33,0.00,0.000,1030,0.000,0.049,2950,2133,2366,2449,2284,0,0,0,0,0,0,14.90,14.80,14.94
$GC,5223,0.69,99.4,2950,2130,2448,2281,491.9,12.4,247,5229,0.00,2.38,0.00,0.000,260,0.000,0.068,2950,3500,2364,2447,2282,0,0,0,0,0,0,15.19,14.78,15.19
$GC,5423,0.69,99.4,2950,3500,2447,2282,464.7,13.7,252,5429,0.00,2.38,0.00,0.000,5126,0.000,0.049,2961,2099,2364,2447,2282,0,0,0,0,0,0,14.97,14.83,15.00
$GC,5703,0.69,99.4,2961,2098,2446,2278,427.5,13.3,259,5705,0.00,0.00,0.00,0.000,4102,0.000,0.000,2961,2098,2362,2447,2277,0,0,0,0,0,0,15.23,15.24,15.23
$GC,5943,0.69,99.4,2961,2097,2446,2279,394.8,13.2,265,5949,0.00,2.40,0.00,0.000,4612,0.000,0.063,2972,693,2361,2444,2278,0,0,0,0,0,0,15.26,14.81,15.26
$GC,6031,0.69,99.4,2972,693,2437,2279,384.7,12.7,267,6036,0.08,2.40,0.00,0.000,5126,0.376,0.059,2948,2094,2358,2437,2279,0,0,0,0,0,0,14.45,14.82,14.80
$GC,6299,0.69,100.7,2949,2094,2437,2279,355.6,9.9,274,6303,0.00,2.42,0.00,0.000,260,0.000,0.067,2949,3515,2358,2437,2279,0,0,0,0,0,0,15.26,14.81,15.27
$GC,6414,0.69,105.8,2949,3516,2437,2282,347.4,9.6,276,6425,0.00,2.40,4.62,1.190,13318,0.000,0.047,2958,2087,2347,2427,2267,0,0,0,0,0,0,14.99,14.85,13.93
$GC,6702,0.69,105.8,2958,2087,2427,2267,313.8,10.7,284,6708,0.00,2.47,0.00,0.000,4356,0.000,0.067,2959,3514,2347,2427,2267,0,0,0,0,0,0,15.26,14.81,15.26
$GC,7066,0.69,105.8,2958,3514,2427,2268,273.2,10.3,293,7072,0.05,2.38,0.00,0.000,5126,0.447,0.047,2955,2102,2347,2426,2268,0,0,0,0,0,0,14.49,14.86,14.77
$GC,7339,0.72,143.7,2955,2099,2427,2267,254.9,6.7,300,7379,0.00,0.00,34.03,1.385,10246,0.000,0.000,2954,2099,2191,2279,2104,0,0,0,0,0,0,15.27,14.62,14.07
$GC,7619,0.72,143.7,2955,2099,2279,2100,224.5,11.9,307,7625,0.00,2.45,0.00,0.000,2308,0.000,0.063,2954,3513,2189,2279,2100,0,0,0,0,0,0,15.14,14.73,15.14
$GC,7747,0.72,143.7,2954,3513,2279,2100,209.2,12.8,310,7751,0.00,2.38,0.00,0.000,1030,0.000,0.047,2963,2101,2189,2279,2100,0,0,0,0,0,0,14.90,14.79,14.92
$GC,7999,0.72,148.8,2963,2098,2279,2099,183.3,9.5,327,8011,0.00,2.47,5.15,1.041,8452,0.000,0.062,2963,3521,2171,2260,2082,0,0,0,0,0,0,15.18,14.87,14.04
$GC,8026,0.72,157.5,2963,3522,2260,2082,181.2,9.2,329,8045,0.00,2.40,9.10,1.157,13318,0.000,0.045,2975,2091,2135,2222,2049,0,0,0,0,0,0,14.97,14.85,14.02
$GC,8284,0.73,169.1,2975,2090,2222,2046,156.6,9.0,355,8303,0.00,0.00,10.98,1.141,12550,0.000,0.000,2975,2090,2087,2174,2001,0,0,0,0,0,0,15.14,14.81,14.09
$GC,8553,0.73,169.1,2975,2090,2175,2001,125.6,11.8,400,8561,0.00,2.50,0.00,0.000,4356,0.000,0.063,2975,3512,2088,2175,2001,0,0,0,0,0,0,15.10,14.73,15.11
$GC,8585,0.73,169.1,2975,3513,2174,2000,121.7,12.6,405,8593,0.08,2.38,0.00,0.000,5126,0.371,0.044,2963,2103,2087,2174,2001,0,0,0,0,0,0,14.45,14.80,14.73
$GC,8851,0.73,169.1,2963,2100,2175,2000,90.7,11.3,454,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2100,2087,2175,2000,0,0,0,0,0,0,15.11,15.12,15.11
$GC,9113,0.75,205.8,2963,2100,2175,2001,68.7,6.8,503,9149,0.00,2.50,30.33,1.039,10500,0.000,0.059,2963,3524,1938,2019,1857,0,0,0,0,0,0,15.10,14.71,14.12
$GC,9179,0.75,205.8,2963,3524,2019,1857,63.3,10.2,513,9187,0.00,2.45,0.00,0.000,1030,0.000,0.047,2972,2100,1938,2019,1858,0,0,0,0,0,0,14.79,14.70,14.81
$GC,9441,0.77,232.2,2972,2098,2019,1856,40.5,7.7,562,9470,0.00,2.45,21.67,0.973,10500,0.000,0.057,2973,3519,1831,1912,1751,0,0,0,0,0,0,15.04,14.50,14.05
$GC,9529,0.77,232.2,2972,3520,1911,1751,31.5,11.6,577,9537,0.00,2.42,0.00,0.000,5126,0.000,0.046,2984,2099,1831,1912,1751,0,0,0,0,0,0,14.81,14.69,14.82
$STATE,9763,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,0.2,1.023041
$STATE,9788,end surface coast,CONTROL_FINISHED_OK
$STATE,9788,begin surface
$SM_CCo,9803,71.43,0.205,0,0,1147,400.08
$SM_GC,1.14,6.47,0.32,71.43,0.037,0.074,0.205,175,2302,1147,-7.87,-0.76,400.08,0,0,0,0,0,0,14.83,14.78,14.50
$IRIDIUM_FIX,2213.68,-15836.16,140921,182958
$TT8_MAMPS,0.02247,0.339297
$HUMID,50.43
$INTERNAL_PRESSURE,9.10154
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.11,103.065
$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,16.325,91.450,275.875,71.425,0.000,51.128,89.153,163.511,0.250,0.000,17.916,1765.149,5965.804,453.777,2023.805,174.390,0.000,1226.252,0.000,1689.727,0.000,0.553,0.000
$DEVICE_MAMPS,446.760,130.050,1783.215,205.020,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,420.131,356.134,708.021,608.823,723.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339164
$DATA_FILE_SIZE,57425,625
$CAP_FILE_SIZE,137512,0
$CFSIZE,1023623168,980942848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.137,272.52,1
$GPS,140921,212049,2223.923,-15837.223,14,0.8,43,9.8,0.7,230.1,11,7.9