version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1002
start: 10 20 121 1 35 38
data:
$ID,626
$MISSION,3
$DIVE,1002
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,200
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,380
$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,2755
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$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,2075
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2650
$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
$GPS1,201021,012705,2239.8816,-15815.9883,38,0.8,42,9.8,0.8,276.5,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.0
$GPS2,201021,013509,2239.8850,-15816.0898,7,0.8,15,9.8,0.9,249.1,9,9.9
$SPEED_LIMITS,0.215,0.228
$TGT_NAME,ALOHA2
$TGT_LATLONG,2244.750,-15800.750
$TGT_RADIUS,1300.000
$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,93.3,27706,-17.6,-10.025,-23.76,2039
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-136.3,131,2087,1200,1085,0.0,0.0,0,82,0.00,0.00,-62.12,0.000,16386,0.000,0.000,131,2088,3156,3121,3191,0,0,0,0,0,0,15.07,28.83,15.08
$GC,86,-0.55,-136.3,130,2087,3122,3191,3.9,-8.0,9,102,8.68,2.47,-0.77,0.000,18948,0.437,0.071,2575,654,3208,3178,3238,0,0,0,0,0,0,14.01,13.19,14.32
$GC,111,-0.55,-136.3,2574,654,3187,3232,15.3,-33.7,12,119,0.00,2.50,0.00,0.000,3078,0.000,0.053,2566,2082,3209,3190,3228,0,0,0,0,0,0,14.83,14.66,14.85
$GC,370,-0.55,-136.3,2565,2082,3194,3227,56.8,-15.4,44,380,0.00,2.42,0.00,0.000,2308,0.000,0.073,2555,3488,3209,3193,3226,0,0,0,0,0,0,15.16,14.23,15.16
$GC,416,-0.55,-136.3,2555,3489,3193,3227,63.2,-14.0,48,426,0.05,2.38,0.00,0.000,3078,0.287,0.047,2574,2065,3210,3195,3226,0,0,0,0,0,0,14.02,14.31,14.17
$GC,669,-0.55,-136.3,2573,2062,3195,3226,99.6,-13.5,73,678,0.00,2.35,0.00,0.000,2564,0.000,0.058,2573,671,3210,3196,3225,0,0,0,0,0,0,15.18,14.50,15.19
$GC,736,-0.55,-136.3,2573,671,3197,3225,107.3,-10.6,79,744,0.00,2.40,0.00,0.000,3078,0.000,0.056,2565,2078,3210,3196,3224,0,0,0,0,0,0,14.90,14.74,14.92
$GC,987,-0.55,-136.3,2564,2078,3198,3224,131.8,-8.8,104,996,0.00,2.40,0.00,0.000,2308,0.000,0.077,2554,3475,3211,3198,3224,0,0,0,0,0,0,15.20,14.34,15.21
$GC,1031,-0.55,-136.3,2553,3475,3198,3225,136.1,-9.5,108,1041,0.05,2.33,0.00,0.000,3078,0.274,0.045,2573,2069,3211,3198,3225,0,0,0,0,0,0,14.05,14.35,14.18
$GC,1281,-0.55,-136.3,2573,2069,3198,3225,156.5,-8.3,133,1290,0.00,2.35,0.00,0.000,2564,0.000,0.058,2573,672,3211,3198,3225,0,0,0,0,0,0,15.23,14.52,15.23
$GC,1356,-0.55,-136.3,2573,671,3199,3225,163.0,-8.3,140,1365,0.00,2.38,0.00,0.000,3078,0.000,0.057,2565,2073,3211,3199,3224,0,0,0,0,0,0,14.62,14.54,14.66
$GC,1608,-0.55,-136.3,2565,2073,3199,3224,183.8,-8.5,165,1618,0.00,2.42,0.00,0.000,2308,0.000,0.075,2554,3482,3211,3199,3224,0,0,0,0,0,0,15.23,14.26,15.22
$GC,1665,-0.55,-136.3,2553,3483,3199,3224,188.4,-8.1,170,1672,0.08,2.33,0.00,0.000,3078,0.301,0.044,2582,2077,3211,3199,3224,0,0,0,0,0,0,14.50,14.81,14.74
$GC,1914,-0.55,-136.3,2581,2074,3200,3224,205.3,-7.0,195,1924,0.00,2.35,0.00,0.000,516,0.000,0.058,2582,673,3212,3200,3224,0,0,0,0,0,0,15.23,14.28,15.23
$GC,1959,-0.55,-136.3,2581,674,3200,3224,208.7,-7.4,199,1969,0.00,2.38,0.00,0.000,3078,0.000,0.056,2573,2075,3211,3199,3223,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2211,-0.55,-136.3,2572,2075,3200,3223,227.8,-8.1,224,2220,0.00,2.42,0.00,0.000,2308,0.000,0.073,2561,3488,3211,3200,3223,0,0,0,0,0,0,15.21,14.46,15.22
$GC,2288,-0.55,-136.3,2561,3489,3199,3222,234.4,-8.8,231,2297,0.05,2.40,0.00,0.000,3078,0.350,0.043,2581,2074,3211,3200,3222,0,0,0,0,0,0,14.48,14.70,14.71
$GC,2539,-0.55,-136.3,2580,2073,3200,3222,254.7,-7.4,256,2548,0.00,2.35,0.00,0.000,516,0.000,0.058,2581,672,3210,3199,3222,0,0,0,0,0,0,15.23,14.52,15.23
$GC,2585,-0.55,-136.3,2581,671,3200,3222,258.2,-7.5,260,2592,0.00,2.42,0.00,0.000,3078,0.000,0.056,2572,2084,3210,3200,3221,0,0,0,0,0,0,14.92,14.76,14.94
$GC,2837,-0.55,-136.3,2572,2083,3199,3220,275.1,-6.9,285,2847,0.00,2.42,0.00,0.000,2308,0.000,0.074,2561,3484,3210,3200,3220,0,0,0,0,0,0,15.22,14.22,15.23
$GC,2894,-0.55,-136.3,2561,3484,3199,3220,279.5,-7.6,290,2901,0.05,2.35,0.00,0.000,3078,0.339,0.046,2580,2075,3209,3199,3219,0,0,0,0,0,0,14.54,14.79,14.75
$GC,3144,-0.55,-136.3,2580,2074,3199,3218,296.9,-6.3,315,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2074,3208,3199,3217,0,0,0,0,0,0,15.22,15.23,15.23
$GC,3393,-0.55,-136.3,2580,2074,3199,3215,312.1,-5.3,340,3398,0.00,2.45,0.00,0.000,260,0.000,0.070,2572,3489,3207,3200,3215,0,0,0,0,0,0,15.22,14.70,15.23
$GC,3447,-0.55,-136.3,2571,3489,3199,3215,315.1,-5.5,345,3456,0.00,2.35,0.00,0.000,3078,0.000,0.045,2572,2081,3206,3199,3214,0,0,0,0,0,0,14.34,14.30,14.36
$GC,3701,-0.55,-136.3,2572,2081,3199,3212,328.1,-5.4,370,3705,0.00,2.47,0.00,0.000,2308,0.000,0.070,2562,3488,3205,3199,3212,0,0,0,0,0,0,15.22,14.70,15.22
$GC,3840,-0.55,-136.3,2561,3488,3199,3212,337.5,-7.5,383,3848,0.03,2.40,0.00,0.000,3078,0.494,0.046,2573,2063,3205,3199,3212,0,0,0,0,0,0,14.59,14.76,14.74
$GC,4087,-0.55,-136.3,2573,2062,3199,3208,356.5,-7.9,408,4091,0.00,2.50,0.00,0.000,2308,0.000,0.073,2564,3482,3203,3199,3208,0,0,0,0,0,0,15.23,14.68,15.23
$GC,4131,-0.55,-136.3,2564,3482,3198,3208,360.2,-8.5,412,4136,0.00,2.38,0.00,0.000,3078,0.000,0.047,2564,2075,3203,3199,3208,0,0,0,0,0,0,14.91,14.77,14.93
$GC,4387,-0.55,-136.3,2564,2074,3198,3206,381.8,-8.6,437,4393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2074,3202,3198,3206,0,0,0,0,0,0,15.21,15.21,15.21
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4614,begin apogee
$GC,4621,-0.13,0.0,2564,2074,3198,3203,400.2,-7.7,460,4744,0.38,0.00,116.72,1.450,10246,0.212,0.000,2707,2070,2649,2739,2559,0,0,0,0,0,0,14.14,14.40,13.49
$STATE,4745,end apogee,CONTROL_FINISHED_OK
$STATE,4745,begin climb
$GC,4748,0.55,136.3,2706,2070,2738,2558,406.8,0.0,473,4878,0.52,2.58,119.05,1.420,10500,0.108,0.070,2937,3482,2092,2182,2003,0,0,0,0,0,0,14.42,14.42,13.54
$GC,5087,0.55,136.3,2936,3482,2180,2003,373.5,14.4,506,5097,0.03,2.40,0.00,0.000,5126,0.454,0.054,2940,2075,2090,2180,2001,0,0,0,0,0,0,14.28,14.57,14.40
$GC,5340,0.55,136.3,2940,2074,2179,1997,340.4,13.5,531,5350,0.00,2.47,0.00,0.000,4356,0.000,0.071,2940,3485,2088,2181,1996,0,0,0,0,0,0,15.15,14.32,15.16
$GC,5865,0.55,136.3,2940,3485,2181,1997,272.7,10.4,582,5876,0.05,2.40,0.00,0.000,5126,0.363,0.055,2934,2084,2087,2180,1995,0,0,0,0,0,0,13.94,14.28,14.12
$GC,6117,0.58,181.8,2934,2083,2180,1992,251.8,7.7,607,6164,0.00,2.45,37.33,1.291,10500,0.000,0.071,2934,3485,1908,1992,1825,0,0,0,0,0,0,15.20,14.42,13.79
$GC,6529,0.58,181.8,2934,3485,1990,1825,205.5,11.8,647,6538,0.00,2.42,0.00,0.000,1030,0.000,0.058,2944,2075,1906,1990,1823,0,0,0,0,0,0,14.57,14.50,14.62
$GC,6781,0.58,181.8,2943,2074,1990,1818,179.0,10.7,672,6791,0.00,2.50,0.00,0.000,4356,0.000,0.075,2944,3480,1903,1990,1817,0,0,0,0,0,0,15.17,14.20,15.17
$GC,6929,0.58,181.8,2943,3480,1990,1818,163.2,10.1,686,6939,0.03,2.40,0.00,0.000,5126,0.409,0.058,2947,2076,1904,1990,1818,0,0,0,0,0,0,14.23,14.46,14.32
$GC,7179,0.61,236.1,2947,2075,1990,1817,143.3,7.3,711,7230,0.00,2.47,45.42,1.129,10756,0.000,0.068,2957,670,1685,1773,1598,0,0,0,0,0,0,15.19,14.40,13.85
$GC,7300,0.62,251.8,2956,668,1769,1597,133.7,9.2,722,7319,0.00,2.50,13.82,1.056,9222,0.000,0.060,2956,2072,1622,1711,1533,0,0,0,0,0,0,14.76,14.63,13.83
$GC,7569,0.62,251.8,2956,2072,1711,1529,105.1,11.2,749,7577,0.00,2.45,0.00,0.000,260,0.000,0.077,2956,3484,1620,1711,1529,0,0,0,0,0,0,15.11,14.40,15.12
$GC,7654,0.62,251.8,2956,3484,1711,1529,94.2,13.4,757,7661,0.00,2.42,0.00,0.000,5126,0.000,0.057,2966,2077,1620,1711,1529,0,0,0,0,0,0,14.85,14.69,14.88
$GC,7906,0.64,290.0,2967,2077,1711,1529,69.9,8.1,782,7941,0.00,0.00,31.73,0.999,12294,0.000,0.000,2967,2077,1465,1557,1374,0,0,0,0,0,0,15.14,14.67,13.95
$GC,8185,0.65,292.4,2966,2076,1556,1370,43.4,9.9,810,8190,0.00,2.47,0.00,0.000,4612,0.000,0.069,2978,664,1463,1556,1370,0,0,0,0,0,0,15.11,14.66,15.11
$GC,8219,0.65,305.3,2977,665,1554,1370,39.9,9.4,813,8239,0.00,2.42,13.20,0.915,13318,0.000,0.055,2978,2072,1404,1498,1310,0,0,0,0,0,0,14.32,14.26,13.95
$GC,8488,0.65,305.3,2978,2071,1497,1307,12.8,10.4,855,8497,0.00,2.55,0.00,0.000,4356,0.000,0.074,2978,3482,1402,1497,1307,0,0,0,0,0,0,15.10,14.46,15.11
$GC,8564,0.65,305.3,2978,3482,1497,1308,4.0,11.9,868,8572,0.08,2.47,0.00,0.000,5126,0.304,0.055,2962,2070,1402,1497,1308,0,0,0,0,0,0,14.41,14.65,14.66
$STATE,8578,end climb,SURFACE_DEPTH_REACHED
$STATE,8578,begin surface coast
$FINISH,0.2,1.008700
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8627,32.45,0.191,0,0,1098,380.21
$SM_GC,0.94,6.43,0.00,32.45,0.041,0.000,0.191,173,2067,1098,-7.92,-0.23,380.21,0,0,0,0,0,0,14.81,15.11,14.42
$IRIDIUM_FIX,2230.01,-15817.99,201021,012909
$TT8_MAMPS,0.023219,0.315329
$HUMID,57.60
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,23.20
$XPDR_PINGS,4
$24V_AH,13.19,214.114
$10V_AH,12.30,0.000
$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,16.475,101.775,377.275,32.450,0.000,25.752,53.720,243.502,1.000,0.000,16.337,2248.566,3656.180,519.846,2377.221,341.002,0.000,1466.782,0.000,2048.594,0.000,0.554,0.000
$DEVICE_MAMPS,494.190,77.265,1450.440,191.250,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,588.055,646.462,1174.550,819.986,953.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,80929,875
$CAP_FILE_SIZE,119635,0
$CFSIZE,1023623168,936460288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.126,296.74,1
$GPS,201021,040119,2240.108,-15815.945,17,0.8,40,9.8,0.3,219.5,10,7.5