version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1003
start: 10 20 121 4 9 18
data:
$ID,626
$MISSION,3
$DIVE,1003
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,201021,040119,2240.1079,-15815.9453,17,0.8,40,9.8,0.3,219.5,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.0
$GPS2,201021,040848,2240.0344,-15816.0312,7,0.8,15,9.8,0.0,225.3,10,9.6
$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,84.9,27522,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.55,-136.3,131,2061,1138,1044,0.0,0.0,0,80,0.00,0.00,-60.83,0.000,16386,0.000,0.000,131,2062,3031,3002,3061,0,0,0,0,0,0,15.07,28.83,15.07
$GC,84,-0.55,-136.3,131,2062,3005,3060,3.3,-6.7,9,99,8.75,0.00,-2.95,0.000,18438,0.441,0.000,2569,2062,3209,3181,3237,0,0,0,0,0,0,14.02,13.20,14.33
$GC,352,-0.55,-136.3,2569,2062,3195,3227,52.8,-15.7,46,359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2569,2062,3210,3195,3226,0,0,0,0,0,0,15.14,15.14,15.14
$GC,602,-0.55,-136.3,2569,2062,3196,3226,87.3,-10.7,71,607,0.00,2.40,0.00,0.000,2564,0.000,0.057,2570,658,3210,3195,3226,0,0,0,0,0,0,15.18,14.71,15.19
$GC,636,-0.55,-136.3,2569,658,3196,3226,91.0,-11.1,74,646,0.03,2.42,0.00,0.000,3078,0.398,0.056,2569,2079,3211,3198,3224,0,0,0,0,0,0,14.14,14.38,14.23
$GC,889,-0.55,-136.3,2570,2079,3198,3225,114.1,-8.9,99,893,0.00,2.45,0.00,0.000,2308,0.000,0.073,2561,3496,3210,3197,3224,0,0,0,0,0,0,15.19,14.69,15.19
$GC,943,-0.55,-136.3,2560,3496,3198,3225,119.2,-9.1,104,953,0.00,2.38,0.00,0.000,3078,0.000,0.046,2561,2068,3211,3199,3224,0,0,0,0,0,0,14.36,14.31,14.39
$GC,1196,-0.55,-136.3,2560,2068,3199,3225,142.1,-8.5,129,1201,0.05,2.38,0.00,0.000,2564,0.394,0.057,2578,666,3212,3200,3225,0,0,0,0,0,0,14.64,14.73,14.78
$GC,1230,-0.55,-136.3,2578,664,3200,3225,145.3,-8.3,132,1240,0.00,2.38,0.00,0.000,3078,0.000,0.054,2569,2069,3212,3201,3224,0,0,0,0,0,0,14.47,14.43,14.50
$GC,1485,-0.55,-136.3,2570,2069,3201,3224,166.9,-8.6,157,1489,0.00,2.45,0.00,0.000,2308,0.000,0.076,2558,3486,3212,3201,3224,0,0,0,0,0,0,15.21,14.70,15.21
$GC,1562,-0.55,-136.3,2558,3487,3201,3225,173.6,-8.6,164,1569,0.05,2.38,0.00,0.000,3078,0.329,0.045,2581,2062,3212,3201,3224,0,0,0,0,0,0,14.54,14.78,14.76
$GC,1809,-0.55,-136.3,2580,2061,3200,3224,192.2,-7.2,189,1813,0.00,2.35,0.00,0.000,516,0.000,0.060,2581,669,3212,3201,3224,0,0,0,0,0,0,15.23,14.74,15.23
$GC,1832,-0.55,-136.3,2580,668,3201,3225,193.9,-7.3,191,1837,0.00,2.40,0.00,0.000,3078,0.000,0.057,2572,2077,3212,3201,3224,0,0,0,0,0,0,14.91,14.75,14.94
$GC,2088,-0.55,-136.3,2571,2078,3201,3223,210.2,-6.1,216,2098,0.00,2.40,0.00,0.000,2564,0.000,0.056,2572,673,3212,3201,3224,0,0,0,0,0,0,15.21,14.26,15.22
$GC,2111,-0.55,-136.3,2571,673,3201,3224,212.1,-6.7,218,2120,0.03,2.40,0.00,0.000,3078,0.374,0.057,2572,2079,3212,3201,3223,0,0,0,0,0,0,14.26,14.48,14.36
$GC,2361,-0.55,-136.3,2571,2079,3201,3222,229.5,-7.0,243,2366,0.00,2.45,0.00,0.000,2308,0.000,0.075,2563,3493,3211,3201,3222,0,0,0,0,0,0,15.23,14.70,15.23
$GC,2650,-0.55,-136.3,2562,3493,3201,3221,246.7,-5.5,271,2657,0.00,2.35,0.00,0.000,3078,0.000,0.044,2562,2078,3211,3201,3221,0,0,0,0,0,0,14.92,14.79,14.95
$GC,2902,-0.55,-136.3,2562,2076,3201,3220,261.5,-6.8,296,2911,0.00,2.45,0.00,0.000,2308,0.000,0.075,2552,3479,3210,3201,3220,0,0,0,0,0,0,15.22,14.42,15.22
$GC,3019,-0.55,-136.3,2551,3479,3201,3219,270.9,-7.8,307,3028,0.05,2.33,0.00,0.000,3078,0.264,0.046,2573,2072,3210,3201,3219,0,0,0,0,0,0,14.22,14.52,14.35
$GC,3268,-0.55,-136.3,2573,2072,3201,3218,286.3,-5.8,332,3277,0.00,2.47,0.00,0.000,2308,0.000,0.074,2564,3488,3209,3201,3218,0,0,0,0,0,0,15.23,14.40,15.23
$GC,3388,-0.55,-136.3,2564,3487,3200,3216,293.4,-6.1,343,3395,0.00,2.35,0.00,0.000,3078,0.000,0.044,2564,2081,3209,3201,3217,0,0,0,0,0,0,14.92,14.78,14.94
$GC,3636,-0.55,-136.3,2564,2080,3201,3214,307.6,-5.5,368,3645,0.00,2.45,0.00,0.000,2308,0.000,0.076,2553,3477,3208,3201,3215,0,0,0,0,0,0,15.21,14.40,15.21
$GC,3745,-0.55,-136.3,2553,3477,3201,3213,314.6,-7.0,378,3754,0.08,2.42,0.00,0.000,3078,0.285,0.047,2583,2066,3207,3201,3214,0,0,0,0,0,0,14.43,14.67,14.66
$GC,3996,-0.55,-136.3,2583,2066,3201,3212,329.4,-6.0,403,4005,0.00,2.50,0.00,0.000,4356,0.000,0.076,2574,3483,3207,3201,3213,0,0,0,0,0,0,15.22,14.42,15.22
$GC,4126,-0.55,-136.3,2574,3484,3201,3212,337.7,-6.3,415,4133,0.00,2.38,0.00,0.000,3078,0.000,0.044,2574,2071,3206,3201,3211,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4376,-0.55,-136.3,2575,2070,3201,3208,352.9,-5.9,440,4385,0.00,2.50,0.00,0.000,2308,0.000,0.076,2563,3482,3204,3200,3208,0,0,0,0,0,0,15.21,14.35,15.21
$GC,4505,-0.55,-136.3,2563,3482,3200,3207,360.7,-6.1,452,4513,0.00,2.40,0.00,0.000,3078,0.000,0.047,2563,2075,3203,3200,3207,0,0,0,0,0,0,14.88,14.73,14.90
$GC,4755,-0.55,-136.3,2563,2075,3200,3204,376.3,-6.6,477,4764,0.00,2.50,0.00,0.000,2308,0.000,0.076,2553,3477,3202,3200,3205,0,0,0,0,0,0,15.20,14.09,15.21
$GC,4802,-0.55,-136.3,2552,3477,3200,3205,379.6,-7.0,481,4809,0.08,2.40,0.00,0.000,3078,0.273,0.051,2583,2071,3202,3200,3204,0,0,0,0,0,0,14.46,14.71,14.69
$GC,5051,-0.55,-136.3,2583,2070,3199,3202,395.2,-6.3,506,5060,0.00,2.53,0.00,0.000,4356,0.000,0.080,2574,3483,3200,3199,3202,0,0,0,0,0,0,15.21,14.32,15.21
$STATE,5122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5122,begin apogee
$GC,5132,-0.13,0.0,2574,2076,3199,3202,400.2,-6.7,513,5254,0.35,0.00,116.38,1.462,10246,0.199,0.000,2707,2071,2649,2739,2559,0,0,0,0,0,0,13.95,14.40,13.49
$STATE,5255,end apogee,CONTROL_FINISHED_OK
$STATE,5255,begin climb
$GC,5259,0.55,136.3,2707,2072,2739,2559,406.7,0.0,526,5387,0.52,2.55,119.32,1.425,10500,0.108,0.073,2938,3475,2092,2182,2002,0,0,0,0,0,0,14.34,14.40,13.52
$GC,5430,0.55,136.3,2938,3476,2181,2002,395.6,13.7,543,5438,0.05,2.45,0.00,0.000,5126,0.415,0.055,2934,2079,2092,2182,2002,0,0,0,0,0,0,14.31,14.57,14.57
$GC,5679,0.55,136.3,2934,2077,2182,1995,363.7,12.4,568,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2077,2088,2182,1995,0,0,0,0,0,0,15.09,15.10,15.10
$GC,5929,0.55,136.3,2934,2077,2182,1993,336.6,10.1,593,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2077,2087,2182,1993,0,0,0,0,0,0,15.16,15.17,15.17
$GC,6169,0.56,148.8,2934,2077,2180,1993,313.8,9.4,617,6189,0.00,2.50,10.88,1.280,8452,0.000,0.072,2934,3491,2041,2132,1950,0,0,0,0,0,0,15.18,14.40,13.74
$GC,6299,0.56,148.8,2934,3491,2132,1949,299.5,11.6,629,6306,0.00,2.45,0.00,0.000,5126,0.000,0.057,2943,2069,2041,2132,1950,0,0,0,0,0,0,14.90,14.75,14.92
$GC,6548,0.56,148.8,2943,2069,2132,1948,271.5,11.7,654,6559,0.00,2.45,0.00,0.000,4612,0.000,0.069,2955,672,2039,2130,1948,0,0,0,0,0,0,15.16,14.26,15.17
$GC,6583,0.56,148.8,2954,672,2126,1949,267.1,11.8,657,6593,0.05,2.45,0.00,0.000,5126,0.330,0.064,2938,2076,2036,2125,1948,0,0,0,0,0,0,14.00,14.27,14.18
$GC,6833,0.57,163.4,2938,2078,2126,1948,241.9,9.3,682,6852,0.00,2.50,13.10,1.242,8452,0.000,0.075,2938,3495,1981,2068,1895,0,0,0,0,0,0,15.19,14.78,13.85
$GC,6940,0.57,164.5,2938,3494,2068,1895,231.3,10.0,692,6949,0.00,2.42,0.00,0.000,5126,0.000,0.054,2947,2075,1981,2068,1895,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7190,0.58,185.9,2947,2073,2068,1893,208.9,8.9,717,7216,0.00,0.00,20.00,1.223,12294,0.000,0.000,2947,2073,1890,1976,1805,0,0,0,0,0,0,15.16,14.70,13.87
$GC,7461,0.59,197.2,2947,2072,1975,1802,184.0,9.5,744,7480,0.00,2.42,10.77,1.131,12548,0.000,0.074,2947,3487,1844,1928,1760,0,0,0,0,0,0,15.14,14.47,13.84
$GC,7645,0.59,197.2,2947,3487,1928,1760,163.6,10.4,762,7650,0.00,2.42,0.00,0.000,5126,0.000,0.054,2957,2074,1844,1928,1760,0,0,0,0,0,0,14.88,14.73,14.90
$GC,7903,0.61,228.2,2957,2073,1928,1758,140.5,8.5,787,7938,0.00,2.53,26.90,1.124,12548,0.000,0.071,2957,3487,1718,1805,1631,0,0,0,0,0,0,15.15,14.68,13.91
$GC,8157,0.61,228.2,2957,3487,1805,1631,113.8,10.9,812,8162,0.05,2.42,0.00,0.000,5126,0.385,0.054,2952,2073,1718,1804,1632,0,0,0,0,0,0,14.42,14.71,14.67
$GC,8412,0.62,245.3,2951,2070,1805,1629,88.6,9.2,837,8433,0.00,2.47,15.30,1.014,8452,0.000,0.064,2951,3489,1647,1738,1557,0,0,0,0,0,0,15.15,14.76,13.95
$GC,8565,0.63,265.5,2951,3489,1738,1557,73.8,9.0,852,8588,0.00,2.40,17.52,0.992,13318,0.000,0.051,2961,2076,1565,1656,1475,0,0,0,0,0,0,14.87,14.72,13.95
$GC,8838,0.65,297.4,2960,2076,1656,1471,51.8,8.4,879,8868,0.00,0.00,26.52,0.966,8198,0.000,0.000,2961,2076,1435,1528,1343,0,0,0,0,0,0,15.12,14.66,13.95
$GC,9111,0.66,311.7,2961,2076,1528,1340,27.2,9.3,908,9126,0.00,0.00,6.45,0.818,10502,0.000,0.000,2961,2076,1376,1470,1283,0,0,0,0,0,0,15.10,14.49,13.89
$STATE,9375,end climb,SURFACE_DEPTH_REACHED
$STATE,9375,begin surface coast
$FINISH,0.2,1.023228
$STATE,9409,end surface coast,CONTROL_FINISHED_OK
$STATE,9410,begin surface
$SM_CCo,9428,29.58,0.198,0,0,1097,380.21
$SM_GC,1.05,6.50,0.00,29.58,0.044,0.000,0.198,138,2073,1097,-7.97,-0.06,380.21,0,0,0,0,0,0,14.83,15.10,14.41
$IRIDIUM_FIX,2230.01,-15817.99,201021,040324
$TT8_MAMPS,0.023219,0.341544
$HUMID,57.16
$INTERNAL_PRESSURE,9.1113
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,13.20,214.374
$10V_AH,11.12,0.000
$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,16.625,102.125,383.150,29.575,0.000,26.139,45.255,216.382,0.750,0.000,16.362,2468.451,4074.678,515.017,2486.288,361.695,0.000,1507.053,0.000,2194.424,0.000,0.554,0.000
$DEVICE_MAMPS,441.405,79.560,1461.915,198.135,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,648.102,712.050,1293.194,898.260,1047.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339128
$DATA_FILE_SIZE,91144,962
$CAP_FILE_SIZE,127425,0
$CFSIZE,1023623168,936345600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122,282.82,1
$GPS,201021,064819,2239.882,-15815.822,13,0.7,42,9.8,0.3,245.3,11,6.0