version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1005
start: 10 20 121 9 42 1
data:
$ID,626
$MISSION,3
$DIVE,1005
$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,2738
$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,29
$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
$GPS1,201021,092949,2239.3318,-15815.9629,14,0.9,43,9.8,0.6,237.4,8,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.2
$GPS2,201021,094129,2239.2222,-15816.1143,7,0.8,20,9.8,0.0,234.7,9,8.7
$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,41.2,28168,-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,-136.3,130,2089,1152,1037,0.0,0.0,0,81,0.00,0.00,-62.10,0.000,16386,0.000,0.000,131,2089,3108,3076,3140,0,0,0,0,0,0,15.07,28.83,15.08
$GC,86,-0.55,-136.3,131,2089,3076,3141,3.7,-7.7,9,102,8.68,2.42,-1.58,0.000,18692,0.439,0.072,2544,3504,3208,3178,3239,0,0,0,0,0,0,14.02,13.16,14.30
$GC,116,-0.55,-136.3,2543,3505,3183,3236,16.8,-37.3,13,125,0.03,2.55,0.00,0.000,3078,0.404,0.060,2552,2074,3210,3188,3232,0,0,0,0,0,0,14.29,14.50,14.40
$GC,378,-0.55,-136.3,2551,2073,3191,3227,61.5,-16.0,44,388,0.00,2.40,0.00,0.000,2564,0.000,0.063,2552,664,3210,3193,3227,0,0,0,0,0,0,15.16,14.35,15.16
$GC,436,-0.55,-136.3,2552,664,3194,3227,70.4,-15.5,49,445,0.03,2.53,0.00,0.000,3078,0.419,0.060,2552,2081,3211,3196,3226,0,0,0,0,0,0,14.34,14.59,14.45
$GC,688,-0.55,-136.3,2552,2082,3196,3226,104.8,-13.5,74,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2552,2081,3210,3195,3226,0,0,0,0,0,0,15.19,15.19,15.19
$GC,935,-0.55,-136.3,2552,2081,3196,3226,135.5,-11.3,99,943,0.00,2.40,0.00,0.000,2308,0.000,0.073,2543,3479,3211,3196,3226,0,0,0,0,0,0,15.21,14.44,15.21
$GC,967,-0.55,-136.3,2542,3479,3196,3226,139.2,-11.2,102,972,0.05,2.38,0.00,0.000,3078,0.346,0.050,2561,2060,3211,3196,3226,0,0,0,0,0,0,14.53,14.77,14.75
$GC,1222,-0.55,-136.3,2561,2059,3196,3226,165.1,-10.3,127,1230,0.00,2.33,0.00,0.000,516,0.000,0.062,2562,670,3211,3197,3226,0,0,0,0,0,0,15.22,14.51,15.22
$GC,1326,-0.55,-136.3,2561,670,3197,3226,175.6,-9.4,137,1334,0.00,2.40,0.00,0.000,3078,0.000,0.058,2553,2080,3211,3198,3225,0,0,0,0,0,0,14.56,14.50,14.61
$GC,1579,-0.55,-136.3,2552,2080,3197,3225,200.8,-10.5,162,1584,0.00,2.45,0.00,0.000,2564,0.000,0.060,2553,659,3211,3197,3225,0,0,0,0,0,0,15.21,14.74,15.21
$GC,1612,-0.55,-136.3,2552,658,3197,3225,204.7,-10.6,165,1623,0.03,2.38,0.00,0.000,3078,0.393,0.059,2551,2070,3211,3198,3224,0,0,0,0,0,0,14.07,14.30,14.16
$GC,1864,-0.55,-136.3,2551,2071,3197,3224,227.7,-8.4,190,1868,0.00,2.42,0.00,0.000,2564,0.000,0.060,2551,658,3211,3198,3225,0,0,0,0,0,0,15.23,14.74,15.23
$GC,1891,-0.55,-136.3,2551,660,3198,3225,229.7,-8.3,192,1899,0.05,2.47,0.00,0.000,3078,0.386,0.058,2560,2076,3211,3198,3224,0,0,0,0,0,0,14.45,14.69,14.69
$GC,2142,-0.55,-136.3,2559,2077,3198,3223,249.9,-8.7,217,2151,0.00,2.40,0.00,0.000,260,0.000,0.073,2551,3478,3210,3198,3222,0,0,0,0,0,0,15.22,14.45,15.23
$GC,2176,-0.55,-136.3,2550,3478,3197,3223,253.1,-8.8,220,2181,0.00,2.35,0.00,0.000,3078,0.000,0.049,2551,2071,3210,3197,3223,0,0,0,0,0,0,14.93,14.78,14.95
$GC,2434,-0.55,-136.3,2550,2071,3198,3221,277.3,-9.3,245,2442,0.00,2.38,0.00,0.000,2564,0.000,0.063,2551,671,3210,3198,3222,0,0,0,0,0,0,15.22,14.47,15.23
$GC,2500,-0.55,-136.3,2550,671,3198,3222,283.4,-9.0,251,2507,0.05,2.42,0.00,0.000,3078,0.375,0.060,2559,2078,3209,3198,3220,0,0,0,0,0,0,14.48,14.73,14.72
$GC,2751,-0.55,-136.3,2558,2080,3197,3219,301.8,-7.1,276,2755,0.00,2.42,0.00,0.000,260,0.000,0.070,2550,3489,3208,3198,3219,0,0,0,0,0,0,15.22,14.73,15.23
$GC,2774,-0.55,-136.3,2549,3489,3197,3219,303.8,-7.1,278,2779,0.00,2.38,0.00,0.000,3078,0.000,0.046,2549,2065,3208,3198,3218,0,0,0,0,0,0,14.92,14.79,14.95
$GC,3032,-0.55,-136.3,2549,2065,3198,3216,325.3,-9.3,303,3041,0.00,2.38,0.00,0.000,2564,0.000,0.063,2549,679,3207,3197,3217,0,0,0,0,0,0,15.22,14.23,15.22
$GC,3088,-0.55,-136.3,2549,678,3197,3217,331.1,-10.4,308,3095,0.05,2.42,0.00,0.000,3078,0.373,0.060,2558,2074,3206,3197,3215,0,0,0,0,0,0,14.47,14.71,14.70
$GC,3338,-0.55,-136.3,2557,2075,3197,3213,354.9,-9.3,333,3348,0.00,2.45,0.00,0.000,2308,0.000,0.072,2548,3489,3205,3197,3213,0,0,0,0,0,0,15.22,14.32,15.22
$GC,3402,-0.55,-136.3,2548,3489,3197,3212,360.9,-9.2,339,3411,0.00,2.38,0.00,0.000,3078,0.000,0.049,2549,2077,3204,3197,3212,0,0,0,0,0,0,14.30,14.24,14.33
$GC,3655,-0.55,-136.3,2548,2077,3197,3209,382.4,-8.2,364,3660,0.00,2.45,0.00,0.000,2564,0.000,0.064,2549,668,3203,3197,3210,0,0,0,0,0,0,15.21,14.67,15.21
$GC,3683,-0.55,-136.3,2548,667,3195,3211,384.7,-8.1,366,3691,0.05,2.53,0.00,0.000,3078,0.372,0.061,2556,2078,3203,3195,3211,0,0,0,0,0,0,14.41,14.64,14.65
$STATE,3889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3889,begin apogee
$GC,3896,-0.13,0.0,2556,2078,3195,3208,400.1,-7.1,387,4019,0.35,0.00,116.80,1.436,10246,0.218,0.000,2689,2079,2648,2738,2559,0,0,0,0,0,0,13.95,14.40,13.52
$STATE,4020,end apogee,CONTROL_FINISHED_OK
$STATE,4021,begin climb
$GC,4024,0.55,136.3,2689,2079,2739,2558,403.7,0.0,400,4154,0.55,2.55,119.60,1.396,10756,0.131,0.060,2930,668,2092,2183,2002,0,0,0,0,0,0,14.40,14.41,13.54
$GC,4305,0.55,136.3,2930,668,2168,2001,377.2,12.9,428,4315,0.05,2.47,0.00,0.000,5126,0.329,0.059,2915,2080,2084,2168,2000,0,0,0,0,0,0,14.28,14.50,14.45
$GC,4555,0.55,136.3,2914,2080,2168,1997,348.1,10.5,453,4567,0.00,2.42,0.00,0.000,260,0.000,0.072,2915,3482,2083,2167,1999,0,0,0,0,0,0,15.14,14.33,15.15
$GC,4611,0.55,136.3,2914,3482,2167,1999,342.1,11.2,458,4620,0.00,2.38,0.00,0.000,5126,0.000,0.051,2923,2080,2083,2167,1999,0,0,0,0,0,0,14.63,14.56,14.66
$GC,4863,0.56,148.6,2923,2079,2167,1996,317.9,9.4,483,4882,0.00,2.42,10.23,1.249,12804,0.000,0.063,2935,671,2043,2131,1955,0,0,0,0,0,0,15.17,14.47,13.79
$GC,4992,0.56,148.6,2935,671,2125,1955,304.2,11.1,495,5001,0.05,2.50,0.00,0.000,5126,0.402,0.060,2920,2080,2039,2125,1954,0,0,0,0,0,0,14.46,14.72,14.72
$GC,5244,0.56,148.6,2919,2081,2125,1953,275.7,11.5,520,5253,0.00,2.50,0.00,0.000,4612,0.000,0.065,2926,661,2038,2125,1952,0,0,0,0,0,0,15.17,14.49,15.17
$GC,5308,0.56,148.6,2928,661,2123,1953,268.0,11.3,526,5317,0.00,2.45,0.00,0.000,5126,0.000,0.062,2928,2066,2037,2123,1952,0,0,0,0,0,0,14.56,14.48,14.59
$GC,5561,0.58,182.1,2928,2067,2123,1952,243.1,8.3,551,5597,0.00,2.55,28.95,1.268,12548,0.000,0.079,2928,3499,1905,1990,1821,0,0,0,0,0,0,15.19,14.72,13.84
$GC,5667,0.58,182.1,2928,3499,1990,1821,233.0,10.1,561,5676,0.05,2.50,0.00,0.000,5126,0.392,0.059,2923,2076,1905,1990,1821,0,0,0,0,0,0,14.42,14.67,14.68
$GC,5921,0.59,208.4,2922,2074,1990,1818,211.0,8.7,586,5955,0.00,2.45,23.10,1.214,10756,0.000,0.070,2932,662,1798,1885,1712,0,0,0,0,0,0,15.14,14.71,13.84
$GC,6011,0.60,217.3,2932,662,1879,1711,202.2,9.6,595,6029,0.00,2.47,9.00,1.105,9222,0.000,0.063,2932,2080,1761,1847,1676,0,0,0,0,0,0,14.57,14.49,13.76
$GC,6270,0.62,243.1,2932,2080,1847,1672,178.1,8.7,621,6300,0.00,2.42,22.73,1.160,10500,0.000,0.070,2932,3490,1657,1748,1566,0,0,0,0,0,0,15.14,14.71,13.87
$GC,6378,0.62,251.7,2932,3491,1747,1566,168.5,9.6,631,6396,0.00,2.40,8.80,1.053,13318,0.000,0.051,2942,2080,1621,1712,1531,0,0,0,0,0,0,14.57,14.50,13.78
$GC,6637,0.63,265.2,2942,2080,1712,1528,143.9,9.3,657,6657,0.00,2.53,12.18,1.067,8452,0.000,0.076,2942,3494,1566,1656,1476,0,0,0,0,0,0,15.12,14.42,13.85
$GC,6711,0.63,265.2,2942,3494,1658,1476,136.3,10.5,664,6721,0.00,2.45,0.00,0.000,5126,0.000,0.061,2953,2074,1567,1658,1476,0,0,0,0,0,0,14.43,14.36,14.47
$GC,6964,0.63,265.2,2953,2074,1658,1475,111.6,10.3,689,6973,0.00,2.50,0.00,0.000,4356,0.000,0.078,2952,3483,1567,1658,1476,0,0,0,0,0,0,15.14,14.45,15.14
$GC,7009,0.63,265.2,2953,3483,1658,1475,106.3,11.3,693,7020,0.05,2.42,0.00,0.000,5126,0.287,0.060,2945,2067,1567,1659,1475,0,0,0,0,0,0,14.21,14.50,14.39
$GC,7259,0.65,291.5,2944,2066,1658,1475,83.5,8.7,718,7289,0.00,2.45,22.55,1.008,8964,0.000,0.070,2954,661,1460,1552,1368,0,0,0,0,0,0,15.18,14.44,13.91
$GC,7306,0.67,324.1,2953,661,1550,1369,79.8,8.4,722,7342,0.00,2.50,26.92,0.995,9222,0.000,0.063,2954,2081,1328,1423,1234,0,0,0,0,0,0,14.85,14.71,13.85
$GC,7583,0.68,352.5,2954,2081,1423,1230,57.9,8.6,750,7613,0.00,2.47,23.80,0.954,8452,0.000,0.073,2954,3486,1210,1307,1113,0,0,0,0,0,0,15.09,14.69,13.94
$GC,7701,0.69,358.2,2953,3486,1307,1113,46.9,9.7,761,7715,0.00,2.40,6.25,0.824,13318,0.000,0.054,2964,2077,1186,1283,1089,0,0,0,0,0,0,14.46,14.40,13.84
$GC,7965,0.70,386.4,2963,2077,1284,1088,23.3,8.6,793,7989,0.00,2.50,12.80,0.850,8708,0.000,0.070,2974,656,1070,1166,975,0,0,0,0,0,0,15.11,14.60,13.99
$GC,8031,0.71,394.0,2974,656,1164,975,16.8,9.6,803,8040,0.00,2.50,3.10,0.303,13318,0.000,0.058,2974,2074,1040,1138,943,0,0,0,0,0,0,14.84,14.67,14.33
$STATE,8177,end climb,SURFACE_DEPTH_REACHED
$STATE,8177,begin surface coast
$FINISH,0.2,1.008835
$STATE,8211,end surface coast,CONTROL_FINISHED_OK
$STATE,8212,begin surface
$SM_CCo,8290,0.00,0.000,0,0,1039,395.17
$SM_GC,1.23,6.53,0.00,0.00,0.054,0.000,0.000,157,2074,1039,-7.86,0.00,395.17,0,0,0,0,0,0,14.84,15.09,14.89
$IRIDIUM_FIX,2230.01,-15815.82,201021,093807
$TT8_MAMPS,0.023219,0.337799
$HUMID,55.63
$INTERNAL_PRESSURE,9.13084
$TCM_TEMP,23.60
$XPDR_PINGS,7
$24V_AH,13.16,214.912
$10V_AH,12.21,0.000
$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,16.625,117.300,446.800,0.000,0.000,56.735,86.007,297.245,1.750,0.000,21.659,2123.894,3622.830,529.981,2350.988,358.848,0.000,1449.341,0.000,1881.786,0.000,0.552,0.000
$DEVICE_MAMPS,439.110,78.795,1435.905,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,559.167,612.883,1121.421,798.706,929.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,80897,835
$CAP_FILE_SIZE,120466,0
$CFSIZE,1023623168,936165376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,251.39,1
$GPS,201021,120125,2239.416,-15816.388,15,0.8,38,9.8,0.3,297.0,10,6.7