version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1009
start: 10 20 121 19 51 8
data:
$ID,626
$MISSION,3
$DIVE,1009
$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,2732
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,31
$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
$GPS1,201021,193902,2239.5481,-15816.6025,17,0.9,29,9.8,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.3
$GPS2,201021,195036,2239.4617,-15816.6660,7,0.9,14,9.8,0.0,203.9,9,9.5
$SPEED_LIMITS,0.215,0.228
$TGT_NAME,ALOHA3
$TGT_LATLONG,2239.500,-15800.000
$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,64.0,28484,-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,-136.3,131,2084,1087,946,0.0,0.0,0,87,0.00,0.00,-67.28,0.000,16386,0.000,0.000,131,2084,3205,3167,3244,0,0,0,0,0,0,15.04,28.83,15.06
$GC,91,-0.55,-136.3,131,2084,3167,3245,4.0,-7.8,10,106,8.68,2.40,0.00,0.000,2564,0.444,0.044,2552,649,3207,3174,3241,0,0,0,0,0,0,13.95,14.45,14.26
$GC,125,-0.55,-136.3,2552,649,3184,3231,19.2,-43.0,15,133,0.00,2.50,0.00,0.000,3078,0.000,0.055,2543,2077,3207,3187,3228,0,0,0,0,0,0,14.81,14.66,14.84
$GC,380,-0.55,-136.3,2543,2078,3189,3227,66.7,-17.1,44,384,0.00,2.40,0.00,0.000,2564,0.000,0.053,2544,663,3208,3189,3227,0,0,0,0,0,0,15.14,14.73,15.15
$GC,414,-0.55,-136.3,2542,663,3189,3226,72.4,-17.0,47,424,0.05,2.40,0.00,0.000,3078,0.312,0.054,2551,2080,3208,3191,3225,0,0,0,0,0,0,14.11,14.40,14.24
$GC,666,-0.55,-136.3,2551,2081,3191,3225,105.5,-13.2,72,670,0.00,2.40,0.00,0.000,2308,0.000,0.067,2541,3492,3208,3191,3225,0,0,0,0,0,0,15.18,14.73,15.18
$GC,753,-0.55,-136.3,2541,3493,3191,3225,115.1,-10.4,80,761,0.00,2.40,0.00,0.000,3078,0.000,0.042,2542,2070,3208,3191,3225,0,0,0,0,0,0,14.88,14.71,14.90
$GC,1001,-0.55,-136.3,2542,2069,3191,3225,143.0,-11.0,105,1010,0.00,2.33,0.00,0.000,2564,0.000,0.054,2541,669,3208,3192,3225,0,0,0,0,0,0,15.21,14.63,15.21
$GC,1064,-0.55,-136.3,2541,668,3192,3225,149.9,-10.5,111,1073,0.05,2.38,0.00,0.000,3078,0.308,0.052,2549,2081,3209,3194,3224,0,0,0,0,0,0,14.23,14.54,14.37
$GC,1315,-0.55,-136.3,2549,2082,3194,3224,174.9,-9.6,136,1319,0.00,2.38,0.00,0.000,2308,0.000,0.066,2540,3486,3208,3194,3223,0,0,0,0,0,0,15.22,14.76,15.23
$GC,1358,-0.55,-136.3,2539,3486,3194,3223,179.3,-9.9,140,1364,0.00,2.33,0.00,0.000,3078,0.000,0.041,2540,2068,3209,3194,3224,0,0,0,0,0,0,14.95,14.83,14.97
$GC,1615,-0.55,-136.3,2540,2066,3194,3223,204.4,-10.4,165,1624,0.00,2.33,0.00,0.000,2564,0.000,0.054,2540,673,3209,3194,3224,0,0,0,0,0,0,15.21,14.38,15.22
$GC,1708,-0.55,-136.3,2540,673,3194,3223,213.9,-9.8,174,1714,0.08,2.38,0.00,0.000,3078,0.337,0.052,2556,2083,3208,3194,3223,0,0,0,0,0,0,14.45,14.80,14.73
$GC,1963,-0.55,-136.3,2556,2084,3195,3222,236.4,-8.4,199,1972,0.00,2.33,0.00,0.000,260,0.000,0.065,2547,3477,3208,3195,3222,0,0,0,0,0,0,15.22,14.51,15.23
$GC,1989,-0.55,-136.3,2546,3477,3194,3222,238.3,-8.2,201,1996,0.00,2.38,0.00,0.000,3078,0.000,0.040,2547,2062,3208,3195,3222,0,0,0,0,0,0,14.89,14.73,14.92
$GC,2239,-0.55,-136.3,2546,2061,3195,3221,259.0,-8.1,226,2244,0.00,2.35,0.00,0.000,2564,0.000,0.054,2547,660,3208,3195,3221,0,0,0,0,0,0,15.21,14.78,15.21
$GC,2313,-0.55,-136.3,2546,660,3194,3221,265.1,-7.9,233,2322,0.03,2.38,0.00,0.000,3078,0.400,0.052,2546,2073,3207,3194,3220,0,0,0,0,0,0,14.28,14.54,14.38
$GC,2563,-0.55,-136.3,2546,2074,3194,3219,281.8,-6.7,258,2568,0.00,2.40,0.00,0.000,2308,0.000,0.067,2537,3482,3206,3195,3218,0,0,0,0,0,0,15.23,14.74,15.23
$GC,2638,-0.55,-136.3,2536,3483,3194,3218,287.1,-7.4,265,2647,0.03,2.30,0.00,0.000,3078,0.361,0.041,2548,2077,3206,3194,3218,0,0,0,0,0,0,14.33,14.60,14.40
$GC,2887,-0.55,-136.3,2548,2076,3194,3216,306.7,-8.6,290,2891,0.00,2.38,0.00,0.000,2564,0.000,0.055,2548,670,3205,3195,3215,0,0,0,0,0,0,15.23,14.78,15.23
$GC,2931,-0.55,-136.3,2548,670,3194,3216,310.8,-9.3,294,2936,0.00,2.40,0.00,0.000,3078,0.000,0.054,2539,2079,3205,3194,3216,0,0,0,0,0,0,14.92,14.77,14.95
$GC,3188,-0.55,-136.3,2538,2079,3193,3212,333.7,-8.4,319,3197,0.00,2.40,0.00,0.000,2308,0.000,0.068,2528,3482,3203,3193,3213,0,0,0,0,0,0,15.21,14.45,15.21
$GC,3222,-0.55,-136.3,2528,3482,3193,3212,336.6,-8.1,322,3228,0.08,2.33,0.00,0.000,3078,0.280,0.043,2557,2079,3203,3193,3213,0,0,0,0,0,0,14.53,14.81,14.75
$GC,3477,-0.55,-136.3,2556,2077,3193,3210,353.9,-6.6,347,3486,0.00,2.35,0.00,0.000,516,0.000,0.057,2557,675,3201,3192,3211,0,0,0,0,0,0,15.22,14.51,15.23
$GC,3520,-0.55,-136.3,2557,676,3191,3212,356.9,-6.9,351,3529,0.00,2.40,0.00,0.000,3078,0.000,0.056,2548,2070,3200,3191,3210,0,0,0,0,0,0,14.31,14.25,14.33
$GC,3773,-0.55,-136.3,2548,2068,3191,3207,373.7,-7.0,376,3778,0.00,2.45,0.00,0.000,2308,0.000,0.070,2537,3486,3199,3191,3207,0,0,0,0,0,0,15.21,14.69,15.21
$GC,3857,-0.55,-136.3,2537,3487,3191,3206,380.3,-7.9,384,3863,0.05,2.35,0.00,0.000,3078,0.340,0.044,2556,2079,3199,3191,3207,0,0,0,0,0,0,14.52,14.79,14.73
$STATE,4109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4109,begin apogee
$GC,4117,-0.13,0.0,2556,2075,3190,3203,400.8,-8.5,409,4240,0.35,0.00,115.72,1.447,10246,0.222,0.000,2690,2074,2650,2738,2563,0,0,0,0,0,0,14.16,14.10,13.45
$STATE,4241,end apogee,CONTROL_FINISHED_OK
$STATE,4242,begin climb
$GC,4245,0.55,136.3,2690,2074,2738,2562,407.0,0.0,422,4376,0.50,2.58,119.68,1.414,10500,0.143,0.067,2898,3504,2092,2185,1999,0,0,0,0,0,0,14.37,14.40,13.53
$GC,4509,0.56,146.3,2897,3504,2185,1999,390.4,9.5,448,4527,0.00,2.38,9.77,1.265,9222,0.000,0.046,2910,2101,2052,2144,1960,0,0,0,0,0,0,14.80,14.70,13.66
$GC,4767,0.56,158.2,2909,2101,2144,1955,366.9,9.4,474,4787,0.00,2.45,10.90,1.297,8452,0.000,0.064,2910,3521,2004,2094,1914,0,0,0,0,0,0,15.12,14.72,13.76
$GC,4831,0.56,158.2,2909,3522,2094,1914,359.9,11.5,480,4841,0.00,2.40,0.00,0.000,5126,0.000,0.048,2921,2102,2004,2094,1914,0,0,0,0,0,0,14.50,14.45,14.52
$GC,5084,0.56,158.2,2921,2102,2094,1911,330.2,12.1,505,5094,0.00,2.42,0.00,0.000,4612,0.000,0.061,2932,689,2001,2092,1910,0,0,0,0,0,0,15.14,14.54,15.14
$GC,5139,0.56,158.2,2932,689,2087,1910,323.0,12.8,510,5149,0.05,2.40,0.00,0.000,5126,0.320,0.053,2917,2100,1998,2087,1910,0,0,0,0,0,0,14.08,14.36,14.24
$GC,5389,0.56,158.2,2917,2100,2087,1910,294.6,10.8,535,5398,0.00,2.42,0.00,0.000,4356,0.000,0.070,2917,3506,1998,2087,1910,0,0,0,0,0,0,15.19,14.49,15.19
$GC,5493,0.56,158.2,2917,3506,2086,1909,282.8,10.7,545,5503,0.00,2.38,0.00,0.000,5126,0.000,0.050,2925,2099,1998,2087,1910,0,0,0,0,0,0,14.61,14.57,14.64
$GC,5747,0.58,180.2,2925,2098,2087,1910,259.5,8.9,570,5773,0.00,2.45,19.12,1.295,12548,0.000,0.065,2925,3511,1913,2000,1827,0,0,0,0,0,0,15.19,14.44,13.78
$GC,5798,0.58,191.7,2925,3510,2000,1827,254.6,9.4,575,5818,0.05,2.38,11.40,1.210,13318,0.325,0.049,2919,2095,1867,1954,1780,0,0,0,0,0,0,14.32,14.62,13.80
$GC,6059,0.60,222.2,2919,2095,1954,1775,232.5,8.5,601,6088,0.00,0.00,26.73,1.260,10246,0.000,0.000,2919,2095,1742,1832,1653,0,0,0,0,0,0,15.14,14.64,13.81
$GC,6331,0.63,269.1,2919,2095,1832,1648,210.6,7.7,628,6377,0.00,2.55,40.00,1.237,10500,0.000,0.069,2919,3516,1550,1643,1458,0,0,0,0,0,0,15.10,14.62,13.77
$GC,6394,0.65,296.6,2919,3516,1643,1458,205.4,8.6,634,6425,0.00,2.42,24.52,1.191,11270,0.000,0.050,2928,2101,1437,1529,1346,0,0,0,0,0,0,14.77,14.65,13.71
$GC,6673,0.66,308.4,2928,2101,1529,1342,178.6,9.4,662,6693,0.00,2.50,10.60,1.102,10756,0.000,0.065,2939,692,1390,1483,1297,0,0,0,0,0,0,15.09,14.59,13.81
$GC,6800,0.66,308.4,2939,692,1480,1297,164.6,11.9,674,6808,0.00,2.40,0.00,0.000,1030,0.000,0.054,2939,2094,1388,1480,1296,0,0,0,0,0,0,14.57,14.50,14.61
$GC,7050,0.66,308.4,2939,2094,1480,1295,135.4,10.8,699,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2094,1387,1480,1295,0,0,0,0,0,0,15.13,15.14,15.14
$GC,7299,0.67,333.1,2939,2094,1480,1295,111.4,8.8,724,7327,0.00,2.47,20.75,1.056,10500,0.000,0.068,2938,3518,1291,1388,1194,0,0,0,0,0,0,15.18,14.40,13.86
$GC,7363,0.68,346.6,2939,3517,1388,1194,105.4,9.3,730,7382,0.00,2.38,12.73,1.008,9222,0.000,0.049,2950,2104,1234,1331,1138,0,0,0,0,0,0,14.54,14.49,13.89
$GC,7623,0.69,361.7,2949,2104,1331,1137,82.7,9.3,756,7642,0.00,2.47,13.27,0.988,8708,0.000,0.062,2961,689,1173,1272,1074,0,0,0,0,0,0,15.13,14.73,13.93
$GC,7668,0.70,372.1,2961,689,1270,1076,78.6,9.5,760,7688,0.00,2.40,10.00,0.946,13318,0.000,0.051,2961,2099,1130,1229,1031,0,0,0,0,0,0,14.54,14.48,13.84
$GC,7928,0.73,425.7,2960,2099,1229,1030,56.4,7.3,786,7977,0.00,2.47,42.88,0.976,10500,0.000,0.068,2961,3509,911,1013,810,0,0,0,0,0,0,15.12,14.64,13.90
$GC,8007,0.74,445.2,2960,3509,1013,810,50.1,9.0,793,8034,0.00,2.42,16.30,0.933,9222,0.000,0.047,2966,2092,834,941,727,0,0,0,0,0,0,14.76,14.66,13.79
$GC,8274,0.76,478.5,2967,2091,941,724,26.8,8.3,823,8297,0.00,2.45,15.15,0.888,10756,0.000,0.058,2978,695,696,809,583,0,0,0,0,0,0,15.08,14.35,13.88
$GC,8361,0.76,478.5,2977,695,805,583,18.5,10.1,837,8368,0.00,2.42,0.00,0.000,1030,0.000,0.047,2977,2103,693,804,583,0,0,0,0,0,0,14.81,14.69,14.83
$STATE,8512,end climb,SURFACE_DEPTH_REACHED
$STATE,8512,begin surface coast
$FINISH,0.2,0.997102
$STATE,8547,end surface coast,CONTROL_FINISHED_OK
$STATE,8547,begin surface
$SM_CCo,8625,0.00,0.000,0,0,693,480.04
$SM_GC,1.13,6.50,0.00,0.00,0.041,0.000,0.000,152,2106,693,-7.90,0.88,480.04,0,0,0,0,0,0,14.84,15.09,14.88
$IRIDIUM_FIX,2230.01,-15817.99,201021,194108
$TT8_MAMPS,0.02247,0.34454
$HUMID,55.98
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.40
$XPDR_PINGS,5
$24V_AH,13.45,216.033
$10V_AH,12.27,0.000
$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,16.475,115.400,519.525,0.000,0.000,27.140,45.618,462.818,1.250,0.000,15.429,2188.418,3726.279,571.733,2403.915,426.590,0.000,1523.099,0.000,1950.800,0.000,0.553,0.000
$DEVICE_MAMPS,444.465,70.380,1447.380,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,584.118,640.719,1168.074,815.970,954.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339248
$DATA_FILE_SIZE,80918,871
$CAP_FILE_SIZE,123969,0
$CFSIZE,1023623168,935772160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.201,244.18,1
$GPS,201021,221602,2239.271,-15816.964,16,0.9,33,9.8,0.3,235.8,10,9.0