version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1013
start: 10 21 121 5 56 23
data:
$ID,626
$MISSION,3
$DIVE,1013
$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,35
$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
$GPS1,211021,054831,2239.6477,-15817.7324,19,0.8,36,9.8,0.7,193.5,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.0
$GPS2,211021,055553,2239.5286,-15817.7949,7,0.8,15,9.8,0.0,233.3,11,9.6
$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,98.0,30413,-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,-136.3,130,2018,911,771,0.0,0.0,0,94,0.00,0.10,-72.97,0.000,16390,0.000,0.623,130,2089,3207,3169,3245,0,0,0,0,0,0,15.07,12.77,15.02
$GC,99,-0.55,-136.3,130,2089,3170,3245,4.0,-7.9,11,114,8.65,2.40,0.00,0.000,2564,0.443,0.039,2552,647,3209,3175,3243,0,0,0,0,0,0,13.98,14.46,14.28
$GC,161,-0.55,-136.3,2552,645,3189,3230,23.9,-15.6,21,169,0.00,2.47,0.00,0.000,3078,0.000,0.054,2544,2061,3209,3190,3228,0,0,0,0,0,0,14.82,14.66,14.85
$GC,414,-0.55,-136.3,2543,2062,3191,3226,65.4,-16.3,49,423,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2062,3209,3191,3227,0,0,0,0,0,0,15.16,15.16,15.16
$GC,664,-0.55,-136.3,2543,2062,3191,3227,100.8,-14.6,74,673,0.00,2.38,0.00,0.000,2564,0.000,0.052,2544,658,3209,3192,3227,0,0,0,0,0,0,15.19,14.36,15.20
$GC,748,-0.55,-136.3,2543,658,3193,3226,111.2,-11.6,82,758,0.05,2.38,0.00,0.000,3078,0.317,0.050,2550,2073,3209,3194,3225,0,0,0,0,0,0,14.03,14.35,14.20
$GC,1001,-0.55,-136.3,2550,2073,3194,3226,138.1,-9.4,107,1011,0.00,2.38,0.00,0.000,2564,0.000,0.050,2551,655,3210,3194,3226,0,0,0,0,0,0,15.21,14.57,15.21
$GC,1048,-0.55,-136.3,2550,655,3195,3226,142.1,-8.7,111,1056,0.00,2.42,0.00,0.000,3078,0.000,0.053,2541,2087,3210,3195,3225,0,0,0,0,0,0,14.93,14.78,14.95
$GC,1300,-0.55,-136.3,2541,2087,3195,3225,165.4,-9.9,136,1306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2087,3210,3195,3225,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1545,-0.55,-136.3,2540,2087,3195,3225,191.4,-10.6,161,1554,0.00,2.40,0.00,0.000,2564,0.000,0.050,2541,664,3210,3195,3225,0,0,0,0,0,0,15.23,14.59,15.23
$GC,1581,-0.55,-136.3,2541,663,3195,3225,194.9,-10.8,164,1589,0.08,2.40,0.00,0.000,3078,0.321,0.052,2557,2081,3211,3197,3225,0,0,0,0,0,0,14.49,14.80,14.75
$GC,1830,-0.55,-136.3,2557,2083,3196,3224,218.8,-9.6,189,1840,0.00,2.38,0.00,0.000,516,0.000,0.050,2558,663,3210,3196,3225,0,0,0,0,0,0,15.23,14.48,15.23
$GC,1868,-0.55,-136.3,2557,663,3196,3225,222.2,-9.8,192,1875,0.00,2.42,0.00,0.000,3078,0.000,0.052,2549,2082,3210,3196,3224,0,0,0,0,0,0,14.90,14.73,14.92
$GC,2119,-0.55,-136.3,2549,2082,3196,3223,240.7,-7.0,217,2127,0.00,2.38,0.00,0.000,2308,0.000,0.067,2537,3481,3209,3196,3223,0,0,0,0,0,0,15.22,14.56,15.22
$GC,2152,-0.55,-136.3,2537,3481,3196,3223,243.3,-7.0,220,2158,0.05,2.33,0.00,0.000,3078,0.340,0.043,2557,2068,3209,3196,3222,0,0,0,0,0,0,14.57,14.83,14.78
$GC,2407,-0.55,-136.3,2557,2066,3196,3221,258.7,-7.1,245,2415,0.00,2.30,0.00,0.000,516,0.000,0.054,2557,675,3209,3196,3222,0,0,0,0,0,0,15.23,14.56,15.24
$GC,2471,-0.55,-136.3,2557,676,3196,3221,264.1,-8.4,251,2479,0.00,2.35,0.00,0.000,3078,0.000,0.053,2548,2071,3208,3196,3221,0,0,0,0,0,0,14.62,14.56,14.66
$GC,2725,-0.55,-136.3,2548,2071,3196,3218,287.6,-9.6,276,2730,0.00,2.42,0.00,0.000,2308,0.000,0.067,2538,3488,3207,3196,3218,0,0,0,0,0,0,15.23,14.74,15.23
$GC,2751,-0.55,-136.3,2537,3488,3196,3218,290.2,-9.5,278,2759,0.05,2.35,0.00,0.000,3078,0.334,0.043,2558,2068,3207,3196,3218,0,0,0,0,0,0,14.57,14.82,14.78
$GC,3001,-0.55,-136.3,2558,2065,3195,3215,310.0,-6.9,303,3010,0.00,2.33,0.00,0.000,516,0.000,0.055,2558,675,3206,3195,3217,0,0,0,0,0,0,15.22,14.46,15.23
$GC,3075,-0.55,-136.3,2558,676,3195,3216,315.2,-6.8,310,3080,0.00,2.40,0.00,0.000,3078,0.000,0.054,2549,2082,3205,3195,3215,0,0,0,0,0,0,14.92,14.78,14.95
$GC,3331,-0.55,-136.3,2548,2082,3195,3213,331.7,-6.7,335,3340,0.00,2.40,0.00,0.000,2308,0.000,0.068,2537,3481,3203,3195,3212,0,0,0,0,0,0,15.21,14.47,15.22
$GC,3394,-0.55,-136.3,2537,3481,3195,3212,336.5,-7.8,341,3403,0.00,2.33,0.00,0.000,3078,0.000,0.044,2538,2082,3203,3195,3212,0,0,0,0,0,0,14.62,14.57,14.64
$GC,3646,-0.55,-136.3,2537,2080,3194,3208,358.7,-9.8,366,3651,0.05,2.40,0.00,0.000,2564,0.392,0.054,2556,663,3201,3194,3208,0,0,0,0,0,0,14.65,14.75,14.79
$GC,3684,-0.55,-136.3,2555,661,3192,3210,362.3,-9.8,369,3692,0.00,2.47,0.00,0.000,3078,0.000,0.055,2547,2076,3200,3192,3209,0,0,0,0,0,0,14.86,14.69,14.89
$GC,3934,-0.55,-136.3,2546,2076,3192,3207,384.9,-8.8,394,3939,0.00,2.45,0.00,0.000,2308,0.000,0.070,2536,3491,3199,3192,3207,0,0,0,0,0,0,15.21,14.70,15.21
$GC,4049,-0.55,-136.3,2535,3492,3192,3205,395.4,-8.8,405,4060,0.03,2.38,0.00,0.000,3078,0.342,0.045,2546,2070,3198,3192,3205,0,0,0,0,0,0,14.04,14.27,14.14
$STATE,4106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4106,begin apogee
$GC,4113,-0.13,0.0,2546,2069,3192,3204,400.4,-8.0,411,4239,0.38,0.00,116.32,1.444,10246,0.218,0.000,2687,2067,2648,2736,2561,0,0,0,0,0,0,13.97,14.08,13.44
$STATE,4240,end apogee,CONTROL_FINISHED_OK
$STATE,4240,begin climb
$GC,4243,0.55,136.3,2688,2067,2736,2560,404.9,0.0,424,4372,0.50,2.58,119.70,1.415,11012,0.142,0.065,2897,3504,2092,2184,2000,0,0,0,0,0,0,14.38,14.40,13.53
$GC,4391,0.55,136.3,2896,3503,2184,2000,396.7,10.3,439,4396,0.00,2.40,0.00,0.000,1030,0.000,0.046,2908,2100,2092,2184,2000,0,0,0,0,0,0,14.65,14.56,14.66
$GC,4647,0.55,136.3,2907,2098,2184,1993,367.4,11.7,464,4655,0.00,2.38,0.00,0.000,516,0.000,0.061,2919,699,2087,2182,1992,0,0,0,0,0,0,15.09,14.52,15.09
$GC,4740,0.55,136.3,2919,699,2175,1992,355.9,12.0,473,4744,0.00,2.40,0.00,0.000,5126,0.000,0.054,2919,2100,2083,2175,1992,0,0,0,0,0,0,14.90,14.76,14.92
$GC,4995,0.55,136.3,2919,2100,2175,1992,324.9,11.3,498,5005,0.00,2.40,0.00,0.000,4356,0.000,0.067,2919,3505,2083,2174,1992,0,0,0,0,0,0,15.16,14.32,15.16
$GC,5109,0.55,136.3,2919,3505,2175,1992,309.7,13.2,509,5114,0.08,2.35,0.00,0.000,5126,0.368,0.047,2907,2098,2083,2175,1992,0,0,0,0,0,0,14.40,14.79,14.74
$GC,5364,0.57,167.8,2906,2095,2175,1991,285.5,8.4,534,5401,0.00,2.45,26.02,1.327,10500,0.000,0.065,2907,3516,1965,2055,1875,0,0,0,0,0,0,15.20,14.45,13.80
$GC,5436,0.57,167.8,2906,3516,2055,1874,278.0,11.2,541,5441,0.00,2.40,0.00,0.000,1030,0.000,0.047,2915,2094,1965,2055,1875,0,0,0,0,0,0,14.85,14.74,14.87
$GC,5692,0.58,180.5,2915,2092,2055,1869,252.2,9.4,566,5711,0.00,2.47,11.65,1.232,8452,0.000,0.065,2915,3514,1913,2002,1825,0,0,0,0,0,0,15.14,14.37,13.74
$GC,5734,0.58,180.5,2915,3514,2002,1825,247.6,10.2,570,5744,0.00,2.38,0.00,0.000,5126,0.000,0.050,2927,2104,1913,2002,1825,0,0,0,0,0,0,14.52,14.47,14.55
$GC,5989,0.58,180.5,2926,2102,2002,1820,220.7,11.9,595,5993,0.00,2.42,0.00,0.000,4612,0.000,0.060,2938,690,1911,2002,1821,0,0,0,0,0,0,15.14,14.73,15.14
$GC,6005,0.58,180.5,2937,690,1998,1821,218.7,11.9,596,6012,0.08,2.42,0.00,0.000,5126,0.316,0.054,2911,2100,1908,1997,1820,0,0,0,0,0,0,14.45,14.75,14.71
$GC,6255,0.59,200.0,2911,2101,1997,1820,194.1,9.0,621,6282,0.00,2.40,17.38,1.198,10500,0.000,0.067,2911,3506,1832,1921,1744,0,0,0,0,0,0,15.17,14.49,13.86
$GC,6320,0.59,201.4,2910,3506,1922,1744,187.9,10.0,627,6328,0.00,2.42,0.00,0.000,1030,0.000,0.048,2919,2096,1832,1922,1743,0,0,0,0,0,0,14.86,14.74,14.88
$GC,6570,0.62,248.6,2919,2095,1921,1741,166.5,7.6,652,6620,0.00,2.50,41.40,1.177,10500,0.000,0.066,2919,3507,1634,1729,1539,0,0,0,0,0,0,15.14,14.62,13.81
$GC,6659,0.62,252.6,2919,3507,1729,1539,158.5,9.8,661,6670,0.00,2.40,4.90,0.931,9222,0.000,0.050,2930,2101,1618,1713,1523,0,0,0,0,0,0,14.78,14.67,13.69
$GC,6909,0.63,266.5,2930,2101,1714,1520,134.1,9.3,686,6928,0.00,2.42,12.70,1.072,10756,0.000,0.062,2941,689,1561,1656,1466,0,0,0,0,0,0,15.12,14.44,13.84
$GC,6952,0.63,271.3,2941,688,1654,1466,129.9,9.8,690,6963,0.00,2.42,5.53,0.926,13318,0.000,0.053,2941,2105,1542,1637,1447,0,0,0,0,0,0,14.47,14.42,13.78
$GC,7204,0.64,286.5,2940,2105,1637,1445,105.5,9.3,715,7222,0.00,0.00,13.88,1.035,12294,0.000,0.000,2941,2105,1480,1575,1385,0,0,0,0,0,0,15.13,14.68,13.90
$GC,7468,0.66,320.1,2941,2105,1575,1382,84.1,8.3,741,7503,0.00,2.45,27.77,1.027,10500,0.000,0.067,2941,3514,1343,1438,1248,0,0,0,0,0,0,15.14,14.37,13.85
$GC,7530,0.68,348.3,2941,3514,1438,1248,78.6,8.6,747,7561,0.00,2.42,24.17,1.001,9222,0.000,0.047,2952,2098,1227,1323,1131,0,0,0,0,0,0,14.81,14.71,13.85
$GC,7811,0.70,374.3,2951,2098,1323,1128,54.2,8.7,775,7839,0.00,2.45,21.00,0.962,8708,0.000,0.060,2962,690,1123,1221,1026,0,0,0,0,0,0,15.10,14.35,13.85
$GC,7938,0.70,385.0,2962,690,1217,1026,42.8,9.5,787,7958,0.00,2.40,9.98,0.895,13318,0.000,0.047,2963,2102,1079,1180,979,0,0,0,0,0,0,14.40,14.35,13.81
$GC,8204,0.71,393.6,2962,2102,1179,978,17.9,9.6,825,8213,0.00,2.45,3.72,0.304,12548,0.000,0.065,2962,3507,1042,1143,941,0,0,0,0,0,0,15.09,14.66,14.26
$GC,8232,0.71,393.6,2962,3507,1143,941,15.1,10.1,829,8240,0.00,2.42,0.00,0.000,5126,0.000,0.046,2972,2095,1042,1143,942,0,0,0,0,0,0,14.84,14.69,14.86
$STATE,8354,end climb,SURFACE_DEPTH_REACHED
$STATE,8354,begin surface coast
$FINISH,0.2,1.010487
$STATE,8383,end surface coast,CONTROL_FINISHED_OK
$STATE,8383,begin surface
$SM_CCo,8461,0.00,0.000,0,0,1042,394.44
$SM_GC,1.00,6.57,0.00,0.00,0.057,0.000,0.000,157,2094,1042,-7.90,0.54,394.44,0,0,0,0,0,0,14.78,15.10,14.84
$IRIDIUM_FIX,2230.01,-15817.99,211021,055032
$TT8_MAMPS,0.02247,0.343042
$HUMID,57.12
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.20
$XPDR_PINGS,5
$24V_AH,12.77,217.139
$10V_AH,12.24,0.000
$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,16.550,115.700,456.125,0.000,0.000,24.339,53.177,210.022,1.250,0.000,16.364,2168.267,3656.265,550.707,2183.214,340.062,0.000,1466.861,0.000,1896.843,0.000,0.552,0.000
$DEVICE_MAMPS,442.935,623.475,1444.320,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,574.382,629.984,1152.830,817.831,959.875,0.000,0.000,0.000,0.000,0.000
$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,80886,856
$CAP_FILE_SIZE,121602,0
$CFSIZE,1023623168,935378944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.160,260.24,1
$GPS,211021,081832,2239.216,-15817.856,14,0.8,32,9.8,0.5,213.9,9,9.3