version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1014
start: 10 21 121 8 26 46
data:
$ID,626
$MISSION,3
$DIVE,1014
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,211021,081832,2239.2163,-15817.8564,14,0.8,32,9.8,0.5,213.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.3
$GPS2,211021,082617,2239.1462,-15817.9658,7,0.8,13,9.8,0.8,265.8,9,9.8
$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,73.0,30711,-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,-136.3,130,2088,1110,973,0.0,0.0,0,87,0.00,0.00,-67.10,0.000,16386,0.000,0.000,130,2088,3170,3132,3208,0,0,0,0,0,0,15.06,28.83,15.07
$GC,91,-0.55,-136.3,130,2088,3133,3208,3.5,-5.6,10,107,8.68,2.45,-0.57,0.000,18948,0.441,0.063,2555,644,3209,3177,3241,0,0,0,0,0,0,14.00,13.16,14.30
$GC,127,-0.55,-136.3,2555,644,3189,3230,18.3,-39.6,15,134,0.00,2.50,0.00,0.000,3078,0.000,0.052,2546,2075,3209,3190,3228,0,0,0,0,0,0,14.82,14.66,14.85
$GC,386,-0.55,-136.3,2546,2076,3192,3227,62.5,-15.9,46,393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2076,3209,3192,3227,0,0,0,0,0,0,15.14,15.15,15.15
$GC,637,-0.55,-136.3,2546,2075,3193,3227,94.9,-11.9,71,646,0.00,2.40,0.00,0.000,2564,0.000,0.051,2546,658,3210,3194,3227,0,0,0,0,0,0,15.19,14.54,15.19
$GC,681,-0.55,-136.3,2546,658,3194,3227,100.0,-11.3,75,691,0.03,2.38,0.00,0.000,3078,0.396,0.052,2546,2069,3210,3195,3225,0,0,0,0,0,0,14.28,14.52,14.40
$GC,933,-0.55,-136.3,2546,2070,3196,3226,128.4,-11.8,100,942,0.00,2.38,0.00,0.000,2564,0.000,0.051,2547,664,3211,3196,3226,0,0,0,0,0,0,15.19,14.34,15.19
$GC,948,-0.55,-136.3,2546,663,3196,3226,129.7,-11.7,101,956,0.05,2.40,0.00,0.000,3078,0.389,0.052,2554,2083,3210,3195,3226,0,0,0,0,0,0,14.49,14.78,14.73
$GC,1199,-0.55,-136.3,2554,2084,3196,3226,159.9,-12.1,126,1208,0.00,2.38,0.00,0.000,260,0.000,0.065,2545,3488,3211,3196,3226,0,0,0,0,0,0,15.20,14.33,15.21
$GC,1232,-0.55,-136.3,2545,3488,3196,3226,164.1,-11.8,129,1243,0.00,2.33,0.00,0.000,3078,0.000,0.041,2545,2063,3210,3196,3225,0,0,0,0,0,0,14.69,14.71,14.69
$GC,1486,-0.55,-136.3,2545,2063,3196,3226,192.4,-10.6,154,1494,0.00,2.42,0.00,0.000,2308,0.000,0.063,2534,3485,3211,3196,3226,0,0,0,0,0,0,15.21,14.52,15.21
$GC,1606,-0.55,-136.3,2534,3485,3196,3226,203.8,-9.6,165,1615,0.05,2.40,0.00,0.000,3078,0.354,0.041,2553,2056,3211,3197,3226,0,0,0,0,0,0,14.50,14.73,14.73
$GC,1855,-0.55,-136.3,2553,2056,3196,3226,225.3,-8.8,190,1864,0.00,2.42,0.00,0.000,260,0.000,0.063,2544,3480,3211,3196,3226,0,0,0,0,0,0,15.22,14.51,15.23
$GC,1975,-0.55,-136.3,2544,3481,3194,3225,236.0,-9.0,201,1983,0.00,2.38,0.00,0.000,3078,0.000,0.041,2544,2062,3211,3197,3225,0,0,0,0,0,0,14.90,14.73,14.92
$GC,2226,-0.55,-136.3,2544,2061,3196,3225,258.8,-8.9,226,2235,0.00,2.33,0.00,0.000,2564,0.000,0.055,2544,677,3211,3197,3225,0,0,0,0,0,0,15.21,14.56,15.21
$GC,2279,-0.55,-136.3,2544,677,3196,3224,264.1,-9.6,231,2291,0.05,2.35,0.00,0.000,3078,0.305,0.052,2552,2076,3210,3197,3224,0,0,0,0,0,0,14.02,14.34,14.17
$GC,2531,-0.55,-136.3,2551,2077,3197,3223,285.0,-7.9,256,2540,0.00,2.38,0.00,0.000,2308,0.000,0.065,2542,3477,3210,3197,3223,0,0,0,0,0,0,15.23,14.52,15.23
$GC,2608,-0.55,-136.3,2542,3477,3197,3222,290.8,-7.6,263,2616,0.00,2.30,0.00,0.000,3078,0.000,0.040,2542,2076,3209,3197,3221,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2859,-0.55,-136.3,2542,2074,3197,3220,308.7,-7.7,288,2868,0.00,2.35,0.00,0.000,2564,0.000,0.055,2542,679,3209,3197,3221,0,0,0,0,0,0,15.21,14.30,15.21
$GC,2904,-0.55,-136.3,2542,679,3196,3221,312.6,-8.4,292,2913,0.05,2.35,0.00,0.000,3078,0.301,0.052,2550,2071,3208,3197,3220,0,0,0,0,0,0,14.21,14.54,14.36
$GC,3152,-0.55,-136.3,2550,2071,3197,3217,332.3,-8.1,317,3161,0.00,2.40,0.00,0.000,2308,0.000,0.066,2541,3475,3207,3197,3217,0,0,0,0,0,0,15.23,14.48,15.23
$GC,3247,-0.55,-136.3,2541,3475,3196,3216,339.9,-8.1,326,3256,0.00,2.30,0.00,0.000,3078,0.000,0.041,2541,2080,3206,3196,3216,0,0,0,0,0,0,14.63,14.59,14.64
$GC,3501,-0.55,-136.3,2541,2080,3196,3213,361.2,-8.7,351,3511,0.00,2.40,0.00,0.000,2564,0.000,0.057,2540,670,3205,3196,3214,0,0,0,0,0,0,15.22,14.26,15.22
$GC,3538,-0.55,-136.3,2541,670,3195,3214,364.7,-9.0,354,3547,0.08,2.47,0.00,0.000,3078,0.319,0.055,2557,2073,3204,3195,3213,0,0,0,0,0,0,14.40,14.69,14.67
$GC,3787,-0.55,-136.3,2557,2073,3195,3212,385.3,-8.2,379,3796,0.00,2.42,0.00,0.000,260,0.000,0.069,2548,3481,3203,3195,3211,0,0,0,0,0,0,15.21,14.44,15.22
$GC,3872,-0.55,-136.3,2548,3481,3195,3210,392.3,-8.2,387,3883,0.00,2.33,0.00,0.000,3078,0.000,0.041,2548,2076,3202,3195,3210,0,0,0,0,0,0,14.35,14.32,14.38
$STATE,3969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3969,begin apogee
$GC,3976,-0.13,0.0,2548,2075,3195,3208,400.5,-8.2,397,4101,0.35,0.00,117.25,1.448,10246,0.220,0.000,2681,2073,2649,2736,2562,0,0,0,0,0,0,14.18,14.14,13.47
$STATE,4102,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4105,0.55,136.3,2681,2074,2736,2560,405.6,0.0,410,4236,0.52,2.47,119.22,1.410,10756,0.145,0.058,2908,689,2092,2183,2001,0,0,0,0,0,0,14.37,14.41,13.53
$GC,4288,0.55,136.3,2908,689,2174,2001,395.1,10.5,428,4294,0.00,2.45,0.00,0.000,1030,0.000,0.053,2908,2102,2087,2174,2001,0,0,0,0,0,0,14.71,14.61,14.73
$GC,4539,0.55,136.3,2908,2102,2174,1996,367.3,11.3,453,4550,0.00,2.42,0.00,0.000,516,0.000,0.058,2919,696,2085,2174,1996,0,0,0,0,0,0,15.09,14.37,15.10
$GC,4575,0.55,136.3,2919,696,2171,1995,363.0,11.3,456,4583,0.00,2.45,0.00,0.000,5126,0.000,0.051,2919,2104,2083,2171,1995,0,0,0,0,0,0,14.87,14.72,14.90
$GC,4827,0.55,136.3,2919,2104,2171,1994,332.6,12.1,481,4836,0.00,2.40,0.00,0.000,4612,0.000,0.054,2930,695,2082,2171,1994,0,0,0,0,0,0,15.16,14.54,15.16
$GC,4842,0.55,136.3,2930,696,2170,1994,331.1,12.1,482,4849,0.08,2.40,0.00,0.000,5126,0.352,0.053,2906,2099,2082,2170,1994,0,0,0,0,0,0,14.42,14.77,14.75
$GC,5092,0.56,150.0,2906,2099,2170,1993,304.6,9.3,507,5111,0.00,2.42,11.27,1.269,10500,0.000,0.067,2906,3515,2037,2126,1948,0,0,0,0,0,0,15.19,14.42,13.74
$GC,5128,0.56,155.8,2905,3515,2126,1948,301.1,9.7,510,5145,0.00,2.40,6.88,1.153,9222,0.000,0.047,2914,2103,2014,2103,1925,0,0,0,0,0,0,14.91,14.79,13.74
$GC,5387,0.58,185.7,2914,2101,2102,1921,277.5,8.5,536,5425,0.00,2.47,26.33,1.306,10756,0.000,0.061,2926,690,1889,1976,1803,0,0,0,0,0,0,15.16,14.71,13.81
$GC,5643,0.58,191.0,2925,690,1965,1803,253.0,9.8,561,5654,0.00,2.42,4.75,0.999,13318,0.000,0.054,2926,2095,1870,1954,1786,0,0,0,0,0,0,14.38,14.33,13.70
$GC,5894,0.60,221.1,2925,2095,1954,1785,231.0,8.5,586,5932,0.00,2.42,27.08,1.251,8708,0.000,0.057,2936,693,1747,1836,1659,0,0,0,0,0,0,15.16,14.44,13.81
$GC,5978,0.61,237.2,2936,693,1832,1658,223.4,9.2,594,6000,0.00,2.45,15.50,1.189,13318,0.000,0.056,2936,2110,1679,1771,1588,0,0,0,0,0,0,14.45,14.38,13.76
$GC,6248,0.63,273.4,2936,2110,1770,1585,198.9,8.2,621,6289,0.00,2.47,30.92,1.193,8452,0.000,0.069,2936,3514,1533,1626,1441,0,0,0,0,0,0,15.12,14.59,13.81
$GC,6358,0.64,277.8,2936,3514,1625,1441,188.9,9.8,631,6368,0.00,2.38,5.55,0.970,13318,0.000,0.050,2947,2110,1515,1607,1423,0,0,0,0,0,0,14.59,14.53,13.69
$GC,6609,0.64,282.9,2947,2109,1606,1420,163.2,9.8,656,6621,0.00,2.47,5.47,0.959,12804,0.000,0.062,2958,683,1495,1588,1402,0,0,0,0,0,0,15.13,14.70,13.78
$GC,6693,0.64,282.9,2958,681,1585,1402,154.8,10.1,664,6701,0.08,2.45,0.00,0.000,5126,0.285,0.053,2930,2107,1493,1585,1401,0,0,0,0,0,0,14.51,14.74,14.74
$GC,6942,0.66,308.6,2930,2109,1585,1400,132.2,8.7,689,6972,0.00,2.45,22.40,1.080,10500,0.000,0.068,2930,3512,1388,1483,1293,0,0,0,0,0,0,15.16,14.73,13.93
$GC,7028,0.66,316.9,2930,3511,1483,1293,124.1,9.6,697,7047,0.00,2.40,8.15,0.973,11270,0.000,0.050,2938,2085,1357,1453,1261,0,0,0,0,0,0,14.63,14.57,13.84
$GC,7288,0.69,359.2,2938,2085,1453,1257,102.1,7.9,723,7329,0.00,2.42,35.05,1.037,10756,0.000,0.063,2950,693,1183,1278,1088,0,0,0,0,0,0,15.14,14.66,13.90
$GC,7392,0.71,391.4,2950,693,1276,1088,93.9,8.4,733,7429,0.00,2.40,26.90,1.008,11270,0.000,0.050,2950,2101,1052,1149,955,0,0,0,0,0,0,14.57,14.52,13.80
$GC,7670,0.75,461.3,2950,2101,1149,952,73.1,6.5,761,7731,0.00,2.45,54.67,0.993,10500,0.000,0.067,2949,3503,767,878,657,0,0,0,0,0,0,15.11,14.57,13.85
$GC,7805,0.75,465.4,2949,3503,879,656,62.5,9.8,774,7817,0.00,2.35,4.97,0.794,11270,0.000,0.044,2950,2092,749,859,640,0,0,0,0,0,0,14.61,14.62,13.74
$GC,8057,0.75,465.4,2949,2092,860,639,38.4,10.1,799,8068,0.05,2.45,0.00,0.000,2308,0.255,0.061,2980,3514,749,859,639,0,0,0,0,0,0,14.74,14.36,14.83
$GC,8095,0.75,465.4,2980,3514,860,639,34.5,10.3,802,8102,0.00,2.40,0.00,0.000,5126,0.000,0.046,2981,2101,749,860,639,0,0,0,0,0,0,14.85,14.71,14.88
$GC,8358,0.76,473.5,2980,2100,859,640,9.9,9.6,847,8367,0.00,2.47,3.38,0.257,12804,0.000,0.062,2981,696,716,827,605,0,0,0,0,0,0,15.11,14.67,14.34
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8425,begin surface coast
$FINISH,0.3,1.023158
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8455,begin surface
$SM_CCo,8536,0.00,0.000,0,0,713,475.14
$SM_GC,1.00,6.53,2.38,0.00,0.051,0.042,0.000,114,2074,713,-7.89,-0.79,475.14,0,0,0,0,0,0,14.87,14.76,14.90
$IRIDIUM_FIX,2230.01,-15820.16,211021,055044
$TT8_MAMPS,0.02247,0.343791
$HUMID,55.74
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,13.16,217.433
$10V_AH,12.28,0.000
$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,16.575,120.350,525.750,0.000,0.000,32.897,64.954,205.969,0.500,0.000,14.369,2163.821,3595.866,610.226,2275.271,351.567,0.000,1586.402,0.000,1965.072,0.000,0.553,0.000
$DEVICE_MAMPS,440.640,68.850,1448.145,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,577.668,634.736,1162.378,825.736,951.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,80812,864
$CAP_FILE_SIZE,123725,0
$CFSIZE,1023623168,935280640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.225,269.73,1
$GPS,211021,105019,2239.025,-15818.285,17,0.8,40,9.8,0.4,350.5,10,7.0