version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1017
start: 10 21 121 15 58 15
data:
$ID,626
$MISSION,3
$DIVE,1017
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,211021,155031,2239.5754,-15818.4717,16,0.9,33,9.8,0.0,284.4,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.6
$GPS2,211021,155746,2239.5801,-15818.5713,7,0.9,15,9.8,0.6,203.8,9,9.4
$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,113.7,31740,-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,-136.3,130,2086,815,671,0.0,0.0,0,96,0.00,0.00,-75.80,0.000,16390,0.000,0.000,130,2086,3207,3167,3248,0,0,0,0,0,0,15.07,12.76,15.02
$GC,100,-0.55,-136.3,130,2087,3168,3248,3.8,-7.4,11,115,8.70,2.38,0.00,0.000,2564,0.445,0.039,2554,655,3209,3175,3243,0,0,0,0,0,0,13.99,14.44,14.28
$GC,134,-0.55,-136.3,2553,655,3186,3235,18.0,-37.8,16,142,0.00,2.47,0.00,0.000,3078,0.000,0.050,2546,2079,3209,3187,3232,0,0,0,0,0,0,14.83,14.68,14.85
$GC,396,-0.55,-136.3,2545,2080,3189,3229,60.8,-16.4,47,406,0.00,2.40,0.00,0.000,2564,0.000,0.052,2546,669,3209,3189,3229,0,0,0,0,0,0,15.16,14.33,15.16
$GC,420,-0.55,-136.3,2545,669,3190,3229,64.9,-16.8,49,430,0.05,2.38,0.00,0.000,3078,0.331,0.050,2552,2077,3209,3190,3228,0,0,0,0,0,0,14.02,14.34,14.18
$GC,671,-0.55,-136.3,2552,2079,3191,3228,101.5,-13.4,74,676,0.00,2.40,0.00,0.000,2564,0.000,0.053,2552,663,3209,3191,3228,0,0,0,0,0,0,15.19,14.78,15.19
$GC,705,-0.55,-136.3,2552,663,3191,3228,105.9,-12.8,77,714,0.00,2.35,0.00,0.000,3078,0.000,0.054,2542,2072,3209,3192,3227,0,0,0,0,0,0,14.62,14.56,14.64
$GC,957,-0.55,-136.3,2543,2072,3193,3227,134.4,-11.0,102,965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2072,3210,3192,3228,0,0,0,0,0,0,15.20,15.21,15.20
$GC,1206,-0.55,-136.3,2542,2072,3193,3227,161.5,-11.3,127,1215,0.00,2.33,0.00,0.000,2564,0.000,0.050,2543,674,3210,3193,3228,0,0,0,0,0,0,15.22,14.59,15.23
$GC,1259,-0.55,-136.3,2543,674,3193,3228,167.6,-11.5,132,1270,0.05,2.33,0.00,0.000,3078,0.321,0.050,2550,2079,3210,3194,3227,0,0,0,0,0,0,14.17,14.66,14.31
$GC,1511,-0.55,-136.3,2550,2080,3194,3227,193.5,-9.6,157,1520,0.00,2.35,0.00,0.000,2308,0.000,0.066,2541,3479,3210,3194,3226,0,0,0,0,0,0,15.23,14.56,15.23
$GC,1526,-0.55,-136.3,2540,3480,3194,3226,194.6,-9.7,158,1533,0.00,2.30,0.00,0.000,3078,0.000,0.042,2540,2075,3210,3195,3226,0,0,0,0,0,0,14.96,14.83,14.97
$GC,1777,-0.55,-136.3,2540,2074,3195,3226,218.1,-8.1,183,1786,0.00,2.33,0.00,0.000,2564,0.000,0.054,2541,677,3210,3195,3226,0,0,0,0,0,0,15.22,14.38,15.21
$GC,1852,-0.55,-136.3,2540,677,3195,3226,223.8,-6.9,190,1863,0.05,2.35,0.00,0.000,3078,0.295,0.054,2550,2078,3210,3195,3225,0,0,0,0,0,0,14.29,14.61,14.45
$GC,2102,-0.55,-136.3,2549,2078,3195,3225,240.5,-7.8,215,2111,0.00,2.38,0.00,0.000,2308,0.000,0.067,2540,3478,3209,3194,3225,0,0,0,0,0,0,15.23,14.54,15.22
$GC,2158,-0.55,-136.3,2540,3479,3195,3225,245.3,-8.9,220,2166,0.00,2.33,0.00,0.000,3078,0.000,0.042,2540,2065,3209,3194,3224,0,0,0,0,0,0,14.96,14.83,14.98
$GC,2408,-0.55,-136.3,2540,2065,3194,3223,270.3,-10.6,245,2417,0.00,2.33,0.00,0.000,2564,0.000,0.054,2540,668,3209,3195,3224,0,0,0,0,0,0,15.22,14.66,15.22
$GC,2445,-0.55,-136.3,2540,668,3195,3223,274.2,-10.8,248,2453,0.08,2.38,0.00,0.000,3078,0.318,0.051,2557,2075,3209,3195,3223,0,0,0,0,0,0,14.49,14.79,14.74
$GC,2695,-0.55,-136.3,2557,2076,3195,3221,294.8,-7.7,273,2705,0.00,2.35,0.00,0.000,260,0.000,0.066,2548,3473,3207,3194,3221,0,0,0,0,0,0,15.22,14.44,15.23
$GC,2742,-0.55,-136.3,2548,3473,3194,3221,298.5,-8.0,277,2749,0.00,2.33,0.00,0.000,3078,0.000,0.043,2548,2069,3207,3195,3220,0,0,0,0,0,0,14.95,14.82,14.97
$GC,2992,-0.55,-136.3,2548,2067,3195,3218,318.1,-7.7,302,3002,0.00,2.35,0.00,0.000,2564,0.000,0.057,2548,673,3206,3194,3219,0,0,0,0,0,0,15.22,14.57,15.22
$GC,3070,-0.55,-136.3,2548,673,3194,3218,324.5,-8.5,309,3078,0.05,2.45,0.00,0.000,3078,0.396,0.054,2554,2081,3206,3194,3218,0,0,0,0,0,0,14.45,14.72,14.70
$GC,3320,-0.55,-136.3,2554,2082,3194,3214,344.8,-8.4,334,3330,0.00,2.40,0.00,0.000,260,0.000,0.067,2546,3483,3204,3195,3214,0,0,0,0,0,0,15.21,14.51,15.22
$GC,3397,-0.55,-136.3,2545,3483,3194,3213,351.9,-9.1,341,3406,0.00,2.33,0.00,0.000,3078,0.000,0.042,2545,2077,3203,3194,3213,0,0,0,0,0,0,14.62,14.58,14.64
$GC,3651,-0.55,-136.3,2546,2076,3194,3211,376.4,-9.6,366,3661,0.00,2.40,0.00,0.000,2564,0.000,0.058,2546,665,3202,3193,3212,0,0,0,0,0,0,15.22,14.25,15.22
$GC,3715,-0.55,-136.3,2546,666,3192,3212,382.9,-9.5,372,3726,0.05,2.40,0.00,0.000,3078,0.317,0.054,2553,2073,3202,3192,3212,0,0,0,0,0,0,13.93,14.27,14.11
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3943,-0.13,0.0,2553,2073,3192,3208,400.3,-7.2,394,4064,0.35,0.00,116.85,1.432,10246,0.223,0.000,2686,2073,2649,2737,2561,0,0,0,0,0,0,14.19,14.40,13.50
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4068,0.55,136.3,2686,2073,2737,2561,403.7,0.0,407,4199,0.52,2.47,119.60,1.398,10756,0.143,0.057,2915,690,2092,2185,1999,0,0,0,0,0,0,14.38,14.42,13.53
$GC,4324,0.55,136.3,2914,690,2173,1995,382.5,10.9,432,4333,0.00,2.47,0.00,0.000,5126,0.000,0.052,2915,2100,2083,2173,1994,0,0,0,0,0,0,14.81,14.67,14.83
$GC,4575,0.55,136.3,2914,2100,2173,1993,354.7,10.7,457,4584,0.00,2.40,0.00,0.000,4356,0.000,0.067,2915,3506,2082,2172,1993,0,0,0,0,0,0,15.13,14.54,15.13
$GC,4660,0.55,136.3,2914,3506,2172,1993,344.7,11.6,465,4671,0.05,2.35,0.00,0.000,5126,0.331,0.048,2911,2101,2082,2172,1993,0,0,0,0,0,0,14.16,14.58,14.34
$GC,4911,0.56,148.9,2910,2100,2172,1992,320.1,9.4,490,4929,0.00,2.45,10.50,1.260,8452,0.000,0.067,2911,3513,2041,2133,1949,0,0,0,0,0,0,15.18,14.75,13.77
$GC,5015,0.56,148.9,2910,3514,2133,1948,309.6,10.0,500,5024,0.00,2.38,0.00,0.000,5126,0.000,0.050,2920,2102,2041,2134,1948,0,0,0,0,0,0,14.66,14.60,14.69
$GC,5268,0.58,180.6,2920,2102,2133,1948,287.3,8.4,525,5306,0.00,2.53,28.00,1.321,8452,0.000,0.067,2920,3509,1911,2001,1821,0,0,0,0,0,0,15.16,14.69,13.81
$GC,5352,0.58,180.6,2919,3509,2000,1821,279.2,10.4,533,5359,0.00,2.40,0.00,0.000,5126,0.000,0.049,2931,2096,1910,2000,1821,0,0,0,0,0,0,14.85,14.73,14.87
$GC,5602,0.58,180.6,2931,2095,2000,1817,253.0,10.8,558,5613,0.00,2.47,0.00,0.000,4356,0.000,0.067,2931,3508,1909,2000,1818,0,0,0,0,0,0,15.14,14.38,15.14
$GC,5657,0.58,180.6,2931,3509,2000,1817,246.6,11.4,563,5666,0.08,2.38,0.00,0.000,5126,0.287,0.050,2916,2101,1909,2000,1818,0,0,0,0,0,0,14.23,14.57,14.40
$GC,5907,0.58,185.3,2916,2099,2001,1815,221.5,9.8,588,5916,0.00,0.00,4.80,1.004,8198,0.000,0.000,2917,2099,1892,1983,1801,0,0,0,0,0,0,15.19,14.67,13.77
$GC,6160,0.62,246.4,2916,2098,1983,1802,200.3,6.9,613,6217,0.00,0.00,52.10,1.220,10758,0.000,0.000,2917,2099,1644,1739,1549,0,0,0,0,0,0,15.18,14.57,13.77
$GC,6458,0.64,274.4,2916,2098,1739,1542,175.6,8.6,643,6489,0.00,2.50,23.95,1.157,10500,0.000,0.067,2916,3509,1529,1623,1435,0,0,0,0,0,0,15.11,14.66,13.83
$GC,6520,0.64,279.3,2916,3509,1624,1434,169.9,9.8,649,6531,0.00,2.40,5.90,0.970,11270,0.000,0.050,2925,2098,1509,1604,1415,0,0,0,0,0,0,14.61,14.54,13.71
$GC,6782,0.64,282.4,2925,2098,1603,1412,144.8,9.9,675,6792,0.00,2.47,3.75,0.832,10756,0.000,0.066,2936,694,1497,1592,1402,0,0,0,0,0,0,15.13,14.67,13.75
$GC,6850,0.64,282.4,2936,693,1589,1402,137.7,10.8,681,6857,0.00,2.42,0.00,0.000,1030,0.000,0.055,2936,2101,1495,1589,1401,0,0,0,0,0,0,14.87,14.74,14.90
$GC,7101,0.64,288.4,2936,2101,1589,1401,111.9,9.7,706,7113,0.00,2.45,6.30,0.947,8452,0.000,0.069,2936,3507,1472,1567,1377,0,0,0,0,0,0,15.15,14.74,13.86
$GC,7189,0.64,289.8,2936,3507,1567,1377,102.9,10.0,714,7199,0.00,2.38,0.00,0.000,5126,0.000,0.051,2947,2105,1472,1567,1377,0,0,0,0,0,0,14.45,14.39,14.49
$GC,7444,0.67,336.7,2947,2105,1567,1376,82.8,7.7,739,7490,0.00,2.50,39.62,1.026,8708,0.000,0.063,2959,683,1275,1372,1179,0,0,0,0,0,0,15.16,14.69,13.90
$GC,7571,0.69,360.0,2958,682,1366,1179,71.9,8.8,751,7601,0.00,2.42,18.95,0.973,13318,0.000,0.053,2959,2098,1183,1281,1085,0,0,0,0,0,0,14.41,14.34,13.81
$GC,7841,0.71,398.9,2958,2098,1281,1082,48.7,8.1,778,7880,0.00,2.45,31.62,0.952,8452,0.000,0.067,2959,3509,1022,1120,925,0,0,0,0,0,0,15.11,14.34,13.85
$GC,7962,0.72,412.5,2958,3509,1120,924,38.4,9.3,789,7982,0.00,2.38,12.45,0.892,13318,0.000,0.050,2969,2097,966,1062,871,0,0,0,0,0,0,14.40,14.35,13.88
$GC,8236,0.73,430.8,2968,2096,1062,869,13.4,9.1,831,8251,0.00,2.45,7.90,0.261,8708,0.000,0.065,2979,689,890,986,795,0,0,0,0,0,0,15.09,14.29,14.14
$STATE,8338,end climb,SURFACE_DEPTH_REACHED
$STATE,8338,begin surface coast
$FINISH,0.2,1.013638
$STATE,8369,end surface coast,CONTROL_FINISHED_OK
$STATE,8370,begin surface
$SM_CCo,8450,0.00,0.000,0,0,886,432.70
$SM_GC,1.17,6.50,2.40,0.00,0.048,0.044,0.000,154,2084,886,-7.85,-0.65,432.70,0,0,0,0,0,0,14.85,14.74,14.89
$IRIDIUM_FIX,2230.01,-15817.99,211021,155234
$TT8_MAMPS,0.023219,0.316078
$HUMID,56.53
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,12.76,218.262
$10V_AH,12.34,0.000
$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,16.525,110.275,482.300,0.000,0.000,26.692,43.918,203.703,0.750,0.000,16.908,2137.227,3634.265,572.803,2198.318,337.068,0.000,1510.002,0.000,1920.180,0.000,0.553,0.000
$DEVICE_MAMPS,445.230,68.850,1432.080,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,571.626,626.913,1150.204,817.586,955.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339020
$DATA_FILE_SIZE,80896,854
$CAP_FILE_SIZE,117378,0
$CFSIZE,1023623168,934985728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,257.82,1
$GPS,211021,182019,2239.180,-15818.360,15,0.8,38,9.8,0.3,275.0,10,6.7