version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1035
start: 10 24 121 9 1 2
data:
$ID,626
$MISSION,3
$DIVE,1035
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,425
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,241021,085153,2241.0562,-15818.6875,22,0.9,43,9.8,0.4,151.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.2
$GPS2,241021,090031,2241.0334,-15818.7549,7,0.9,22,9.8,0.0,218.0,8,9.6
$SPEED_LIMITS,0.214,0.228
$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,80.4,32178,-17.6,-10.000,-23.72,2044
$D_GRID,600
$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,-136.3,127,2087,1146,1040,0.0,0.0,0,83,0.00,0.00,-63.62,0.000,16386,0.000,0.000,127,2087,3150,3111,3189,0,0,0,0,0,0,15.02,28.83,15.03
$GC,88,-0.55,-136.3,127,2087,3113,3188,3.7,-7.7,9,104,8.68,2.47,-0.88,0.000,18948,0.438,0.066,2555,652,3208,3175,3241,0,0,0,0,0,0,13.93,13.10,14.23
$GC,128,-0.55,-136.3,2555,652,3189,3231,20.2,-34.8,15,137,0.00,2.53,0.00,0.000,3078,0.000,0.060,2546,2072,3209,3191,3228,0,0,0,0,0,0,14.76,14.59,14.79
$GC,387,-0.55,-136.3,2546,2073,3192,3228,63.4,-15.6,45,394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2073,3209,3192,3227,0,0,0,0,0,0,15.11,15.12,15.11
$GC,636,-0.55,-136.3,2546,2073,3194,3228,97.1,-12.1,70,647,0.00,2.45,0.00,0.000,2308,0.000,0.070,2536,3491,3210,3193,3228,0,0,0,0,0,0,15.16,14.19,15.16
$GC,653,-0.55,-136.3,2535,3491,3193,3228,98.3,-12.3,71,660,0.05,2.38,0.00,0.000,3078,0.356,0.044,2553,2068,3210,3194,3227,0,0,0,0,0,0,14.46,14.73,14.68
$GC,903,-0.55,-136.3,2552,2065,3195,3228,126.4,-11.5,96,913,0.00,2.35,0.00,0.000,2564,0.000,0.055,2554,673,3211,3196,3227,0,0,0,0,0,0,15.16,14.24,15.16
$GC,971,-0.55,-136.3,2553,673,3196,3228,134.5,-11.1,102,980,0.00,2.45,0.00,0.000,3078,0.000,0.053,2545,2080,3211,3196,3226,0,0,0,0,0,0,14.83,14.66,14.86
$GC,1223,-0.55,-136.3,2544,2080,3197,3227,164.8,-11.9,127,1231,0.00,2.40,0.00,0.000,2308,0.000,0.067,2534,3487,3212,3197,3227,0,0,0,0,0,0,15.17,14.43,15.17
$GC,1247,-0.55,-136.3,2533,3488,3197,3227,167.8,-11.9,129,1256,0.05,2.40,0.00,0.000,3078,0.335,0.043,2553,2069,3212,3197,3227,0,0,0,0,0,0,14.47,14.68,14.69
$GC,1496,-0.55,-136.3,2552,2068,3197,3227,195.1,-10.2,154,1505,0.00,2.35,0.00,0.000,2564,0.000,0.056,2553,677,3212,3197,3227,0,0,0,0,0,0,15.19,14.48,15.20
$GC,1573,-0.55,-136.3,2553,677,3197,3227,202.5,-9.2,161,1580,0.00,2.40,0.00,0.000,3078,0.000,0.052,2544,2080,3212,3198,3226,0,0,0,0,0,0,14.88,14.73,14.91
$GC,1823,-0.55,-136.3,2544,2080,3198,3226,224.6,-8.3,186,1833,0.00,2.40,0.00,0.000,2308,0.000,0.067,2534,3485,3211,3197,3226,0,0,0,0,0,0,15.19,14.26,15.19
$GC,1890,-0.55,-136.3,2533,3485,3197,3226,230.4,-8.6,192,1899,0.05,2.42,0.00,0.000,3078,0.272,0.042,2553,2066,3211,3198,3225,0,0,0,0,0,0,14.35,14.64,14.50
$GC,2140,-0.55,-136.3,2552,2066,3197,3225,250.7,-8.4,217,2148,0.00,2.35,0.00,0.000,2564,0.000,0.056,2553,674,3211,3198,3225,0,0,0,0,0,0,15.21,14.48,15.20
$GC,2213,-0.55,-136.3,2553,675,3197,3226,257.7,-9.6,224,2223,0.00,2.38,0.00,0.000,3078,0.000,0.052,2544,2069,3211,3198,3225,0,0,0,0,0,0,14.59,14.55,14.61
$GC,2466,-0.55,-136.3,2544,2069,3198,3224,282.2,-9.8,249,2476,0.00,2.42,0.00,0.000,2308,0.000,0.067,2533,3480,3210,3197,3224,0,0,0,0,0,0,15.19,14.19,15.20
$GC,2566,-0.55,-136.3,2533,3481,3197,3223,290.9,-8.3,258,2575,0.08,2.38,0.00,0.000,3078,0.300,0.042,2560,2078,3210,3197,3223,0,0,0,0,0,0,14.41,14.66,14.66
$GC,2815,-0.55,-136.3,2560,2077,3198,3221,307.0,-6.4,283,2824,0.00,2.38,0.00,0.000,4612,0.000,0.055,2560,676,3210,3198,3222,0,0,0,0,0,0,15.21,14.52,15.21
$GC,2913,-0.55,-136.3,2561,676,3197,3221,313.8,-6.8,292,2921,0.00,2.40,0.00,0.000,3078,0.000,0.054,2551,2082,3209,3197,3221,0,0,0,0,0,0,14.88,14.73,14.91
$GC,3164,-0.55,-136.3,2551,2083,3197,3218,332.0,-7.4,317,3173,0.00,2.40,0.00,0.000,2308,0.000,0.069,2541,3478,3207,3197,3218,0,0,0,0,0,0,15.19,14.44,15.20
$GC,3229,-0.55,-136.3,2540,3478,3197,3217,337.4,-8.3,323,3237,0.00,2.33,0.00,0.000,3078,0.000,0.044,2541,2080,3207,3197,3218,0,0,0,0,0,0,14.56,14.52,14.59
$GC,3482,-0.55,-136.3,2540,2080,3197,3214,359.3,-8.8,348,3493,0.00,2.40,0.00,0.000,2564,0.000,0.057,2540,674,3206,3197,3216,0,0,0,0,0,0,15.19,14.19,15.20
$GC,3538,-0.55,-136.3,2540,674,3196,3216,364.8,-9.6,353,3547,0.05,2.38,0.00,0.000,3078,0.271,0.055,2550,2070,3205,3196,3214,0,0,0,0,0,0,14.15,14.45,14.29
$GC,3787,-0.55,-136.3,2550,2071,3196,3212,386.6,-8.1,378,3797,0.00,2.45,0.00,0.000,2308,0.000,0.070,2541,3479,3204,3196,3212,0,0,0,0,0,0,15.21,14.26,15.21
$GC,3865,-0.55,-136.3,2540,3479,3196,3212,392.2,-7.5,385,3872,0.00,2.38,0.00,0.000,3078,0.000,0.044,2541,2072,3204,3196,3212,0,0,0,0,0,0,14.88,14.74,14.90
$GC,4115,-0.55,-136.3,2540,2072,3196,3208,410.0,-7.1,410,4124,0.00,2.40,0.00,0.000,2564,0.000,0.060,2541,677,3202,3195,3209,0,0,0,0,0,0,15.19,14.39,15.19
$GC,4170,-0.55,-136.3,2540,677,3194,3210,414.1,-7.6,415,4179,0.05,2.40,0.00,0.000,3078,0.274,0.055,2549,2070,3201,3194,3209,0,0,0,0,0,0,14.12,14.41,14.26
$GC,4419,-0.55,-136.3,2549,2071,3194,3207,431.5,-7.5,440,4428,0.00,2.47,0.00,0.000,2308,0.000,0.072,2540,3480,3200,3194,3207,0,0,0,0,0,0,15.20,14.34,15.20
$GC,4453,-0.55,-136.3,2540,3480,3194,3206,434.2,-8.0,443,4461,0.00,2.35,0.00,0.000,3078,0.000,0.044,2540,2081,3200,3194,3207,0,0,0,0,0,0,14.50,14.47,14.54
$GC,4706,-0.55,-136.3,2540,2080,3194,3203,455.6,-8.6,468,4716,0.00,2.45,0.00,0.000,2564,0.000,0.059,2540,673,3198,3192,3204,0,0,0,0,0,0,15.18,14.11,15.19
$GC,4774,-0.55,-136.3,2540,672,3191,3205,461.6,-8.8,474,4783,0.05,2.53,0.00,0.000,3078,0.265,0.056,2550,2069,3197,3191,3204,0,0,0,0,0,0,14.27,14.54,14.42
$GC,5024,-0.55,-136.3,2550,2069,3191,3202,479.7,-6.5,499,5032,0.00,2.47,0.00,0.000,2308,0.000,0.073,2541,3480,3196,3191,3201,0,0,0,0,0,0,15.19,14.29,15.19
$GC,5079,-0.55,-136.3,2540,3480,3191,3201,483.3,-6.7,504,5087,0.00,2.45,0.00,0.000,3078,0.000,0.044,2541,2064,3196,3191,3201,0,0,0,0,0,0,14.79,14.64,14.83
$GC,5331,-0.55,-136.3,2540,2063,3191,3198,500.0,-7.0,529,5340,0.00,2.42,0.00,0.000,2564,0.000,0.059,2541,670,3195,3190,3200,0,0,0,0,0,0,15.17,14.34,15.18
$GC,5396,-0.55,-136.3,2540,670,3189,3200,505.3,-8.0,535,5405,0.05,2.45,0.00,0.000,3078,0.268,0.058,2550,2075,3194,3189,3199,0,0,0,0,0,0,14.06,14.33,14.21
$GC,5644,-0.55,-136.3,2549,2075,3189,3197,524.2,-8.0,560,5654,0.00,2.47,0.00,0.000,2308,0.000,0.073,2540,3479,3193,3189,3197,0,0,0,0,0,0,15.19,14.26,15.19
$GC,5701,-0.55,-136.3,2540,3479,3189,3197,529.0,-9.2,565,5708,0.00,2.40,0.00,0.000,3078,0.000,0.045,2540,2070,3192,3189,3196,0,0,0,0,0,0,14.83,14.69,14.86
$GC,5953,-0.55,-136.3,2540,2068,3189,3194,552.3,-9.1,590,5962,0.00,2.42,0.00,0.000,2564,0.000,0.060,2540,678,3191,3188,3195,0,0,0,0,0,0,15.17,14.29,15.18
$GC,5997,-0.55,-136.3,2540,678,3188,3196,556.8,-9.5,594,6009,0.05,2.45,0.00,0.000,3078,0.259,0.060,2549,2074,3191,3188,3195,0,0,0,0,0,0,13.78,14.04,13.93
$GC,6250,-0.55,-136.3,2549,2074,3188,3192,576.7,-7.5,619,6258,0.00,2.50,0.00,0.000,2308,0.000,0.075,2540,3479,3190,3188,3193,0,0,0,0,0,0,15.18,14.28,15.19
$GC,6304,-0.55,-136.3,2539,3480,3187,3192,580.9,-7.7,624,6315,0.03,2.38,0.00,0.000,3078,0.351,0.046,2549,2073,3190,3188,3192,0,0,0,0,0,0,14.07,14.40,14.10
$GC,6558,-0.55,-136.3,2549,2073,3187,3190,596.5,-6.0,649,6566,0.00,2.47,0.00,0.000,2564,0.000,0.062,2550,670,3189,3187,3191,0,0,0,0,0,0,15.17,14.26,15.17
$STATE,6607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6607,begin apogee
$GC,6617,-0.13,0.0,2541,2108,3186,3191,600.1,-6.5,654,6741,0.40,0.00,119.88,1.773,10246,0.243,0.000,2680,2108,2649,2739,2560,0,0,0,0,0,0,13.66,14.28,13.25
$STATE,6742,end apogee,CONTROL_FINISHED_OK
$STATE,6742,begin climb
$GC,6745,0.55,136.3,2681,2108,2739,2560,602.9,0.0,667,6884,0.57,2.55,124.97,1.724,10756,0.145,0.059,2926,690,2091,2185,1998,0,0,0,0,0,0,14.27,14.01,13.27
$GC,6900,0.55,136.3,2925,690,2179,1998,591.0,11.9,682,6909,0.05,2.50,0.00,0.000,5126,0.374,0.058,2910,2101,2087,2179,1996,0,0,0,0,0,0,14.24,14.45,14.48
$GC,7152,0.55,136.3,2910,2103,2178,1990,561.9,10.9,707,7161,0.00,2.45,0.00,0.000,260,0.000,0.071,2910,3505,2084,2178,1991,0,0,0,0,0,0,15.03,14.41,15.04
$GC,7238,0.55,136.3,2910,3506,2178,1991,552.0,10.8,715,7247,0.00,2.38,0.00,0.000,5126,0.000,0.050,2919,2109,2084,2178,1991,0,0,0,0,0,0,14.53,14.47,14.57
$GC,7489,0.56,149.8,2919,2108,2178,1990,527.1,9.3,740,7507,0.00,2.50,11.95,1.548,12548,0.000,0.070,2919,3510,2037,2131,1943,0,0,0,0,0,0,15.12,14.68,13.61
$GC,7533,0.56,149.8,2919,3510,2131,1943,522.7,10.2,744,7542,0.05,2.47,0.00,0.000,5126,0.329,0.051,2914,2101,2036,2130,1943,0,0,0,0,0,0,14.39,14.68,14.57
$GC,7781,0.56,149.8,2914,2097,2131,1941,499.0,10.1,769,7786,0.00,2.50,0.00,0.000,4356,0.000,0.069,2914,3511,2036,2131,1942,0,0,0,0,0,0,15.12,14.65,15.12
$GC,7805,0.56,149.8,2914,3512,2131,1941,496.3,10.6,771,7809,0.00,2.42,0.00,0.000,5126,0.000,0.051,2923,2099,2036,2131,1942,0,0,0,0,0,0,14.85,14.70,14.88
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$GC,10539,0.62,250.1,2919,2101,1927,1746,207.0,7.4,1041,10589,0.00,2.45,44.53,1.271,10500,0.000,0.070,2920,3506,1629,1722,1536,0,0,0,0,0,0,15.09,14.54,13.66
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$STATE,12736,end climb,SURFACE_DEPTH_REACHED
$STATE,12736,begin surface coast
$FINISH,0.2,1.023025
$STATE,12776,end surface coast,CONTROL_FINISHED_OK
$STATE,12776,begin surface
$SM_CCo,12855,0.00,0.000,0,0,699,478.82
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$IRIDIUM_FIX,2232.34,-15820.16,241021,085415
$TT8_MAMPS,0.023219,0.343791
$HUMID,55.27
$INTERNAL_PRESSURE,9.03318
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,13.10,224.480
$10V_AH,12.05,0.000
$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
$DEVICE_SECS,17.075,180.625,528.350,0.000,0.000,27.636,43.271,257.751,0.250,0.000,23.987,3233.365,5816.200,719.986,3104.621,485.675,0.000,2061.851,0.000,2753.703,0.000,0.552,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,868.332,990.493,1716.064,1085.416,1258.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339052
$DATA_FILE_SIZE,120859,1286
$CAP_FILE_SIZE,174149,0
$CFSIZE,1023623168,932593664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.178,261.39,1
$GPS,241021,123705,2240.854,-15818.920,68,0.9,72,9.8,0.5,71.7,9,9.5