version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1044
start: 10 25 121 18 47 36
data:
$ID,626
$MISSION,3
$DIVE,1044
$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,31
$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
$GPS1,251021,183819,2242.4536,-15817.8975,21,0.8,42,9.8,0.5,342.1,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.2
$GPS2,251021,184705,2242.4958,-15817.9746,6,0.8,17,9.8,1.0,347.4,11,10.0
$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,116.4,31217,-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,-136.3,128,2111,1151,1041,0.0,0.0,0,86,0.00,0.00,-65.10,0.000,16390,0.000,0.000,127,2111,3207,3170,3245,0,0,0,0,0,0,15.02,12.76,14.96
$GC,90,-0.55,-136.3,127,2111,3170,3245,4.2,-9.0,10,106,8.77,2.42,0.00,0.000,2564,0.447,0.038,2554,646,3209,3175,3243,0,0,0,0,0,0,13.93,14.42,14.24
$GC,153,-0.55,-136.3,2554,646,3189,3232,24.5,-17.7,20,162,0.00,2.53,0.00,0.000,3078,0.000,0.057,2545,2080,3209,3191,3228,0,0,0,0,0,0,14.77,14.60,14.79
$GC,411,-0.55,-136.3,2545,2080,3191,3229,66.6,-13.5,48,419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2080,3210,3191,3229,0,0,0,0,0,0,15.13,15.13,15.13
$GC,662,-0.55,-136.3,2545,2081,3193,3228,98.0,-11.7,73,670,0.00,2.40,0.00,0.000,2564,0.000,0.054,2545,666,3210,3193,3228,0,0,0,0,0,0,15.16,14.44,15.16
$GC,698,-0.55,-136.3,2545,667,3194,3228,102.0,-11.7,76,707,0.05,2.45,0.00,0.000,3078,0.394,0.053,2551,2084,3211,3194,3228,0,0,0,0,0,0,14.38,14.64,14.62
$GC,950,-0.55,-136.3,2551,2084,3195,3228,127.7,-8.9,101,956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2551,2084,3211,3195,3228,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1196,-0.55,-136.3,2552,2084,3195,3229,150.3,-9.5,126,1206,0.00,2.35,0.00,0.000,2308,0.000,0.067,2542,3486,3211,3195,3228,0,0,0,0,0,0,15.20,14.43,15.20
$GC,1223,-0.55,-136.3,2542,3486,3195,3228,152.6,-9.5,128,1230,0.00,2.35,0.00,0.000,3078,0.000,0.043,2542,2063,3211,3195,3228,0,0,0,0,0,0,14.90,14.76,14.92
$GC,1472,-0.55,-136.3,2542,2063,3196,3228,178.4,-9.6,153,1477,0.00,2.33,0.00,0.000,2564,0.000,0.054,2542,670,3212,3196,3228,0,0,0,0,0,0,15.19,14.73,15.19
$GC,1536,-0.55,-136.3,2542,670,3196,3228,184.8,-9.6,159,1541,0.08,2.38,0.00,0.000,3078,0.332,0.053,2558,2075,3212,3196,3228,0,0,0,0,0,0,14.40,14.73,14.66
$GC,1791,-0.55,-136.3,2557,2076,3196,3227,206.1,-8.1,184,1800,0.00,2.40,0.00,0.000,260,0.000,0.067,2549,3487,3211,3196,3227,0,0,0,0,0,0,15.19,14.43,15.20
$GC,1855,-0.55,-136.3,2548,3488,3196,3227,211.3,-8.3,190,1864,0.00,2.30,0.00,0.000,3078,0.000,0.041,2549,2082,3211,3196,3226,0,0,0,0,0,0,14.59,14.55,14.61
$GC,2107,-0.55,-136.3,2549,2082,3196,3226,234.4,-9.8,215,2111,0.00,2.38,0.00,0.000,2564,0.000,0.055,2549,666,3210,3196,3225,0,0,0,0,0,0,15.19,14.73,15.20
$GC,2194,-0.55,-136.3,2548,666,3196,3226,242.9,-9.3,223,2201,0.05,2.40,0.00,0.000,3078,0.402,0.051,2555,2080,3211,3196,3226,0,0,0,0,0,0,14.42,14.73,14.67
$GC,2445,-0.55,-136.3,2554,2080,3197,3225,265.7,-8.9,248,2453,0.00,2.38,0.00,0.000,260,0.000,0.067,2546,3477,3210,3196,3225,0,0,0,0,0,0,15.19,14.44,15.20
$GC,2499,-0.55,-136.3,2546,3477,3196,3225,270.9,-9.0,253,2504,0.00,2.33,0.00,0.000,3078,0.000,0.043,2546,2073,3210,3196,3224,0,0,0,0,0,0,14.91,14.77,14.92
$GC,2755,-0.55,-136.3,2546,2072,3196,3223,292.7,-8.0,278,2764,0.00,2.35,0.00,0.000,2564,0.000,0.055,2546,665,3210,3196,3224,0,0,0,0,0,0,15.20,14.58,15.19
$GC,2809,-0.55,-136.3,2546,665,3196,3223,297.4,-8.6,283,2815,0.05,2.40,0.00,0.000,3078,0.390,0.053,2553,2078,3209,3196,3223,0,0,0,0,0,0,14.43,14.73,14.68
$GC,3064,-0.55,-136.3,2552,2078,3196,3221,317.5,-8.2,308,3072,0.00,2.38,0.00,0.000,2308,0.000,0.067,2543,3477,3208,3196,3221,0,0,0,0,0,0,15.20,14.42,15.20
$GC,3160,-0.55,-136.3,2543,3477,3196,3218,325.4,-8.3,317,3167,0.00,2.35,0.00,0.000,3078,0.000,0.042,2543,2069,3208,3196,3220,0,0,0,0,0,0,14.90,14.76,14.92
$GC,3409,-0.55,-136.3,2544,2069,3196,3218,346.6,-8.3,342,3418,0.00,2.35,0.00,0.000,2564,0.000,0.056,2543,671,3206,3195,3218,0,0,0,0,0,0,15.20,14.21,15.20
$GC,3467,-0.55,-136.3,2543,671,3196,3218,351.3,-8.6,347,3474,0.08,2.40,0.00,0.000,3078,0.334,0.054,2558,2076,3207,3196,3218,0,0,0,0,0,0,14.37,14.71,14.64
$GC,3717,-0.55,-136.3,2557,2075,3196,3214,370.4,-7.7,372,3726,0.00,2.42,0.00,0.000,260,0.000,0.069,2549,3481,3205,3196,3214,0,0,0,0,0,0,15.19,14.14,15.20
$GC,3804,-0.55,-136.3,2549,3481,3196,3213,377.3,-8.0,380,3810,0.00,2.35,0.00,0.000,3078,0.000,0.043,2549,2075,3204,3196,3213,0,0,0,0,0,0,14.88,14.74,14.91
$GC,4053,-0.55,-136.3,2549,2075,3196,3212,395.2,-6.6,405,4058,0.00,2.40,0.00,0.000,2564,0.000,0.057,2549,666,3202,3195,3210,0,0,0,0,0,0,15.19,14.70,15.20
$GC,4111,-0.55,-136.3,2549,665,3193,3212,399.0,-6.8,410,4119,0.05,2.42,0.00,0.000,3078,0.377,0.055,2556,2075,3202,3193,3212,0,0,0,0,0,0,14.42,14.69,14.65
$GC,4360,-0.55,-136.3,2556,2075,3193,3209,414.1,-6.3,435,4365,0.00,2.45,0.00,0.000,260,0.000,0.070,2547,3491,3200,3193,3208,0,0,0,0,0,0,15.19,14.65,15.20
$GC,4407,-0.55,-136.3,2546,3491,3192,3208,417.2,-6.9,439,4414,0.00,2.38,0.00,0.000,3078,0.000,0.045,2547,2078,3200,3193,3208,0,0,0,0,0,0,14.87,14.73,14.90
$GC,4658,-0.55,-136.3,2546,2077,3192,3206,437.6,-8.7,464,4666,0.00,2.40,0.00,0.000,2564,0.000,0.058,2547,668,3199,3191,3207,0,0,0,0,0,0,15.19,14.37,15.19
$GC,4724,-0.55,-136.3,2546,668,3191,3208,443.8,-9.4,470,4731,0.05,2.42,0.00,0.000,3078,0.379,0.055,2553,2082,3199,3191,3207,0,0,0,0,0,0,14.40,14.66,14.63
$GC,4976,-0.55,-136.3,2553,2082,3191,3203,465.4,-8.4,495,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2082,3197,3191,3203,0,0,0,0,0,0,15.18,15.19,15.19
$GC,5224,-0.55,-136.3,2553,2082,3191,3202,484.4,-7.3,520,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2082,3196,3190,3202,0,0,0,0,0,0,15.19,15.20,15.20
$GC,5472,-0.55,-136.3,2553,2082,3191,3198,502.6,-7.3,545,5473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2553,2082,3194,3190,3198,0,0,0,0,0,0,15.20,15.20,15.20
$GC,5712,-0.55,-136.3,2553,2082,3191,3196,520.6,-7.8,569,5714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2554,2082,3193,3191,3196,0,0,0,0,0,0,15.19,15.19,15.19
$GC,5953,-0.55,-136.3,2553,2082,3191,3194,538.7,-7.5,593,5961,0.00,2.42,0.00,0.000,2564,0.000,0.059,2553,668,3193,3189,3197,0,0,0,0,0,0,15.19,14.30,15.20
$GC,5998,-0.55,-136.3,2553,668,3188,3197,542.2,-8.2,597,6006,0.00,2.47,0.00,0.000,3078,0.000,0.058,2545,2072,3192,3188,3196,0,0,0,0,0,0,14.74,14.54,14.78
$GC,6249,-0.55,-136.3,2544,2072,3187,3194,562.2,-8.3,622,6253,0.00,2.47,0.00,0.000,2308,0.000,0.073,2534,3488,3191,3188,3194,0,0,0,0,0,0,15.17,14.57,15.17
$GC,6313,-0.55,-136.3,2533,3488,3187,3193,568.0,-8.8,628,6319,0.05,2.40,0.00,0.000,3078,0.347,0.047,2552,2078,3191,3188,3194,0,0,0,0,0,0,14.40,14.67,14.61
$GC,6568,-0.55,-136.3,2551,2076,3187,3191,588.1,-8.1,653,6576,0.00,2.42,0.00,0.000,2564,0.000,0.059,2552,668,3189,3187,3192,0,0,0,0,0,0,15.18,14.26,15.18
$GC,6653,-0.55,-136.3,2551,667,3186,3194,595.2,-8.6,661,6660,0.00,2.45,0.00,0.000,3078,0.000,0.056,2543,2076,3189,3186,3193,0,0,0,0,0,0,14.78,14.60,14.81
$STATE,6717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6717,begin apogee
$GC,6724,-0.13,0.0,2542,2077,3186,3192,600.8,-7.9,668,6850,0.40,0.00,119.45,1.766,10246,0.236,0.000,2686,2076,2649,2737,2562,0,0,0,0,0,0,13.87,14.28,13.24
$STATE,6851,end apogee,CONTROL_FINISHED_OK
$STATE,6851,begin climb
$GC,6854,0.55,136.3,2686,2076,2737,2560,605.2,0.0,681,6993,0.55,2.53,124.57,1.720,10756,0.142,0.061,2923,689,2092,2183,2001,0,0,0,0,0,0,14.28,14.31,13.30
$GC,7028,0.55,136.3,2922,689,2176,1999,591.8,12.1,698,7038,0.00,2.45,0.00,0.000,5126,0.000,0.055,2923,2094,2087,2176,1998,0,0,0,0,0,0,14.46,14.39,14.48
$GC,7281,0.55,136.3,2922,2093,2176,1993,559.7,13.3,723,7292,0.03,2.45,0.00,0.000,4356,0.545,0.068,2913,3509,2084,2175,1993,0,0,0,0,0,0,14.62,14.29,14.73
$GC,7422,0.55,136.3,2912,3509,2175,1993,540.8,13.0,736,7430,0.00,2.42,0.00,0.000,5126,0.000,0.049,2921,2096,2084,2176,1993,0,0,0,0,0,0,14.84,14.70,14.87
$GC,7673,0.55,136.3,2921,2095,2175,1992,510.2,11.8,761,7682,0.00,2.40,0.00,0.000,4612,0.000,0.060,2932,692,2083,2175,1991,0,0,0,0,0,0,15.11,14.41,15.11
$GC,7706,0.55,136.3,2932,692,2172,1991,506.1,11.6,764,7717,0.05,2.42,0.00,0.000,5126,0.324,0.055,2916,2102,2081,2172,1991,0,0,0,0,0,0,14.11,14.44,14.28
$GC,7957,0.55,136.3,2916,2103,2172,1991,478.0,11.0,789,7966,0.00,2.42,0.00,0.000,4356,0.000,0.069,2916,3505,2081,2172,1990,0,0,0,0,0,0,15.16,14.14,15.16
$GC,8043,0.55,136.3,2915,3505,2172,1991,467.9,12.1,797,8051,0.05,2.40,0.00,0.000,5126,0.430,0.050,2911,2100,2081,2172,1991,0,0,0,0,0,0,14.34,14.69,14.65
$GC,8295,0.55,136.3,2910,2097,2172,1991,441.1,10.7,822,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2097,2081,2171,1991,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8542,0.55,136.3,2910,2097,2172,1991,413.8,10.9,847,8546,0.00,2.47,0.00,0.000,4356,0.000,0.067,2910,3515,2081,2172,1991,0,0,0,0,0,0,15.17,14.61,15.16
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$STATE,12774,end climb,SURFACE_DEPTH_REACHED
$STATE,12774,begin surface coast
$FINISH,0.2,1.010307
$STATE,12805,end surface coast,CONTROL_FINISHED_OK
$STATE,12805,begin surface
$SM_CCo,12886,0.00,0.000,0,0,773,460.42
$SM_GC,1.17,6.60,2.40,0.00,0.058,0.047,0.000,129,2077,773,-7.86,-0.96,460.42,0,0,0,0,0,0,14.81,14.68,14.85
$IRIDIUM_FIX,2232.34,-15820.16,251021,184043
$TT8_MAMPS,0.02247,0.343042
$HUMID,56.10
$INTERNAL_PRESSURE,9.03318
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,12.76,227.646
$10V_AH,12.14,0.000
$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,17.150,159.425,523.200,0.000,0.000,29.501,45.221,275.066,0.000,0.000,18.262,3257.890,5862.281,676.705,3128.297,473.614,0.000,1983.337,0.000,2779.617,0.000,0.551,0.000
$DEVICE_MAMPS,545.445,72.675,1765.620,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,872.769,995.651,1730.545,1094.556,1280.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339148
$DATA_FILE_SIZE,121130,1290
$CAP_FILE_SIZE,171082,0
$CFSIZE,1023623168,931414016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.098,329.48,1
$GPS,251021,222332,2242.352,-15817.401,15,0.8,32,9.8,0.6,314.9,11,9.1