version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1061
start: 10 28 121 9 40 32
data:
$ID,626
$MISSION,3
$DIVE,1061
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,138
$T_MISSION,375
$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,2720
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$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,2035
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$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,2620
$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
$GPS1,281021,093201,2238.8384,-15806.7725,17,0.8,41,9.8,0.3,301.9,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.1
$GPS2,281021,093940,2238.8560,-15806.8770,7,0.9,18,9.8,0.5,279.7,9,9.4
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,ALOHA5
$TGT_LATLONG,2239.000,-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,80.1,11756,-18.7,-12.077,-24.18,2136
$D_GRID,500
$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,-0.62,-136.3,130,2015,675,518,0.0,0.0,0,101,0.00,0.00,-78.60,0.000,16390,0.000,0.000,130,2016,3177,3137,3218,0,0,0,0,0,0,15.06,12.75,14.99
$GC,105,-0.62,-136.3,130,2015,3137,3219,4.6,-9.8,12,119,8.55,0.00,0.00,0.000,2566,0.438,0.000,2510,2016,3179,3142,3216,0,0,0,0,0,0,13.94,14.39,14.21
$GC,372,-0.62,-136.3,2510,2016,3158,3201,68.8,-17.6,44,378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,2016,3179,3158,3201,0,0,0,0,0,0,15.14,15.14,15.14
$GC,623,-0.62,-136.3,2510,2016,3159,3200,107.4,-15.4,69,632,0.00,2.42,0.00,0.000,2308,0.000,0.068,2501,3432,3179,3159,3199,0,0,0,0,0,0,15.16,14.45,15.17
$GC,657,-0.62,-136.3,2501,3432,3159,3199,112.9,-15.5,72,667,0.05,2.30,0.00,0.000,3078,0.286,0.048,2519,2053,3179,3160,3198,0,0,0,0,0,0,14.01,14.33,14.15
$GC,909,-0.62,-136.3,2518,2052,3161,3198,148.9,-14.3,97,918,0.00,2.40,0.00,0.000,2564,0.000,0.057,2519,628,3179,3161,3198,0,0,0,0,0,0,15.18,14.48,15.18
$GC,975,-0.62,-136.3,2519,628,3162,3197,157.7,-12.5,103,984,0.00,2.40,0.00,0.000,3078,0.000,0.054,2510,2030,3178,3160,3197,0,0,0,0,0,0,14.90,14.73,14.92
$GC,1227,-0.62,-136.3,2510,2030,3162,3197,187.7,-10.4,128,1235,0.00,2.38,0.00,0.000,2308,0.000,0.070,2500,3436,3179,3163,3196,0,0,0,0,0,0,15.19,14.47,15.19
$GC,1271,-0.62,-136.3,2499,3436,3163,3197,193.1,-11.7,132,1281,0.05,2.33,0.00,0.000,3078,0.265,0.045,2518,2027,3179,3163,3196,0,0,0,0,0,0,14.18,14.63,14.29
$GC,1521,-0.62,-136.3,2517,2028,3163,3196,221.3,-11.7,157,1530,0.00,2.35,0.00,0.000,2564,0.000,0.054,2518,634,3180,3164,3196,0,0,0,0,0,0,15.21,14.60,15.21
$GC,1556,-0.62,-136.3,2518,633,3164,3196,225.5,-11.9,160,1565,0.00,2.35,0.00,0.000,3078,0.000,0.054,2509,2031,3179,3164,3195,0,0,0,0,0,0,14.57,14.51,14.62
$GC,1807,-0.62,-136.3,2509,2031,3164,3195,256.0,-12.0,185,1817,0.00,2.40,0.00,0.000,2308,0.000,0.068,2498,3446,3179,3164,3194,0,0,0,0,0,0,15.20,14.50,15.20
$GC,1851,-0.62,-136.3,2498,3446,3164,3194,261.2,-11.4,189,1862,0.03,2.33,0.00,0.000,3078,0.325,0.044,2509,2037,3179,3164,3194,0,0,0,0,0,0,14.11,14.34,14.19
$GC,2102,-0.62,-136.3,2508,2036,3164,3192,286.1,-9.1,214,2111,0.00,2.35,0.00,0.000,2564,0.000,0.054,2508,636,3178,3164,3193,0,0,0,0,0,0,15.21,14.52,15.21
$GC,2136,-0.62,-136.3,2508,636,3164,3193,289.3,-9.4,217,2146,0.05,2.35,0.00,0.000,3078,0.310,0.051,2517,2032,3178,3164,3192,0,0,0,0,0,0,14.19,14.52,14.34
$GC,2386,-0.62,-136.3,2516,2032,3164,3190,313.1,-10.2,242,2394,0.00,2.40,0.00,0.000,2308,0.000,0.068,2507,3442,3177,3164,3190,0,0,0,0,0,0,15.21,14.46,15.21
$GC,2432,-0.62,-136.3,2507,3442,3164,3190,317.7,-10.6,246,2439,0.00,2.40,0.00,0.000,3078,0.000,0.044,2507,2032,3176,3164,3189,0,0,0,0,0,0,14.87,14.71,14.90
$GC,2682,-0.62,-136.3,2507,2032,3164,3188,345.8,-10.8,271,2688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,2032,3175,3163,3188,0,0,0,0,0,0,15.19,15.20,15.20
$GC,2929,-0.62,-136.3,2507,2032,3163,3185,372.4,-10.7,296,2930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,2032,3174,3164,3185,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3169,-0.62,-136.3,2508,2031,3164,3181,398.8,-11.2,320,3171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,2031,3172,3164,3181,0,0,0,0,0,0,15.21,15.22,15.21
$GC,3409,-0.62,-136.3,2507,2031,3164,3178,425.8,-11.0,344,3414,0.00,2.45,0.00,0.000,2308,0.000,0.067,2497,3441,3170,3164,3177,0,0,0,0,0,0,15.21,14.69,15.21
$GC,3457,-0.62,-136.3,2497,3441,3163,3177,430.5,-11.1,348,3465,0.08,2.42,0.00,0.000,3078,0.301,0.047,2523,2036,3170,3163,3177,0,0,0,0,0,0,14.40,14.69,14.65
$GC,3708,-0.62,-136.3,2523,2035,3163,3175,452.1,-8.1,373,3716,0.00,2.42,0.00,0.000,260,0.000,0.069,2515,3443,3169,3163,3175,0,0,0,0,0,0,15.19,14.39,15.19
$GC,3741,-0.62,-136.3,2514,3444,3162,3174,455.1,-8.1,376,3746,0.00,2.38,0.00,0.000,3078,0.000,0.047,2514,2036,3168,3162,3174,0,0,0,0,0,0,14.89,14.76,14.92
$GC,3997,-0.62,-136.3,2514,2035,3162,3170,477.9,-9.6,401,4006,0.00,2.45,0.00,0.000,2308,0.000,0.069,2504,3438,3166,3161,3171,0,0,0,0,0,0,15.19,14.38,15.19
$GC,4034,-0.62,-136.3,2504,3437,3161,3170,481.2,-9.5,404,4042,0.05,2.40,0.00,0.000,3078,0.333,0.047,2522,2037,3165,3160,3170,0,0,0,0,0,0,14.49,14.73,14.69
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4240,-0.14,0.0,2522,2134,3161,3167,500.1,-9.5,424,4362,0.40,0.00,118.22,1.593,10246,0.245,0.000,2667,2134,2619,2713,2526,0,0,0,0,0,0,14.04,14.34,13.38
$STATE,4363,end apogee,CONTROL_FINISHED_OK
$STATE,4363,begin climb
$GC,4367,0.62,136.3,2667,2134,2713,2525,506.7,0.0,437,4504,0.60,2.47,122.93,1.558,10500,0.166,0.070,2903,3510,2062,2160,1965,0,0,0,0,0,0,14.23,14.33,13.41
$GC,4551,0.65,182.1,2903,3510,2159,1964,496.3,9.9,455,4599,0.00,2.40,39.90,1.515,11270,0.000,0.050,2915,2117,1876,1969,1783,0,0,0,0,0,0,14.71,14.59,13.49
$GC,4840,0.67,222.3,2914,2116,1965,1776,467.3,10.1,484,4881,0.00,2.45,35.28,1.500,10756,0.000,0.064,2925,709,1711,1807,1616,0,0,0,0,0,0,15.07,14.56,13.59
$GC,4931,0.69,255.5,2925,709,1800,1614,458.4,10.5,492,4969,0.00,2.47,29.48,1.475,11270,0.000,0.055,2926,2115,1576,1677,1476,0,0,0,0,0,0,14.76,14.62,13.57
$GC,5218,0.70,273.0,2925,2115,1677,1470,425.6,11.2,521,5237,0.00,0.00,16.12,1.418,10246,0.000,0.000,2926,2115,1505,1605,1406,0,0,0,0,0,0,15.09,14.60,13.66
$GC,5481,0.70,276.2,2925,2115,1605,1402,395.6,11.9,547,5492,0.00,2.45,3.97,1.029,10756,0.000,0.061,2936,710,1493,1593,1393,0,0,0,0,0,0,15.10,14.35,13.64
$GC,5547,0.71,279.4,2935,710,1592,1393,387.6,11.9,553,5558,0.00,2.42,4.32,1.066,11270,0.000,0.054,2936,2121,1479,1579,1380,0,0,0,0,0,0,14.89,14.75,13.66
$GC,5796,0.71,279.4,2936,2121,1580,1380,357.3,12.5,578,5805,0.00,2.47,0.00,0.000,2564,0.000,0.063,2947,706,1480,1580,1380,0,0,0,0,0,0,15.14,14.50,15.14
$GC,5833,0.71,279.4,2947,706,1579,1380,353.0,12.7,581,5840,0.00,2.45,0.00,0.000,1030,0.000,0.055,2947,2128,1479,1579,1379,0,0,0,0,0,0,14.86,14.73,14.89
$GC,6084,0.71,279.4,2947,2128,1579,1378,320.0,13.3,606,6093,0.00,2.45,0.00,0.000,516,0.000,0.062,2958,711,1478,1579,1378,0,0,0,0,0,0,15.14,14.28,15.15
$GC,6127,0.71,279.4,2958,711,1578,1378,313.6,13.6,610,6136,0.00,2.42,0.00,0.000,5126,0.000,0.054,2958,2121,1478,1578,1378,0,0,0,0,0,0,14.59,14.52,14.63
$GC,6380,0.71,279.4,2958,2121,1578,1377,279.8,12.5,635,6384,0.00,2.50,0.00,0.000,4612,0.000,0.063,2969,701,1478,1578,1378,0,0,0,0,0,0,15.16,14.70,15.16
$GC,6404,0.71,279.4,2969,701,1578,1378,276.5,12.1,637,6409,0.08,2.45,0.00,0.000,5126,0.302,0.054,2941,2124,1477,1578,1377,0,0,0,0,0,0,14.45,14.73,14.69
$GC,6658,0.71,286.4,2941,2125,1578,1376,247.4,11.7,662,6670,0.00,2.47,7.50,1.180,10756,0.000,0.061,2950,706,1450,1550,1350,0,0,0,0,0,0,15.19,14.42,13.75
$GC,6710,0.71,288.0,2950,705,1550,1350,241.3,12.0,667,6715,0.00,2.42,0.00,0.000,1030,0.000,0.053,2950,2119,1450,1550,1350,0,0,0,0,0,0,14.89,14.77,14.92
$GC,6968,0.73,318.8,2950,2119,1550,1349,212.1,10.6,692,7004,0.00,2.42,28.62,1.252,10500,0.000,0.065,2950,3530,1318,1418,1218,0,0,0,0,0,0,15.15,14.37,13.75
$GC,7019,0.75,355.6,2950,3531,1418,1218,206.6,10.3,697,7057,0.00,2.42,32.05,1.226,9222,0.000,0.052,2961,2117,1168,1265,1071,0,0,0,0,0,0,14.82,14.71,13.69
$GC,7298,0.77,379.8,2960,2116,1264,1068,174.5,10.9,725,7327,0.00,2.45,20.90,1.171,10756,0.000,0.063,2971,704,1069,1163,976,0,0,0,0,0,0,15.08,14.46,13.75
$GC,7427,0.79,409.8,2971,704,1160,974,161.0,10.6,737,7460,0.00,2.42,25.55,1.151,9222,0.000,0.049,2971,2120,947,1042,853,0,0,0,0,0,0,14.79,14.67,13.75
$GC,7702,0.81,447.5,2971,2120,1042,851,131.9,10.3,765,7740,0.00,0.00,31.80,1.104,10246,0.000,0.000,2972,2120,792,886,699,0,0,0,0,0,0,15.09,14.28,13.74
$GC,7986,0.83,483.7,2971,2119,886,698,103.4,10.3,793,8022,0.00,2.50,29.42,1.053,10756,0.000,0.067,2982,707,646,742,550,0,0,0,0,0,0,15.09,14.62,13.82
$GC,8047,0.85,513.8,2982,706,737,550,96.5,10.6,799,8066,0.00,2.42,10.68,0.979,11270,0.000,0.052,2982,2118,598,692,505,0,0,0,0,0,0,14.79,14.66,13.77
$GC,8308,0.86,528.6,2982,2118,691,504,67.7,11.4,825,8312,0.00,2.47,0.00,0.000,2564,0.000,0.068,2992,711,598,692,505,0,0,0,0,0,0,15.09,14.65,15.09
$GC,8365,0.87,549.2,2992,711,688,504,61.7,11.1,830,8372,0.00,2.47,0.00,0.000,3078,0.000,0.051,2993,2130,596,688,504,0,0,0,0,0,0,14.83,14.68,14.85
$GC,8616,0.89,583.7,2993,2130,688,504,35.3,10.4,855,8620,0.00,2.47,0.00,0.000,2564,0.000,0.063,3003,707,596,688,505,0,0,0,0,0,0,15.12,14.68,15.12
$GC,8642,0.92,619.5,3003,707,686,505,32.5,10.4,857,8650,0.00,2.47,0.00,0.000,3078,0.000,0.050,3002,2130,596,687,505,0,0,0,0,0,0,14.84,14.69,14.88
$GC,8908,0.96,697.9,3003,2130,687,505,4.9,8.3,904,8918,0.00,2.55,0.00,0.000,2564,0.000,0.060,3013,710,596,687,505,0,0,0,0,0,0,15.11,14.46,15.11
$STATE,8923,end climb,SURFACE_DEPTH_REACHED
$STATE,8924,begin surface coast
$FINISH,1.0,1.023291
$STATE,8941,end surface coast,CONTROL_FINISHED_OK
$STATE,8941,begin surface
$SM_CCo,9022,0.00,0.000,0,0,595,496.72
$SM_GC,1.03,6.53,2.28,0.00,0.039,0.043,0.000,186,2029,595,-7.80,-0.99,496.72,0,0,0,0,0,0,14.76,14.70,14.84
$IRIDIUM_FIX,2230.01,-15807.58,281021,093410
$TT8_MAMPS,0.023219,0.343791
$HUMID,56.85
$INTERNAL_PRESSURE,9.01365
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,12.75,234.245
$10V_AH,12.21,0.000
$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,16.450,111.525,556.750,0.000,0.000,26.518,45.233,222.041,0.000,0.000,19.963,2268.104,3986.517,621.528,2252.000,368.845,0.000,1581.923,0.000,1957.182,0.000,0.551,0.000
$DEVICE_MAMPS,437.580,100.980,1592.730,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,610.817,682.082,1220.073,814.634,955.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339172
$DATA_FILE_SIZE,87538,909
$CAP_FILE_SIZE,123060,0
$CFSIZE,1023623168,929447936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,287.46,1
$GPS,281021,121204,2238.935,-15806.292,19,0.9,33,9.8,0.0,145.9,9,9.3