version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1062
start: 10 28 121 12 20 49
data:
$ID,626
$MISSION,3
$DIVE,1062
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,281021,121204,2238.9351,-15806.2920,19,0.9,33,9.8,0.0,145.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.2
$GPS2,281021,121957,2238.9644,-15806.3623,7,0.9,15,9.8,0.0,200.2,9,9.9
$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,86.6,10874,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-136.3,130,2039,668,522,0.0,0.0,0,96,0.00,0.00,-76.78,0.000,16386,0.000,0.000,130,2039,3085,3051,3120,0,0,0,0,0,0,15.07,28.83,15.07
$GC,101,-0.62,-136.3,130,2039,3051,3121,3.2,-5.7,11,115,8.57,0.00,-1.50,0.000,18950,0.439,0.000,2510,2039,3179,3146,3212,0,0,0,0,0,0,13.95,13.09,14.26
$GC,364,-0.62,-136.3,2510,2039,3160,3201,67.6,-22.2,44,374,0.00,2.42,0.00,0.000,2308,0.000,0.070,2502,3443,3179,3161,3198,0,0,0,0,0,0,15.14,14.22,15.14
$GC,390,-0.62,-136.3,2501,3443,3162,3199,72.4,-20.2,46,399,0.05,2.40,0.00,0.000,3078,0.358,0.044,2519,2027,3180,3162,3198,0,0,0,0,0,0,14.45,14.69,14.67
$GC,643,-0.62,-136.3,2518,2026,3163,3198,112.3,-15.3,71,651,0.00,2.33,0.00,0.000,516,0.000,0.054,2523,628,3180,3164,3197,0,0,0,0,0,0,15.15,14.48,15.16
$GC,697,-0.62,-136.3,2523,628,3164,3197,120.7,-13.9,76,708,0.00,2.38,0.00,0.000,3078,0.000,0.053,2515,2035,3180,3164,3197,0,0,0,0,0,0,14.35,14.30,14.38
$GC,950,-0.62,-136.3,2514,2034,3165,3197,155.3,-13.9,101,958,0.00,2.38,0.00,0.000,2308,0.000,0.067,2504,3442,3180,3165,3196,0,0,0,0,0,0,15.18,14.48,15.19
$GC,1014,-0.62,-136.3,2503,3442,3165,3197,163.8,-12.4,107,1023,0.05,2.33,0.00,0.000,3078,0.272,0.044,2521,2024,3180,3165,3196,0,0,0,0,0,0,14.25,14.56,14.39
$GC,1263,-0.62,-136.3,2521,2023,3165,3196,193.0,-11.9,132,1274,0.00,2.45,0.00,0.000,260,0.000,0.066,2513,3453,3180,3166,3195,0,0,0,0,0,0,15.21,14.36,15.22
$GC,1321,-0.62,-136.3,2512,3453,3167,3196,199.4,-11.8,137,1328,0.00,2.35,0.00,0.000,3078,0.000,0.044,2513,2036,3180,3165,3196,0,0,0,0,0,0,14.92,14.79,14.95
$GC,1570,-0.62,-136.3,2512,2036,3165,3196,230.0,-12.0,162,1577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2512,2036,3181,3166,3196,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1819,-0.62,-136.3,2511,2036,3166,3195,259.1,-11.2,187,1825,0.00,0.00,0.00,0.000,2054,0.000,0.000,2512,2035,3180,3166,3195,0,0,0,0,0,0,15.22,15.22,15.23
$GC,2069,-0.62,-136.3,2512,2035,3166,3194,285.2,-9.7,212,2078,0.00,2.35,0.00,0.000,2564,0.000,0.054,2512,629,3180,3166,3194,0,0,0,0,0,0,15.22,14.57,15.22
$GC,2113,-0.62,-136.3,2512,629,3166,3192,289.4,-9.8,216,2123,0.05,2.38,0.00,0.000,3078,0.304,0.052,2519,2039,3179,3166,3193,0,0,0,0,0,0,14.00,14.31,14.14
$GC,2364,-0.62,-136.3,2519,2039,3165,3192,311.1,-9.1,241,2373,0.00,2.40,0.00,0.000,260,0.000,0.069,2510,3448,3178,3165,3191,0,0,0,0,0,0,15.21,14.47,15.21
$GC,2448,-0.62,-136.3,2510,3448,3166,3190,319.1,-9.2,249,2459,0.00,2.33,0.00,0.000,3078,0.000,0.043,2510,2038,3178,3166,3190,0,0,0,0,0,0,14.66,14.68,14.66
$GC,2702,-0.62,-136.3,2509,2037,3166,3189,345.0,-10.7,274,2710,0.00,2.42,0.00,0.000,2308,0.000,0.065,2499,3446,3177,3165,3189,0,0,0,0,0,0,15.20,14.45,15.20
$GC,2745,-0.62,-136.3,2500,3446,3165,3188,350.1,-11.2,278,2755,0.05,2.33,0.00,0.000,3078,0.274,0.043,2517,2035,3177,3166,3189,0,0,0,0,0,0,14.23,14.56,14.39
$GC,2995,-0.62,-136.3,2517,2033,3164,3186,375.5,-10.1,303,2996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2518,2033,3175,3165,3186,0,0,0,0,0,0,15.22,15.23,15.22
$GC,3235,-0.62,-136.3,2517,2034,3166,3182,399.4,-10.4,327,3245,0.00,2.45,0.00,0.000,2308,0.000,0.068,2509,3441,3174,3166,3182,0,0,0,0,0,0,15.22,14.20,15.22
$GC,3270,-0.62,-136.3,2508,3441,3166,3182,402.8,-10.0,330,3280,0.03,2.35,0.00,0.000,3078,0.349,0.046,2518,2037,3174,3166,3182,0,0,0,0,0,0,14.07,14.28,14.15
$GC,3520,-0.62,-136.3,2518,2037,3166,3179,427.1,-10.2,355,3530,0.00,2.40,0.00,0.000,2564,0.000,0.057,2518,634,3172,3165,3179,0,0,0,0,0,0,15.21,14.45,15.21
$GC,3555,-0.62,-136.3,2518,634,3164,3179,430.7,-10.5,358,3564,0.00,2.40,0.00,0.000,3078,0.000,0.056,2509,2035,3172,3165,3179,0,0,0,0,0,0,14.52,14.46,14.56
$GC,3806,-0.62,-136.3,2509,2035,3165,3176,456.8,-10.6,383,3815,0.00,2.42,0.00,0.000,2308,0.000,0.067,2499,3446,3170,3165,3176,0,0,0,0,0,0,15.19,14.41,15.19
$GC,3863,-0.62,-136.3,2498,3445,3164,3176,462.9,-11.0,388,3870,0.08,2.38,0.00,0.000,3078,0.302,0.044,2525,2040,3169,3164,3175,0,0,0,0,0,0,14.43,14.75,14.68
$GC,4110,-0.62,-136.3,2525,2038,3164,3171,486.2,-8.9,413,4120,0.00,2.45,0.00,0.000,260,0.000,0.071,2517,3445,3167,3164,3171,0,0,0,0,0,0,15.19,14.38,15.20
$GC,4167,-0.62,-136.3,2517,3445,3164,3171,490.9,-8.8,418,4174,0.00,2.40,0.00,0.000,3078,0.000,0.047,2517,2034,3167,3164,3171,0,0,0,0,0,0,14.88,14.73,14.90
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4280,-0.14,0.0,2517,2145,3164,3169,500.7,-8.9,429,4405,0.43,0.00,118.12,1.587,10246,0.244,0.000,2667,2145,2619,2713,2526,0,0,0,0,0,0,13.82,14.34,13.39
$STATE,4406,end apogee,CONTROL_FINISHED_OK
$STATE,4406,begin climb
$GC,4409,0.62,136.3,2667,2145,2713,2525,504.8,0.0,442,4548,0.60,2.45,122.32,1.551,10500,0.163,0.069,2907,3514,2063,2160,1966,0,0,0,0,0,0,14.31,14.38,13.42
$GC,4624,0.62,136.3,2907,3514,2158,1966,485.2,13.0,463,4633,0.00,2.38,0.00,0.000,1030,0.000,0.050,2918,2127,2061,2158,1964,0,0,0,0,0,0,14.52,14.47,14.55
$GC,4878,0.62,145.9,2918,2127,2157,1959,455.5,11.6,488,4897,0.00,2.47,8.90,1.349,8452,0.000,0.067,2918,3518,2024,2122,1927,0,0,0,0,0,0,15.09,14.65,13.66
$GC,4931,0.62,145.9,2918,3519,2122,1927,448.5,12.4,493,4941,0.00,2.40,0.00,0.000,5126,0.000,0.052,2929,2113,2024,2122,1927,0,0,0,0,0,0,14.66,14.59,14.69
$GC,5184,0.63,156.1,2928,2113,2123,1923,419.4,11.6,518,5202,0.00,2.45,10.27,1.367,12804,0.000,0.060,2939,698,1980,2075,1886,0,0,0,0,0,0,15.14,14.35,13.66
$GC,5227,0.63,159.0,2940,699,2071,1886,413.9,11.9,522,5238,0.08,2.40,3.47,0.936,13318,0.307,0.053,2916,2107,1970,2064,1876,0,0,0,0,0,0,14.21,14.47,13.64
$GC,5478,0.64,171.1,2914,2107,2064,1875,385.7,11.5,547,5496,0.00,0.00,12.02,1.375,10246,0.000,0.000,2916,2107,1921,2015,1827,0,0,0,0,0,0,15.15,14.66,13.72
$GC,5742,0.64,171.1,2915,2107,2015,1825,354.0,12.4,573,5751,0.00,2.45,0.00,0.000,2308,0.000,0.065,2915,3529,1920,2015,1825,0,0,0,0,0,0,15.14,14.28,15.14
$GC,5775,0.64,171.1,2916,3529,2015,1825,349.1,12.8,576,5785,0.00,2.38,0.00,0.000,1030,0.000,0.046,2924,2124,1920,2015,1825,0,0,0,0,0,0,14.40,14.35,14.42
$GC,6031,0.66,210.5,2924,2124,2015,1823,320.6,10.2,601,6074,0.00,2.45,34.88,1.397,10756,0.000,0.062,2935,709,1759,1854,1664,0,0,0,0,0,0,15.16,14.64,13.71
$GC,6155,0.68,236.5,2935,709,1849,1662,307.1,10.8,613,6189,0.00,2.45,23.27,1.349,9222,0.000,0.053,2935,2128,1653,1753,1554,0,0,0,0,0,0,14.79,14.67,13.66
$GC,6430,0.68,236.5,2935,2128,1753,1549,275.0,12.2,641,6439,0.00,2.47,0.00,0.000,2564,0.000,0.060,2946,710,1650,1752,1549,0,0,0,0,0,0,15.10,14.45,15.11
$GC,6474,0.68,236.5,2946,710,1749,1549,269.4,12.6,645,6485,0.00,2.42,0.00,0.000,5126,0.000,0.054,2946,2122,1647,1748,1547,0,0,0,0,0,0,14.35,14.28,14.37
$GC,6727,0.68,236.5,2946,2122,1748,1547,238.6,12.1,670,6736,0.00,2.45,0.00,0.000,4612,0.000,0.060,2957,707,1647,1748,1547,0,0,0,0,0,0,15.14,14.46,15.14
$GC,6774,0.68,240.8,2956,707,1747,1547,233.0,11.9,674,6783,0.05,2.45,0.00,0.000,5126,0.358,0.054,2939,2126,1646,1747,1546,0,0,0,0,0,0,14.46,14.71,14.69
$GC,7022,0.73,322.5,2938,2127,1747,1545,209.0,8.1,699,7099,0.00,0.00,71.72,1.254,10502,0.000,0.000,2939,2127,1303,1398,1208,0,0,0,0,0,0,15.17,14.24,13.64
$GC,7342,0.77,376.2,2938,2127,1397,1202,180.3,9.5,731,7392,0.00,2.58,44.58,1.190,10756,0.000,0.066,2947,707,1084,1178,991,0,0,0,0,0,0,15.07,14.55,13.71
$GC,7420,0.79,417.8,2947,707,1176,991,173.1,10.1,738,7465,0.00,2.53,35.25,1.157,11270,0.000,0.054,2948,2116,913,1004,823,0,0,0,0,0,0,14.62,14.56,13.64
$GC,7707,0.81,452.7,2948,2116,1004,817,142.4,10.4,767,7746,0.05,2.53,29.00,1.109,10756,0.252,0.067,3066,712,771,859,684,0,0,0,0,0,0,14.71,14.50,13.76
$GC,7780,0.81,452.7,3066,711,857,683,130.5,17.6,774,7786,0.25,2.45,0.00,0.000,5126,0.234,0.055,2977,2125,770,857,683,0,0,0,0,0,0,14.38,14.63,14.64
$GC,8038,0.84,497.8,2977,2125,857,682,102.6,9.9,799,8083,0.00,2.50,34.60,1.054,10756,0.000,0.065,2986,706,597,689,506,0,0,0,0,0,0,15.10,14.36,13.80
$GC,8111,0.86,529.1,2986,706,687,507,95.0,10.6,806,8118,0.00,2.47,0.00,0.000,3078,0.000,0.051,2986,2121,596,687,506,0,0,0,0,0,0,14.78,14.64,14.81
$GC,8361,0.89,574.2,2986,2122,687,506,70.1,9.9,831,8372,0.00,2.38,0.00,0.000,2308,0.000,0.066,2977,3524,596,687,506,0,0,0,0,0,0,15.09,14.41,15.09
$GC,8514,0.89,574.2,2977,3524,687,506,51.0,13.1,845,8519,0.08,2.38,0.00,0.000,3078,0.235,0.047,3013,2114,596,686,506,0,0,0,0,0,0,14.55,14.74,14.76
$GC,8770,0.89,574.2,3012,2113,687,506,20.8,12.1,876,8778,0.00,2.53,0.00,0.000,4356,0.000,0.063,3005,3527,596,687,506,0,0,0,0,0,0,15.11,14.57,15.11
$STATE,8900,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,0.2,1.023289
$STATE,8925,end surface coast,CONTROL_FINISHED_OK
$STATE,8925,begin surface
$SM_CCo,9007,0.00,0.000,0,0,596,496.48
$SM_GC,1.16,6.57,2.53,0.00,0.050,0.037,0.000,158,2036,596,-7.80,0.96,496.48,0,0,0,0,0,0,14.85,14.75,14.90
$IRIDIUM_FIX,2230.01,-15808.45,281021,121413
$TT8_MAMPS,0.02247,0.346038
$HUMID,56.61
$INTERNAL_PRESSURE,9.03318
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,13.09,234.569
$10V_AH,12.20,0.000
$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,16.975,111.575,548.425,0.000,0.000,27.200,43.805,236.420,0.000,0.000,16.781,2244.433,3954.474,656.870,2273.698,367.535,0.000,1636.892,0.000,1960.249,0.000,0.552,0.000
$DEVICE_MAMPS,439.110,90.270,1587.375,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,606.473,677.460,1207.433,788.458,921.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339152
$DATA_FILE_SIZE,84352,904
$CAP_FILE_SIZE,122853,0
$CFSIZE,1023623168,929349632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4316.72,0x23609a,2,24
$CURRENT,0.131,231.66,1
$GPS,281021,145204,2238.752,-15805.705,18,0.9,32,9.8,0.5,308.0,9,9.9