version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 429
start: 9 17 121 8 38 2
data:
$ID,626
$MISSION,3
$DIVE,429
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,850
$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,266
$T_MISSION,530
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,400
$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,2731
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,39.700001
$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,2275
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2780
$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
$GPS1,170921,082855,2238.2561,-15838.7744,17,0.8,44,9.8,0.5,283.9,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.9
$GPS2,170921,083734,2238.2483,-15838.8359,8,0.8,17,9.8,0.6,303.1,11,9.9
$SPEED_LIMITS,0.174,0.212
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-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,68.6,67496,-19.5,-10.025,-25.28,1754
$D_GRID,800
$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,16,-0.56,-116.8,122,2232,1178,1101,0.0,0.0,0,80,0.00,0.00,-61.72,0.000,16386,0.000,0.000,122,2230,3203,3166,3240,0,0,0,0,0,0,14.96,28.83,14.97
$GC,83,-0.56,-116.8,122,2230,3164,3241,4.2,-8.6,9,99,8.45,2.47,-0.85,0.000,18692,0.436,0.064,2530,3696,3261,3229,3294,0,0,0,0,0,0,14.12,13.36,14.40
$GC,158,-0.56,-116.8,2529,3696,3236,3289,34.5,-23.5,22,166,0.05,2.40,0.00,0.000,3078,0.376,0.049,2545,2293,3263,3241,3286,0,0,0,0,0,0,14.43,14.66,14.68
$GC,417,-0.56,-116.8,2546,2289,3244,3283,98.7,-23.6,71,424,0.00,2.42,0.00,0.000,2564,0.000,0.057,2548,858,3263,3245,3282,0,0,0,0,0,0,15.06,14.70,15.07
$GC,446,-0.56,-116.8,2547,858,3247,3281,105.5,-23.0,76,455,0.00,2.45,0.00,0.000,3078,0.000,0.052,2539,2280,3263,3247,3280,0,0,0,0,0,0,14.85,14.71,14.87
$GC,710,-0.56,-116.8,2538,2281,3247,3282,160.1,-19.1,120,712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2281,3264,3247,3281,0,0,0,0,0,0,15.12,15.13,15.12
$GC,949,-0.56,-116.8,2538,2281,3248,3282,200.5,-16.9,144,953,0.00,2.38,0.00,0.000,2564,0.000,0.054,2539,861,3265,3249,3282,0,0,0,0,0,0,15.17,14.81,15.17
$GC,995,-0.56,-116.8,2538,861,3250,3282,206.9,-15.2,148,1003,0.08,2.38,0.00,0.000,3078,0.336,0.053,2553,2276,3265,3250,3281,0,0,0,0,0,0,14.52,14.81,14.78
$GC,1242,-0.56,-116.8,2554,2278,3250,3281,242.4,-14.4,173,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2277,3265,3250,3281,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1481,-0.56,-116.8,2553,2277,3250,3281,274.6,-12.1,197,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2277,3266,3250,3282,0,0,0,0,0,0,15.21,15.21,15.22
$GC,1721,-0.56,-116.8,2554,2277,3250,3281,303.6,-12.2,221,1730,0.00,2.35,0.00,0.000,516,0.000,0.050,2554,861,3265,3250,3281,0,0,0,0,0,0,15.22,14.84,15.23
$GC,1783,-0.56,-116.8,2553,861,3250,3281,310.6,-10.8,227,1792,0.00,2.40,0.00,0.000,3078,0.000,0.055,2545,2283,3265,3250,3280,0,0,0,0,0,0,14.98,14.84,15.00
$GC,2034,-0.56,-116.8,2544,2283,3250,3278,335.4,-9.5,252,2038,0.00,2.38,0.00,0.000,2308,0.000,0.069,2534,3685,3264,3250,3278,0,0,0,0,0,0,15.23,14.80,15.23
$GC,2066,-0.56,-116.8,2533,3685,3250,3278,338.6,-9.7,255,2077,0.05,2.35,0.00,0.000,3078,0.330,0.044,2552,2258,3263,3250,3277,0,0,0,0,0,0,14.64,14.88,14.85
$GC,2317,-0.56,-116.8,2552,2258,3250,3276,360.6,-9.0,280,2321,0.00,2.30,0.00,0.000,516,0.000,0.053,2553,868,3263,3250,3276,0,0,0,0,0,0,15.22,14.83,15.23
$GC,2369,-0.56,-116.8,2553,867,3249,3276,365.5,-9.4,285,2379,0.00,2.38,0.00,0.000,3078,0.000,0.056,2544,2274,3262,3250,3274,0,0,0,0,0,0,14.98,14.83,15.01
$GC,2622,-0.56,-116.8,2544,2274,3250,3272,394.3,-12.5,310,2627,0.00,2.40,0.00,0.000,2308,0.000,0.070,2533,3684,3261,3250,3272,0,0,0,0,0,0,15.22,14.79,15.23
$GC,2710,-0.56,-116.8,2533,3683,3250,3270,405.0,-12.3,318,2718,0.05,2.38,0.00,0.000,3078,0.329,0.044,2552,2280,3260,3250,3270,0,0,0,0,0,0,14.62,14.81,14.83
$GC,2957,-0.56,-116.8,2552,2276,3250,3267,430.2,-9.5,343,2966,0.00,2.35,0.00,0.000,516,0.000,0.055,2553,870,3258,3249,3267,0,0,0,0,0,0,15.22,14.63,15.23
$GC,3060,-0.56,-116.8,2553,869,3248,3267,439.7,-8.8,353,3069,0.00,2.40,0.00,0.000,3078,0.000,0.057,2544,2277,3257,3248,3266,0,0,0,0,0,0,14.97,14.82,15.00
$GC,3312,-0.56,-116.8,2543,2277,3248,3263,463.8,-10.0,378,3317,0.00,2.40,0.00,0.000,2564,0.000,0.056,2543,868,3255,3248,3262,0,0,0,0,0,0,15.22,14.81,15.22
$GC,3338,-0.56,-116.8,2543,868,3247,3263,466.3,-10.3,380,3345,0.05,2.42,0.00,0.000,3078,0.394,0.060,2551,2280,3255,3248,3263,0,0,0,0,0,0,14.54,14.80,14.79
$GC,3585,-0.56,-116.8,2550,2280,3247,3260,490.4,-9.7,405,3595,0.00,2.40,0.00,0.000,516,0.000,0.056,2550,861,3253,3246,3261,0,0,0,0,0,0,15.23,14.81,15.23
$GC,3600,-0.56,-116.8,2550,861,3246,3259,491.2,-9.7,406,3607,0.00,2.42,0.00,0.000,3078,0.000,0.060,2542,2276,3253,3246,3260,0,0,0,0,0,0,14.96,14.81,14.99
$GC,3850,-0.56,-116.8,2541,2276,3246,3257,517.6,-10.5,431,3858,0.00,2.40,0.00,0.000,2308,0.000,0.071,2531,3681,3251,3245,3257,0,0,0,0,0,0,15.21,14.55,15.21
$GC,3884,-0.56,-116.8,2530,3681,3246,3257,521.3,-10.6,434,3891,0.05,2.35,0.00,0.000,3078,0.330,0.044,2550,2273,3250,3245,3256,0,0,0,0,0,0,14.60,14.83,14.81
$GC,4132,-0.56,-116.8,2549,2269,3246,3252,544.4,-8.8,459,4141,0.00,2.35,0.00,0.000,516,0.000,0.057,2550,867,3249,3244,3254,0,0,0,0,0,0,15.21,14.39,15.23
$GC,4167,-0.56,-116.8,2550,867,3243,3254,547.4,-9.0,462,4175,0.00,2.47,0.00,0.000,3078,0.000,0.061,2540,2275,3248,3243,3254,0,0,0,0,0,0,14.93,14.76,14.95
$GC,4418,-0.56,-116.8,2540,2274,3243,3252,571.2,-9.7,487,4426,0.00,2.42,0.00,0.000,2308,0.000,0.072,2530,3682,3247,3243,3252,0,0,0,0,0,0,15.21,14.53,15.21
$GC,4492,-0.56,-116.8,2530,3682,3242,3251,578.6,-9.8,494,4500,0.05,2.38,0.00,0.000,3078,0.330,0.047,2549,2272,3247,3242,3252,0,0,0,0,0,0,14.58,14.82,14.79
$GC,4740,-0.56,-116.8,2549,2269,3242,3249,600.6,-8.7,519,4749,0.00,2.35,0.00,0.000,516,0.000,0.057,2549,867,3245,3241,3250,0,0,0,0,0,0,15.21,14.61,15.21
$GC,4825,-0.56,-116.8,2549,867,3239,3250,607.7,-8.4,527,4832,0.00,2.42,0.00,0.000,3078,0.000,0.060,2540,2275,3244,3239,3250,0,0,0,0,0,0,14.92,14.76,14.95
$GC,5074,-0.56,-116.8,2539,2275,3239,3246,628.7,-8.1,552,5078,0.00,2.45,0.00,0.000,2564,0.000,0.057,2540,858,3242,3239,3246,0,0,0,0,0,0,15.21,14.76,15.21
$GC,5099,-0.56,-116.8,2540,858,3238,3248,630.8,-8.2,554,5107,0.05,2.47,0.00,0.000,3078,0.364,0.059,2547,2283,3243,3238,3248,0,0,0,0,0,0,14.52,14.76,14.76
$GC,5347,-0.56,-116.8,2547,2283,3238,3244,649.8,-7.3,579,5357,0.00,2.42,0.00,0.000,2308,0.000,0.073,2538,3682,3240,3237,3244,0,0,0,0,0,0,15.21,14.28,15.21
$GC,5370,-0.56,-116.8,2537,3682,3237,3244,651.6,-7.5,581,5379,0.00,2.38,0.00,0.000,3078,0.000,0.046,2538,2269,3241,3238,3244,0,0,0,0,0,0,14.95,14.81,14.97
$GC,5622,-0.56,-116.8,2538,2268,3237,3242,671.4,-7.8,606,5630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2268,3239,3237,3242,0,0,0,0,0,0,15.21,15.21,15.21
$GC,5871,-0.56,-116.8,2536,2268,3237,3239,690.1,-7.5,631,5879,0.00,2.38,0.00,0.000,2564,0.000,0.059,2538,876,3238,3235,3241,0,0,0,0,0,0,15.21,14.50,15.21
$GC,5934,-0.56,-116.8,2537,875,3235,3242,694.9,-7.5,637,5943,0.05,2.42,0.00,0.000,3078,0.269,0.062,2547,2275,3238,3235,3241,0,0,0,0,0,0,14.23,14.48,14.38
$GC,6183,-0.56,-116.8,2546,2275,3235,3238,712.8,-7.3,662,6193,0.00,2.45,0.00,0.000,2308,0.000,0.074,2538,3684,3237,3236,3238,0,0,0,0,0,0,15.20,14.44,15.20
$GC,6208,-0.56,-116.8,2537,3684,3234,3239,714.6,-7.6,664,6217,0.00,2.40,0.00,0.000,3078,0.000,0.047,2537,2271,3237,3235,3239,0,0,0,0,0,0,14.91,14.78,14.94
$GC,6458,-0.56,-116.8,2537,2269,3234,3237,735.8,-8.5,689,6467,0.00,2.40,0.00,0.000,2564,0.000,0.057,2538,865,3235,3234,3237,0,0,0,0,0,0,15.19,14.47,15.19
$GC,6523,-0.56,-116.8,2537,865,3232,3238,741.6,-8.8,695,6531,0.08,2.47,0.00,0.000,3078,0.308,0.061,2552,2282,3235,3232,3238,0,0,0,0,0,0,14.45,14.71,14.69
$GC,6772,-0.56,-116.8,2552,2283,3232,3236,760.8,-7.7,720,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2283,3234,3232,3236,0,0,0,0,0,0,15.19,15.19,15.19
$GC,7011,-0.56,-116.8,2552,2283,3231,3234,779.2,-7.4,744,7022,0.00,2.45,0.00,0.000,516,0.000,0.060,2552,859,3233,3231,3235,0,0,0,0,0,0,15.19,14.69,15.21
$GC,7035,-0.56,-116.8,2552,859,3230,3235,781.1,-7.4,746,7045,0.00,2.47,0.00,0.000,3078,0.000,0.061,2544,2280,3233,3231,3235,0,0,0,0,0,0,14.88,14.71,14.91
$STATE,7263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7263,begin apogee
$GC,7269,-0.13,0.0,2544,2065,3230,3233,800.5,-8.5,769,7376,0.43,0.08,103.38,2.085,10246,0.242,0.151,2694,2116,2779,2847,2711,0,0,0,0,0,0,14.32,14.19,13.34
$STATE,7377,end apogee,CONTROL_FINISHED_OK
$STATE,7378,begin climb
$GC,7380,0.56,116.8,2693,2116,2847,2711,803.0,0.0,771,7500,0.52,2.53,111.38,2.036,10756,0.123,0.062,2925,732,2302,2388,2216,0,0,0,0,0,0,14.21,13.92,13.24
$GC,7567,0.56,121.3,2925,731,2375,2216,791.4,9.8,777,7577,0.00,2.45,4.18,1.353,13318,0.000,0.060,2925,2088,2285,2366,2204,0,0,0,0,0,0,14.49,14.36,13.31
$GC,7825,0.56,121.3,2925,2088,2365,2201,752.3,14.5,803,7826,0.00,0.00,0.00,0.000,4102,0.000,0.000,2925,2088,2283,2365,2201,0,0,0,0,0,0,14.96,14.96,14.96
$GC,8065,0.56,121.3,2925,2087,2365,2199,716.8,14.4,827,8070,0.00,2.50,0.00,0.000,4356,0.000,0.075,2925,3513,2282,2365,2199,0,0,0,0,0,0,15.04,14.64,15.05
$GC,8079,0.56,121.3,2925,3513,2365,2200,715.0,14.8,828,8088,0.08,2.42,0.00,0.000,5126,0.364,0.051,2915,2137,2283,2365,2201,0,0,0,0,0,0,14.12,14.48,14.35
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$STATE,14485,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FINISH,0.2,1.011260
$STATE,14508,end surface coast,CONTROL_FINISHED_OK
$STATE,14508,begin surface
$SM_CCo,14523,51.78,0.211,0,0,1145,400.08
$SM_GC,1.21,6.50,0.28,51.78,0.053,0.073,0.211,155,2298,1145,-7.89,-0.85,400.08,0,0,0,0,0,0,14.80,14.75,14.45
$IRIDIUM_FIX,2230.01,-15706.81,170921,083101
$TT8_MAMPS,0.02247,0.339297
$HUMID,49.48
$INTERNAL_PRESSURE,9.09177
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.24,108.211
$10V_AH,12.68,0.000
$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,17.000,194.475,363.775,51.775,0.000,34.051,63.424,268.800,0.000,0.000,18.564,4081.849,6186.997,678.752,3811.269,322.532,0.000,2166.438,0.000,3382.606,0.000,0.552,0.000
$DEVICE_MAMPS,436.050,151.470,2084.625,211.140,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,1083.443,1497.547,2171.833,1342.027,1562.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339036
$DATA_FILE_SIZE,147616,1590
$CAP_FILE_SIZE,230992,0
$CFSIZE,1023623168,978698240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.044,236.23,1
$GPS,170921,124211,2238.436,-15837.617,27,0.8,38,9.8,0.4,245.6,9,9.2