version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 474
start: 9 23 121 9 7 54
data:
$ID,626
$MISSION,3
$DIVE,474
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,66
$T_MISSION,180
$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,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,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,2740
$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,2265
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$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,2800
$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
$GPS1,230921,090145,2244.7234,-15800.2637,7,1.0,21,9.8,0.0,239.5,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,230921,090704,2244.6951,-15800.3135,5,0.9,20,9.8,0.0,266.7,8,9.7
$SPEED_LIMITS,0.217,0.227
$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,27.6,778,-18.0,-10.101,-24.02,1992
$D_GRID,200
$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,15,-0.55,-116.8,123,2219,1198,1119,0.0,0.0,0,80,0.00,0.00,-62.45,0.000,16386,0.000,0.000,123,2216,3206,3165,3248,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,123,2216,3165,3246,4.1,-8.4,9,99,8.35,2.42,-1.08,0.000,18692,0.440,0.063,2543,3691,3280,3247,3313,0,0,0,0,0,0,14.28,13.43,14.57
$GC,175,-0.55,-116.8,2543,3691,3254,3307,36.8,-19.9,25,184,0.05,2.33,0.00,0.000,3078,0.319,0.046,2561,2301,3280,3257,3304,0,0,0,0,0,0,14.62,14.85,14.78
$GC,434,-0.55,-116.8,2561,2298,3262,3300,97.7,-21.0,74,442,0.00,2.40,0.00,0.000,2564,0.000,0.052,2562,855,3280,3262,3298,0,0,0,0,0,0,15.23,14.91,15.23
$GC,469,-0.55,-116.8,2561,855,3263,3298,104.6,-19.4,80,477,0.00,2.40,0.00,0.000,3078,0.000,0.050,2552,2286,3281,3265,3297,0,0,0,0,0,0,15.05,14.92,15.07
$GC,726,-0.55,-116.8,2552,2286,3266,3297,148.4,-15.8,129,733,0.00,2.30,0.00,0.000,2308,0.000,0.063,2542,3677,3281,3265,3297,0,0,0,0,0,0,15.26,14.94,15.26
$GC,742,-0.55,-116.8,2542,3678,3266,3297,150.6,-14.7,131,747,0.05,2.28,0.00,0.000,3078,0.366,0.040,2559,2260,3281,3266,3297,0,0,0,0,0,0,14.76,14.99,14.98
$GC,995,-0.55,-116.8,2559,2256,3266,3297,183.5,-12.1,156,1005,0.00,2.30,0.00,0.000,2564,0.000,0.051,2560,855,3281,3266,3297,0,0,0,0,0,0,15.30,15.00,15.30
$GC,1091,-0.55,-116.8,2560,855,3267,3297,194.1,-10.9,165,1098,0.00,2.38,0.00,0.000,3078,0.000,0.051,2551,2282,3281,3267,3296,0,0,0,0,0,0,15.10,14.97,15.11
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1151,-0.13,0.0,2551,2076,3267,3296,201.0,-12.1,171,1250,0.38,0.10,92.85,1.087,10246,0.249,0.128,2693,2160,2798,2862,2735,0,0,0,0,0,0,14.54,14.65,14.07
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1253,0.55,116.8,2693,2160,2862,2735,206.2,0.0,181,1357,0.50,0.00,95.70,1.074,10758,0.158,0.000,2903,2160,2322,2407,2237,0,0,0,0,0,0,14.58,14.39,13.96
$GC,1598,0.57,155.0,2902,2159,2405,2231,185.9,8.1,216,1638,0.00,0.00,30.98,1.050,10758,0.000,0.000,2903,2160,2166,2256,2076,0,0,0,0,0,0,15.19,14.78,14.19
$GC,1879,0.58,167.7,2902,2160,2257,2072,157.7,9.4,244,1898,0.00,2.33,11.25,0.980,10756,0.000,0.049,2913,756,2114,2203,2025,0,0,0,0,0,0,15.22,14.66,14.21
$GC,1912,0.58,176.0,2913,756,2197,2025,154.5,9.7,247,1925,0.00,2.20,8.02,0.926,11270,0.000,0.048,2914,2097,2082,2171,1993,0,0,0,0,0,0,14.89,14.83,14.19
$GC,2179,0.60,202.8,2913,2097,2170,1989,127.4,8.7,293,2207,0.00,2.45,22.02,1.007,10500,0.000,0.066,2914,3536,1971,2055,1888,0,0,0,0,0,0,15.22,14.86,14.27
$GC,2319,0.61,221.1,2913,3536,2055,1888,114.9,9.2,317,2340,0.00,2.22,15.80,0.973,11270,0.000,0.044,2925,2175,1896,1978,1815,0,0,0,0,0,0,15.02,14.92,14.23
$GC,2596,0.61,221.1,2925,2175,1977,1810,87.4,10.3,368,2603,0.00,2.45,0.00,0.000,2564,0.000,0.056,2937,716,1893,1977,1810,0,0,0,0,0,0,15.21,14.91,15.21
$GC,2661,0.62,236.8,2936,716,1969,1811,81.0,9.3,379,2683,0.00,2.35,13.27,0.936,9222,0.000,0.051,2936,2132,1832,1913,1751,0,0,0,0,0,0,15.04,14.94,14.28
$GC,2937,0.65,286.2,2936,2133,1914,1746,54.6,7.6,430,2988,0.00,2.38,38.75,0.936,10500,0.000,0.066,2936,3526,1631,1722,1541,0,0,0,0,0,0,15.21,14.69,14.26
$GC,3045,0.68,339.9,2936,3527,1722,1541,46.3,7.3,447,3094,0.00,2.38,41.97,0.915,11270,0.000,0.044,2948,2126,1413,1504,1322,0,0,0,0,0,0,14.95,14.81,14.17
$GC,3346,0.68,339.9,2947,2123,1503,1316,11.3,13.8,502,3355,0.00,2.40,0.00,0.000,2564,0.000,0.060,2959,706,1409,1503,1316,0,0,0,0,0,0,15.16,14.85,15.16
$STATE,3402,end climb,SURFACE_DEPTH_REACHED
$STATE,3402,begin surface coast
$FINISH,2.2,1.023068
$STATE,3408,end surface coast,CONTROL_FINISHED_OK
$STATE,3408,begin surface
$SM_CCo,3426,24.30,0.197,0,0,1166,400.08
$SM_GC,1.26,6.50,2.65,24.30,0.071,0.055,0.197,164,2257,1166,-7.88,-1.07,400.08,0,0,0,0,0,0,14.96,14.88,14.72
$IRIDIUM_FIX,2234.68,-15800.20,230921,090302
$TT8_MAMPS,0.023219,0.340795
$HUMID,50.59
$INTERNAL_PRESSURE,9.29685
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.43,121.855
$10V_AH,12.85,0.000
$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,15.825,43.100,370.625,24.300,0.000,26.420,41.650,135.982,0.250,0.000,21.743,1251.259,643.949,415.365,1351.114,142.571,0.000,916.926,0.000,1160.614,0.000,0.555,0.000
$DEVICE_MAMPS,439.875,127.755,1087.065,196.605,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,340.163,368.542,781.562,652.593,759.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339176
$DATA_FILE_SIZE,44044,513
$CAP_FILE_SIZE,111678,0
$CFSIZE,1023623168,973586432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.160,215.12,1
$GPS,230921,100631,2244.722,-15800.312,5,0.8,30,9.8,0.0,273.0,9,7.2