version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 521
start: 9 25 121 11 13 29
data:
$ID,626
$MISSION,3
$DIVE,521
$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,2750
$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,41
$R_STBD_OVSHOOT,40
$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
$GPS1,250921,110717,2244.9248,-15800.1621,6,0.9,18,9.8,0.0,222.8,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.5
$GPS2,250921,111240,2244.8965,-15800.1982,6,0.9,17,9.8,0.7,215.2,8,10.0
$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,36.3,390,-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,16,-0.55,-116.8,123,2280,1197,1119,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,16386,0.000,0.000,123,2281,3164,3127,3202,0,0,0,0,0,0,15.19,28.83,15.19
$GC,83,-0.55,-116.8,123,2280,3127,3202,3.9,-8.3,9,99,8.43,2.33,-1.77,0.000,18692,0.437,0.065,2557,3688,3280,3250,3310,0,0,0,0,0,0,14.28,13.47,14.57
$GC,159,-0.55,-116.8,2557,3688,3258,3304,31.5,-15.7,22,168,0.05,2.40,0.00,0.000,3078,0.369,0.047,2574,2251,3280,3262,3299,0,0,0,0,0,0,14.65,14.86,14.88
$GC,419,-0.55,-116.8,2574,2247,3266,3297,88.2,-16.2,71,427,0.00,2.28,0.00,0.000,516,0.000,0.054,2575,855,3281,3267,3296,0,0,0,0,0,0,15.21,14.90,15.22
$GC,486,-0.55,-116.8,2575,855,3267,3295,97.8,-11.7,83,495,0.00,2.33,0.00,0.000,3078,0.000,0.051,2566,2255,3281,3268,3295,0,0,0,0,0,0,15.04,14.91,15.05
$GC,745,-0.55,-116.8,2565,2256,3268,3295,132.4,-13.7,132,752,0.00,2.40,0.00,0.000,2308,0.000,0.063,2555,3675,3281,3268,3295,0,0,0,0,0,0,15.25,14.86,15.26
$GC,802,-0.55,-116.8,2555,3675,3268,3295,139.1,-10.3,142,810,0.03,2.38,0.00,0.000,3078,0.347,0.044,2568,2257,3281,3268,3295,0,0,0,0,0,0,14.66,14.86,14.77
$GC,1056,-0.55,-116.8,2567,2253,3268,3295,172.4,-13.2,175,1060,0.00,2.30,0.00,0.000,2564,0.000,0.053,2569,850,3282,3269,3295,0,0,0,0,0,0,15.29,14.95,15.29
$GC,1108,-0.55,-116.8,2568,851,3269,3295,178.8,-11.4,180,1118,0.00,2.35,0.00,0.000,3078,0.000,0.051,2560,2269,3282,3270,3294,0,0,0,0,0,0,15.08,14.95,15.10
$STATE,1286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1286,begin apogee
$GC,1292,-0.13,0.0,2560,2084,3270,3294,200.6,-12.5,198,1390,0.38,0.08,92.85,1.092,10246,0.240,0.151,2702,2144,2798,2862,2734,0,0,0,0,0,0,14.44,14.63,14.07
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1393,0.55,116.8,2702,2144,2862,2734,205.4,0.0,208,1499,0.50,2.33,95.43,1.081,10756,0.158,0.048,2923,756,2320,2400,2240,0,0,0,0,0,0,14.58,14.59,14.00
$GC,1637,0.57,147.1,2922,755,2389,2239,194.6,8.5,232,1667,0.00,2.22,24.92,1.047,11270,0.000,0.048,2923,2105,2199,2284,2115,0,0,0,0,0,0,14.80,14.75,14.12
$GC,1907,0.59,187.0,2923,2104,2282,2111,169.3,8.0,259,1946,0.00,2.42,32.47,1.048,10500,0.000,0.063,2923,3528,2036,2122,1950,0,0,0,0,0,0,15.20,14.80,14.23
$GC,2111,0.59,187.0,2922,3528,2121,1950,148.5,11.2,280,2118,0.00,2.30,0.00,0.000,3078,0.000,0.046,2934,2168,2035,2121,1950,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2372,0.60,199.4,2934,2167,2121,1948,121.2,9.5,329,2392,0.00,2.42,10.95,0.962,10756,0.000,0.059,2946,723,1984,2066,1903,0,0,0,0,0,0,15.21,14.86,14.27
$GC,2426,0.60,199.4,2945,723,2060,1903,115.4,11.3,338,2435,0.00,2.38,0.00,0.000,5126,0.000,0.050,2946,2116,1981,2060,1903,0,0,0,0,0,0,14.87,14.81,14.90
$GC,2688,0.61,224.5,2945,2116,2060,1902,90.6,8.8,387,2715,0.00,2.38,20.55,0.965,8452,0.000,0.064,2946,3537,1881,1961,1802,0,0,0,0,0,0,15.22,14.73,14.29
$GC,2795,0.61,224.5,2945,3538,1961,1802,79.7,10.8,406,2803,0.00,2.40,0.00,0.000,5126,0.000,0.049,2957,2127,1882,1961,1803,0,0,0,0,0,0,14.90,14.85,14.92
$GC,3059,0.64,264.7,2956,2124,1961,1800,57.4,8.0,455,3095,0.00,0.00,32.25,0.938,8710,0.000,0.000,2956,2124,1718,1805,1632,0,0,0,0,0,0,15.20,14.83,14.28
$GC,3353,0.64,264.7,2956,2124,1805,1626,29.0,11.0,508,3360,0.00,2.38,0.00,0.000,516,0.000,0.060,2968,710,1715,1805,1626,0,0,0,0,0,0,15.17,14.85,15.19
$GC,3395,0.64,264.7,2968,709,1799,1627,24.2,10.9,515,3403,0.00,2.40,0.00,0.000,5126,0.000,0.048,2968,2136,1713,1799,1627,0,0,0,0,0,0,15.00,14.87,15.02
$STATE,3579,end climb,SURFACE_DEPTH_REACHED
$STATE,3579,begin surface coast
$FINISH,0.3,1.023098
$STATE,3602,end surface coast,CONTROL_FINISHED_OK
$STATE,3602,begin surface
$SM_CCo,3618,55.35,0.188,0,0,1167,400.08
$SM_GC,1.02,6.32,0.20,55.35,0.033,0.093,0.188,163,2274,1167,-7.95,-0.99,400.08,0,0,0,0,0,0,14.94,14.94,14.69
$IRIDIUM_FIX,2234.68,-15802.37,250921,110838
$TT8_MAMPS,0.023219,0.289863
$HUMID,50.63
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,13.47,129.574
$10V_AH,12.94,0.000
$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,15.700,42.875,309.425,55.350,0.000,25.106,45.970,129.889,0.000,0.000,18.886,1374.108,613.533,394.107,1482.900,163.609,0.000,927.211,0.000,1297.740,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,150.705,1091.655,188.190,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,367.998,396.911,855.130,718.297,840.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339088
$DATA_FILE_SIZE,47212,553
$CAP_FILE_SIZE,123195,0
$CFSIZE,1023623168,969801728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.190,227.44,1
$GPS,250921,121555,2244.882,-15800.291,7,0.9,37,9.8,0.7,265.0,9,5.4