version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 537
start: 9 26 121 4 38 30
data:
$ID,626
$MISSION,3
$DIVE,537
$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,37
$R_STBD_OVSHOOT,69
$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
$GPS1,260921,043212,2244.9685,-15800.5527,6,0.9,17,9.8,0.0,331.8,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.3
$GPS2,260921,043741,2244.9768,-15800.5840,6,0.9,21,9.8,0.6,126.5,9,9.6
$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,106.0,999,-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,-116.8,123,2306,1200,1114,0.0,0.0,0,75,0.00,0.00,-56.67,0.000,16386,0.000,0.000,123,2306,2950,2929,2972,0,0,0,0,0,0,15.19,28.83,15.20
$GC,78,-0.55,-116.8,122,2306,2930,2971,3.3,-5.9,8,101,8.43,2.42,-5.53,0.000,18948,0.437,0.067,2568,844,3278,3259,3297,0,0,0,0,0,0,14.28,13.95,14.57
$GC,119,-0.55,-116.8,2568,844,3263,3294,19.2,-37.9,14,128,0.00,2.35,0.00,0.000,3078,0.000,0.045,2561,2227,3278,3264,3293,0,0,0,0,0,0,14.88,14.83,14.98
$GC,384,-0.55,-116.8,2560,2230,3266,3292,83.7,-24.7,63,391,0.00,2.42,0.00,0.000,2308,0.000,0.064,2549,3678,3278,3266,3291,0,0,0,0,0,0,15.22,14.88,15.22
$GC,410,-0.55,-116.8,2549,3678,3266,3292,88.8,-20.2,67,418,0.08,2.33,0.00,0.000,3078,0.326,0.045,2576,2262,3279,3266,3292,0,0,0,0,0,0,14.65,14.92,14.90
$GC,673,-0.55,-116.8,2576,2257,3266,3293,127.9,-14.4,116,680,0.00,2.35,0.00,0.000,516,0.000,0.051,2576,837,3279,3267,3291,0,0,0,0,0,0,15.24,14.88,15.25
$GC,740,-0.55,-116.8,2576,838,3267,3291,137.3,-12.5,128,748,0.00,2.40,0.00,0.000,3078,0.000,0.051,2567,2263,3278,3267,3290,0,0,0,0,0,0,15.04,14.90,15.04
$GC,996,-0.55,-116.8,2566,2263,3268,3290,177.0,-16.1,161,1005,0.00,2.35,0.00,0.000,2308,0.000,0.067,2556,3675,3279,3268,3290,0,0,0,0,0,0,15.29,14.92,15.29
$GC,1038,-0.55,-116.8,2556,3675,3267,3290,183.2,-14.6,165,1050,0.05,2.30,0.00,0.000,3078,0.345,0.041,2576,2252,3279,3268,3290,0,0,0,0,0,0,14.75,14.98,14.97
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1173,-0.13,0.0,2576,2073,3268,3290,200.1,-12.9,178,1271,0.32,0.10,92.90,1.087,10246,0.236,0.128,2705,2158,2798,2862,2735,0,0,0,0,0,0,14.58,14.66,14.07
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1274,0.55,116.8,2704,2157,2862,2735,204.6,0.0,188,1380,0.50,2.30,95.65,1.077,10500,0.158,0.060,2912,3503,2321,2402,2241,0,0,0,0,0,0,14.57,14.38,13.95
$GC,1446,0.55,122.0,2912,3504,2402,2241,197.0,9.8,205,1457,0.00,2.28,5.88,0.883,9222,0.000,0.042,2924,2123,2300,2382,2219,0,0,0,0,0,0,14.78,14.76,14.05
$GC,1696,0.58,162.0,2925,2122,2382,2213,174.5,8.0,230,1736,0.00,2.33,32.55,1.041,10756,0.000,0.052,2935,716,2136,2221,2052,0,0,0,0,0,0,15.21,14.64,14.20
$GC,1750,0.60,194.9,2935,716,2216,2052,170.0,8.4,235,1784,0.00,2.28,26.92,1.022,11270,0.000,0.050,2935,2089,2003,2083,1924,0,0,0,0,0,0,14.78,14.74,14.09
$GC,2035,0.60,194.9,2935,2089,2081,1920,136.5,12.5,273,2042,0.00,2.42,0.00,0.000,2308,0.000,0.067,2935,3531,2000,2081,1919,0,0,0,0,0,0,15.19,14.86,15.19
$GC,2223,0.60,194.9,2935,3531,2081,1919,112.5,11.3,308,2232,0.00,2.38,0.00,0.000,5126,0.000,0.047,2946,2128,2000,2081,1919,0,0,0,0,0,0,15.03,14.87,15.04
$GC,2491,0.62,236.0,2946,2126,2081,1918,88.8,8.0,357,2531,0.00,2.40,32.50,0.971,8452,0.000,0.063,2946,3541,1835,1915,1756,0,0,0,0,0,0,15.24,14.68,14.25
$GC,2615,0.65,283.8,2946,3541,1915,1756,78.3,7.6,378,2667,0.00,2.40,38.42,0.949,9222,0.000,0.048,2958,2105,1640,1730,1550,0,0,0,0,0,0,14.96,14.86,14.15
$GC,2926,0.65,283.8,2957,2104,1730,1545,48.5,10.9,433,2933,0.00,2.35,0.00,0.000,516,0.000,0.058,2969,705,1637,1730,1545,0,0,0,0,0,0,15.16,14.83,15.17
$GC,2993,0.65,283.8,2968,704,1723,1546,40.1,12.4,445,3001,0.00,2.40,0.00,0.000,5126,0.000,0.053,2969,2121,1634,1724,1545,0,0,0,0,0,0,14.99,14.85,15.01
$GC,3255,0.65,290.0,2969,2123,1723,1545,8.6,9.8,494,3264,0.00,2.38,1.85,0.282,12548,0.000,0.067,2969,3533,1615,1706,1524,0,0,0,0,0,0,15.21,14.65,14.50
$GC,3283,0.65,290.0,2969,3534,1706,1524,5.0,13.1,498,3291,0.05,2.38,0.00,0.000,5126,0.380,0.049,2962,2137,1615,1706,1524,0,0,0,0,0,0,14.66,14.85,14.90
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3303,begin surface coast
$FINISH,0.3,1.023146
$STATE,3326,end surface coast,CONTROL_FINISHED_OK
$STATE,3326,begin surface
$SM_CCo,3342,45.62,0.182,0,0,1165,400.08
$SM_GC,1.19,6.43,0.22,45.62,0.056,0.067,0.182,154,2302,1165,-7.93,-0.88,400.08,0,0,0,0,0,0,14.96,15.00,14.69
$IRIDIUM_FIX,2237.01,-15759.32,260921,043334
$TT8_MAMPS,0.023219,0.283871
$HUMID,49.96
$INTERNAL_PRESSURE,9.32615
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,13.95,132.307
$10V_AH,13.15,0.000
$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,15.850,47.700,326.675,45.625,0.000,32.109,47.122,123.902,0.500,0.000,22.964,1242.575,587.543,409.953,1353.644,155.903,0.000,909.624,0.000,1161.866,0.000,0.556,0.000
$DEVICE_MAMPS,436.815,127.755,1087.065,182.070,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,334.800,363.438,775.220,653.268,762.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339048
$DATA_FILE_SIZE,44040,505
$CAP_FILE_SIZE,111946,0
$CFSIZE,1023623168,968556544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,308.83,1
$GPS,260921,053556,2244.971,-15800.358,6,1.0,22,9.8,0.5,326.8,8,9.7