version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 546
start: 9 26 121 14 16 46
data:
$ID,626
$MISSION,3
$DIVE,546
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,260921,140749,2244.8662,-15800.5547,7,0.9,40,9.8,1.2,280.2,9,6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.0
$GPS2,260921,141557,2244.8289,-15800.6357,7,1.0,15,9.8,0.7,288.8,8,10.0
$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,54.4,1130,-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,-116.8,123,2302,1190,1122,0.0,0.0,0,82,0.00,0.00,-64.38,0.000,16386,0.000,0.000,123,2303,3259,3222,3297,0,0,0,0,0,0,15.17,28.83,15.19
$GC,86,-0.55,-116.8,122,2303,3221,3297,4.0,-7.5,9,101,8.40,2.20,-0.28,0.000,18692,0.435,0.059,2552,3676,3279,3247,3311,0,0,0,0,0,0,14.26,13.93,14.55
$GC,173,-0.55,-116.8,2552,3677,3256,3303,34.1,-16.6,24,181,0.05,2.40,0.00,0.000,3078,0.372,0.047,2569,2240,3280,3260,3300,0,0,0,0,0,0,14.62,14.85,14.86
$GC,433,-0.55,-116.8,2569,2237,3262,3296,90.1,-19.1,73,440,0.00,2.30,0.00,0.000,2564,0.000,0.055,2570,852,3279,3263,3296,0,0,0,0,0,0,15.22,14.89,15.22
$GC,490,-0.55,-116.8,2569,851,3266,3295,99.2,-14.4,83,498,0.00,2.33,0.00,0.000,3078,0.000,0.051,2561,2247,3280,3266,3294,0,0,0,0,0,0,15.03,14.90,15.04
$GC,748,-0.55,-116.8,2561,2247,3267,3295,144.8,-16.4,132,755,0.00,0.00,0.00,0.000,2054,0.000,0.000,2560,2247,3280,3266,3295,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1004,-0.55,-116.8,2561,2247,3266,3294,181.4,-11.9,160,1006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2247,3280,3266,3295,0,0,0,0,0,0,15.28,15.29,15.29
$STATE,1161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1161,begin apogee
$GC,1167,-0.13,0.0,2561,2074,3267,3295,200.6,-11.8,176,1265,0.38,0.10,93.12,1.087,10246,0.249,0.129,2703,2163,2798,2862,2735,0,0,0,0,0,0,14.52,14.65,14.06
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1268,0.55,116.8,2703,2163,2862,2735,205.0,0.0,186,1375,0.50,2.45,95.97,1.077,10756,0.158,0.047,2924,709,2320,2399,2241,0,0,0,0,0,0,14.57,14.42,13.98
$GC,1891,0.61,217.4,2923,709,2388,2237,172.2,4.9,247,1983,0.00,2.28,78.88,1.071,11270,0.000,0.049,2924,2094,1911,1988,1835,0,0,0,0,0,0,14.88,14.83,14.07
$GC,2226,0.61,217.6,2924,2093,1990,1827,140.8,10.1,289,2233,0.00,2.33,0.00,0.000,2564,0.000,0.056,2934,713,1908,1989,1827,0,0,0,0,0,0,15.16,14.88,15.16
$GC,2242,0.61,217.6,2933,713,1983,1828,139.0,10.1,291,2250,0.00,2.35,0.00,0.000,3078,0.000,0.051,2934,2121,1905,1983,1828,0,0,0,0,0,0,15.00,14.88,15.01
$GC,2505,0.61,217.6,2934,2120,1983,1827,111.2,10.2,340,2512,0.00,2.45,0.00,0.000,2564,0.000,0.057,2945,708,1905,1983,1827,0,0,0,0,0,0,15.22,14.85,15.22
$GC,2644,0.62,234.4,2946,707,1977,1828,96.9,9.2,366,2666,0.00,2.40,13.80,0.959,9222,0.000,0.052,2946,2125,1842,1921,1763,0,0,0,0,0,0,15.01,14.89,14.29
$GC,2918,0.65,283.9,2945,2125,1921,1761,70.0,7.5,417,2961,0.00,0.00,39.97,0.961,10246,0.000,0.000,2946,2125,1640,1730,1550,0,0,0,0,0,0,15.21,14.78,14.25
$GC,3215,0.65,283.9,2946,2125,1729,1545,43.1,11.2,471,3224,0.00,2.40,0.00,0.000,2308,0.000,0.066,2945,3531,1637,1729,1545,0,0,0,0,0,0,15.16,14.81,15.17
$GC,3237,0.65,283.9,2945,3530,1728,1545,40.7,11.2,474,3244,0.00,2.40,0.00,0.000,1030,0.000,0.051,2956,2113,1637,1729,1545,0,0,0,0,0,0,14.97,14.85,14.99
$GC,3498,0.65,283.9,2956,2109,1728,1544,10.2,10.1,523,3507,0.00,2.35,0.00,0.000,516,0.000,0.063,2967,719,1636,1729,1544,0,0,0,0,0,0,15.19,14.83,15.20
$GC,3547,0.65,283.9,2967,716,1724,1545,5.2,10.7,531,3557,0.00,2.40,0.00,0.000,5126,0.000,0.049,2966,2121,1634,1725,1544,0,0,0,0,0,0,14.84,14.78,14.85
$STATE,3573,end climb,SURFACE_DEPTH_REACHED
$STATE,3573,begin surface coast
$FINISH,0.3,1.010642
$STATE,3608,end surface coast,CONTROL_FINISHED_OK
$STATE,3609,begin surface
$SM_CCo,3625,48.03,0.186,0,0,1166,400.08
$SM_GC,1.36,6.47,0.22,48.03,0.060,0.093,0.186,153,2276,1166,-7.94,-1.02,400.08,0,0,0,0,0,0,14.97,14.92,14.69
$IRIDIUM_FIX,2234.68,-15805.41,260921,141138
$TT8_MAMPS,0.023219,0.342293
$HUMID,51.49
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.93,133.831
$10V_AH,13.07,0.000
$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,15.800,33.550,321.750,48.025,0.000,61.516,104.318,135.318,0.500,0.000,16.940,1340.296,710.684,390.834,1586.119,164.130,0.000,927.349,0.000,1289.021,0.000,0.554,0.000
$DEVICE_MAMPS,434.520,129.285,1087.065,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,360.361,426.434,835.115,702.005,815.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339104
$DATA_FILE_SIZE,47310,541
$CAP_FILE_SIZE,116351,0
$CFSIZE,1023623168,967819264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.149,252.10,1
$GPS,260921,151901,2244.796,-15800.653,7,0.9,26,9.8,0.9,311.2,9,6.1