version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 584
start: 9 28 121 8 10 54
data:
$ID,626
$MISSION,3
$DIVE,584
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,280921,080435,2245.2085,-15800.2637,6,0.9,22,9.8,0.8,324.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.0
$GPS2,280921,081005,2245.2227,-15800.3135,6,0.9,23,9.8,0.6,222.2,8,10.0
$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,119.4,675,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-116.8,124,2292,1204,1112,0.0,0.0,0,84,0.00,0.00,-65.03,0.000,16386,0.000,0.000,124,2293,3257,3220,3294,0,0,0,0,0,0,15.18,28.83,15.19
$GC,87,-0.55,-116.8,123,2293,3220,3294,3.9,-7.3,9,103,8.45,2.35,-0.30,0.000,18948,0.438,0.054,2576,826,3278,3247,3309,0,0,0,0,0,0,14.24,13.93,14.54
$GC,138,-0.55,-116.8,2576,826,3261,3297,27.1,-34.3,17,145,0.00,2.42,0.00,0.000,3078,0.000,0.054,2568,2248,3279,3262,3296,0,0,0,0,0,0,14.97,14.84,15.00
$GC,402,-0.55,-116.8,2567,2249,3263,3295,81.0,-15.8,66,410,0.00,2.40,0.00,0.000,2564,0.000,0.047,2567,845,3279,3264,3295,0,0,0,0,0,0,15.20,14.81,15.21
$GC,427,-0.55,-116.8,2567,845,3265,3294,85.1,-15.6,70,436,0.05,2.42,0.00,0.000,3078,0.389,0.056,2574,2267,3279,3266,3293,0,0,0,0,0,0,14.63,14.85,14.88
$GC,690,-0.55,-116.8,2574,2271,3266,3293,120.1,-13.2,119,697,0.00,2.35,0.00,0.000,260,0.000,0.065,2565,3683,3279,3266,3293,0,0,0,0,0,0,15.23,14.88,15.23
$GC,725,-0.55,-116.8,2565,3682,3266,3294,124.5,-11.1,125,732,0.00,2.33,0.00,0.000,3078,0.000,0.041,2564,2260,3279,3266,3293,0,0,0,0,0,0,15.04,14.94,15.07
$GC,982,-0.55,-116.8,2564,2258,3267,3293,155.2,-11.4,170,991,0.00,2.30,0.00,0.000,2564,0.000,0.049,2564,853,3280,3267,3293,0,0,0,0,0,0,15.27,14.94,15.27
$GC,1027,-0.55,-116.8,2564,852,3267,3293,160.0,-11.1,174,1037,0.05,2.42,0.00,0.000,3078,0.304,0.054,2573,2268,3278,3267,3290,0,0,0,0,0,0,14.59,14.85,14.75
$GC,1278,-0.55,-116.8,2573,2269,3267,3290,185.8,-9.5,199,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2269,3278,3267,3290,0,0,0,0,0,0,15.28,15.29,15.29
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1424,begin apogee
$GC,1430,-0.13,0.0,2573,2068,3267,3290,200.8,-10.7,214,1527,0.32,0.10,93.03,1.093,10246,0.224,0.127,2703,2159,2798,2863,2734,0,0,0,0,0,0,14.59,14.66,14.05
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1531,0.55,116.8,2703,2159,2862,2734,205.5,0.0,224,1636,0.50,2.47,95.53,1.089,10756,0.148,0.046,2927,712,2319,2399,2240,0,0,0,0,0,0,14.58,14.36,13.93
$GC,2150,0.62,240.7,2927,710,2387,2236,173.1,3.7,285,2254,0.00,2.30,97.30,1.073,11270,0.000,0.050,2927,2095,1817,1897,1738,0,0,0,0,0,0,15.05,14.94,14.07
$GC,2502,0.62,240.7,2927,2096,1895,1730,134.1,11.5,332,2510,0.00,2.40,0.00,0.000,2564,0.000,0.057,2937,720,1812,1894,1730,0,0,0,0,0,0,15.16,14.75,15.16
$GC,2681,0.65,282.5,2937,720,1887,1731,117.2,7.9,365,2722,0.00,2.35,33.47,1.008,11270,0.000,0.052,2938,2123,1646,1736,1557,0,0,0,0,0,0,15.02,14.90,14.23
$GC,2973,0.65,283.5,2937,2123,1736,1551,90.1,10.0,419,2981,0.00,2.38,0.00,0.000,2308,0.000,0.064,2937,3533,1643,1736,1551,0,0,0,0,0,0,15.19,14.86,15.19
$GC,3020,0.65,287.2,2937,3533,1736,1551,85.5,9.9,427,3035,0.00,2.35,4.72,0.804,11270,0.000,0.049,2948,2125,1628,1723,1534,0,0,0,0,0,0,15.02,14.90,14.11
$GC,3291,0.69,347.2,2948,2125,1723,1533,61.2,7.0,477,3350,0.00,2.42,47.72,0.950,10756,0.000,0.059,2959,717,1381,1476,1286,0,0,0,0,0,0,15.21,14.66,14.22
$GC,3453,0.71,384.9,2959,717,1470,1287,49.0,8.2,504,3491,0.00,2.40,29.58,0.913,11270,0.000,0.050,2959,2128,1228,1327,1130,0,0,0,0,0,0,14.93,14.81,14.19
$GC,3750,0.72,397.9,2959,2127,1326,1126,19.7,9.4,557,3765,0.00,2.40,5.25,0.286,10500,0.000,0.067,2959,3531,1174,1273,1076,0,0,0,0,0,0,15.16,14.61,14.57
$GC,3795,0.73,412.8,2959,3530,1273,1076,15.1,9.3,564,3810,0.00,2.40,6.22,0.262,11270,0.000,0.050,2968,2112,1115,1210,1020,0,0,0,0,0,0,14.97,14.85,14.50
$STATE,3912,end climb,SURFACE_DEPTH_REACHED
$STATE,3912,begin surface coast
$FINISH,0.3,1.006355
$STATE,3939,end surface coast,CONTROL_FINISHED_OK
$STATE,3939,begin surface
$SM_CCo,4016,0.00,0.000,0,0,1111,414.30
$SM_GC,1.24,6.50,0.25,0.00,0.060,0.056,0.000,114,2337,1111,-7.95,-1.10,414.30,0,0,0,0,0,0,14.97,15.00,15.02
$IRIDIUM_FIX,2234.68,-15800.20,280921,080600
$TT8_MAMPS,0.02247,0.34454
$HUMID,52.36
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.93,140.378
$10V_AH,12.89,0.000
$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,15.875,43.450,412.825,0.000,0.000,24.138,41.384,131.492,0.250,0.000,24.105,1441.883,730.860,415.821,1602.353,181.326,0.000,1017.823,0.000,1397.676,0.000,0.555,0.000
$DEVICE_MAMPS,438.345,126.990,1093.185,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,391.634,492.439,907.496,759.354,880.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,53863,590
$CAP_FILE_SIZE,127086,0
$CFSIZE,1023623168,964722688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,5
$CURRENT,0.055,245.11,1
$GPS,280921,091901,2244.853,-15800.204,6,0.8,38,9.8,0.4,272.0,10,5.7