version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 661
start: 10 2 121 0 46 52
data:
$ID,626
$MISSION,3
$DIVE,661
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,021021,004051,2245.3269,-15800.2822,8,0.9,22,9.8,0.0,276.6,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.6
$GPS2,021021,004600,2245.3489,-15800.3076,7,0.9,21,9.8,0.0,99.3,9,9.1
$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,142.2,833,-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,-116.8,122,2252,1200,1114,0.0,0.0,0,73,0.00,0.00,-54.00,0.000,16386,0.000,0.000,123,2251,2858,2855,2861,0,0,0,0,0,0,15.19,28.83,15.19
$GC,76,-0.55,-116.8,123,2251,2856,2862,3.0,-6.0,8,99,8.38,2.33,-7.40,0.000,18948,0.426,0.069,2566,862,3280,3264,3297,0,0,0,0,0,0,14.22,13.35,14.51
$GC,154,-0.55,-116.8,2565,862,3268,3295,24.6,-20.7,21,161,0.00,2.38,0.00,0.000,3078,0.000,0.059,2558,2223,3281,3268,3294,0,0,0,0,0,0,14.97,14.77,14.99
$GC,405,-0.55,-116.8,2557,2224,3270,3292,83.9,-24.4,48,415,0.00,2.28,0.00,0.000,2564,0.000,0.057,2558,867,3280,3270,3291,0,0,0,0,0,0,15.26,14.90,15.26
$GC,431,-0.55,-116.8,2557,866,3270,3291,88.4,-21.7,50,440,0.08,2.40,0.00,0.000,3078,0.362,0.059,2572,2271,3281,3271,3291,0,0,0,0,0,0,14.59,14.85,14.87
$GC,680,-0.55,-116.8,2572,2273,3272,3291,126.6,-13.3,75,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2273,3281,3271,3291,0,0,0,0,0,0,15.26,15.27,15.27
$GC,929,-0.55,-116.8,2572,2273,3271,3293,158.9,-12.7,100,938,0.00,2.33,0.00,0.000,516,0.000,0.055,2573,869,3282,3272,3292,0,0,0,0,0,0,15.28,14.80,15.29
$GC,1002,-0.55,-116.8,2572,869,3271,3292,167.5,-10.9,107,1012,0.00,2.35,0.00,0.000,3078,0.000,0.058,2563,2270,3281,3272,3290,0,0,0,0,0,0,15.07,14.92,15.09
$GC,1256,-0.55,-116.8,2563,2270,3272,3290,197.8,-11.4,132,1266,0.00,2.35,0.00,0.000,2308,0.000,0.071,2553,3676,3281,3272,3290,0,0,0,0,0,0,15.30,14.59,15.30
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1286,-0.13,0.0,2552,2136,3272,3290,200.7,-11.0,134,1382,0.40,0.00,93.18,1.079,10246,0.222,0.000,2708,2132,2799,2865,2733,0,0,0,0,0,0,14.53,14.66,14.02
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1386,0.55,116.8,2708,2133,2865,2732,204.5,0.0,144,1488,0.47,0.00,95.90,1.069,10502,0.137,0.000,2916,2132,2321,2405,2238,0,0,0,0,0,0,14.60,14.55,13.95
$GC,1729,0.58,161.5,2916,2133,2405,2232,190.0,7.8,179,1772,0.00,2.38,36.58,1.054,10500,0.000,0.065,2916,3536,2139,2228,2050,0,0,0,0,0,0,15.18,14.76,14.12
$GC,1923,0.58,161.5,2916,3536,2227,2051,169.3,11.9,198,1931,0.00,2.40,0.00,0.000,3078,0.000,0.049,2928,2126,2139,2227,2051,0,0,0,0,0,0,14.87,14.81,14.96
$GC,2173,0.61,222.5,2928,2125,2228,2048,146.9,7.0,223,2231,0.00,2.40,48.20,1.026,10756,0.000,0.060,2939,720,1889,1970,1809,0,0,0,0,0,0,15.23,14.68,14.16
$GC,2299,0.61,222.5,2938,720,1961,1810,135.6,11.1,235,2306,0.00,2.38,0.00,0.000,3078,0.000,0.057,2938,2125,1885,1961,1809,0,0,0,0,0,0,14.93,14.81,14.95
$GC,2546,0.61,222.5,2938,2125,1961,1808,103.3,12.2,260,2556,0.00,2.35,0.00,0.000,2308,0.000,0.070,2939,3533,1884,1961,1808,0,0,0,0,0,0,15.22,14.62,15.22
$GC,2629,0.61,222.5,2939,3533,1961,1808,92.8,12.2,268,2639,0.00,2.35,0.00,0.000,1030,0.000,0.051,2951,2123,1884,1961,1808,0,0,0,0,0,0,15.03,14.93,15.05
$GC,2882,0.64,265.7,2950,2123,1961,1807,68.4,7.9,293,2924,0.00,2.38,33.90,0.946,10756,0.000,0.061,2961,722,1713,1799,1628,0,0,0,0,0,0,15.26,14.83,14.26
$GC,2955,0.66,298.9,2960,722,1795,1629,62.6,8.4,300,2987,0.00,2.45,26.65,0.927,9222,0.000,0.058,2961,2149,1579,1671,1488,0,0,0,0,0,0,14.94,14.81,14.16
$GC,3236,0.66,298.9,2961,2149,1670,1483,32.7,11.6,328,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2148,1577,1670,1484,0,0,0,0,0,0,15.20,15.21,15.21
$STATE,3486,end climb,SURFACE_DEPTH_REACHED
$STATE,3486,begin surface coast
$FINISH,0.3,1.011013
$STATE,3514,end surface coast,CONTROL_FINISHED_OK
$STATE,3514,begin surface
$SM_CCo,3530,41.88,0.187,0,0,1168,400.08
$SM_GC,1.14,6.40,0.17,41.88,0.054,0.092,0.187,170,2288,1168,-7.90,-0.99,400.08,0,0,0,0,0,0,14.96,14.95,14.66
$IRIDIUM_FIX,2234.68,-15800.20,021021,004218
$TT8_MAMPS,0.02247,0.34454
$HUMID,52.24
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.35,153.803
$10V_AH,13.02,0.000
$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,15.725,38.250,334.400,41.875,0.000,32.084,47.078,105.783,0.500,0.000,22.632,964.725,1327.278,392.567,1102.934,132.964,0.000,838.108,0.000,899.282,0.000,0.556,0.000
$DEVICE_MAMPS,426.105,286.875,1078.650,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,249.528,269.403,519.020,466.650,538.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,34113,378
$CAP_FILE_SIZE,59774,0
$CFSIZE,1023623168,958971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,319.88,1
$GPS,021021,014754,2245.057,-15800.125,12,0.9,52,9.8,1.0,271.0,7,5.0