version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 680
start: 10 2 121 22 34 32
data:
$ID,626
$MISSION,3
$DIVE,680
$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,72
$R_STBD_OVSHOOT,27
$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
$GPS1,021021,222623,2245.2512,-15800.2158,15,0.9,42,9.8,0.3,207.0,10,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.6
$GPS2,021021,223342,2245.2710,-15800.2734,8,0.9,20,9.8,0.5,279.2,10,9.6
$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,130.7,686,-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,-116.8,124,2219,1206,1109,0.0,0.0,0,80,0.00,0.00,-61.65,0.000,16386,0.000,0.000,124,2219,3147,3113,3181,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2219,3113,3182,3.7,-7.4,9,100,8.50,2.22,-2.08,0.000,18948,0.438,0.065,2574,881,3280,3251,3309,0,0,0,0,0,0,14.21,13.38,14.49
$GC,133,-0.55,-116.8,2574,880,3265,3298,24.8,-32.1,17,141,0.00,2.40,0.00,0.000,3078,0.000,0.056,2565,2280,3281,3266,3296,0,0,0,0,0,0,14.96,14.81,14.98
$GC,393,-0.55,-116.8,2565,2281,3267,3295,81.3,-20.8,44,402,0.00,2.33,0.00,0.000,2564,0.000,0.059,2566,892,3281,3267,3296,0,0,0,0,0,0,15.23,14.60,15.24
$GC,427,-0.55,-116.8,2565,892,3268,3295,87.4,-17.8,47,436,0.05,2.33,0.00,0.000,3078,0.404,0.058,2572,2267,3282,3269,3295,0,0,0,0,0,0,14.63,14.88,14.89
$GC,677,-0.55,-116.8,2572,2269,3268,3294,123.2,-12.5,72,686,0.00,2.28,0.00,0.000,516,0.000,0.052,2572,895,3281,3268,3295,0,0,0,0,0,0,15.27,14.65,15.28
$GC,700,-0.55,-116.8,2572,894,3269,3295,126.3,-12.6,74,709,0.00,2.30,0.00,0.000,3078,0.000,0.058,2563,2267,3281,3269,3294,0,0,0,0,0,0,14.71,14.65,14.73
$GC,949,-0.55,-116.8,2563,2267,3270,3294,158.5,-12.7,99,951,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2267,3282,3270,3294,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1189,-0.55,-116.8,2563,2268,3270,3294,190.8,-13.0,123,1200,0.00,2.30,0.00,0.000,2564,0.000,0.054,2563,889,3282,3270,3294,0,0,0,0,0,0,15.30,14.94,15.30
$GC,1256,-0.55,-116.8,2563,889,3270,3295,198.7,-11.7,129,1265,0.05,2.38,0.00,0.000,3078,0.379,0.059,2571,2282,3282,3271,3294,0,0,0,0,0,0,14.66,14.87,14.91
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1277,-0.13,0.0,2571,2114,3271,3293,200.9,-11.2,131,1374,0.32,0.00,93.62,1.073,10246,0.233,0.000,2700,2111,2799,2865,2733,0,0,0,0,0,0,14.53,14.65,14.00
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,0.55,116.8,2700,2111,2865,2733,205.7,0.0,141,1482,0.50,0.00,96.07,1.069,10758,0.148,0.000,2914,2110,2322,2407,2237,0,0,0,0,0,0,14.58,14.54,13.93
$GC,1724,0.57,159.4,2912,2110,2405,2232,188.0,7.9,176,1763,0.00,0.00,35.12,1.041,10246,0.000,0.000,2914,2110,2148,2237,2059,0,0,0,0,0,0,15.18,14.74,14.12
$GC,2007,0.59,188.1,2913,2110,2237,2054,163.3,8.6,204,2033,0.00,0.00,23.77,1.017,10246,0.000,0.000,2914,2110,2031,2117,1945,0,0,0,0,0,0,15.21,14.81,14.17
$GC,2276,0.61,215.7,2913,2110,2115,1941,138.2,8.7,231,2306,0.05,2.45,22.67,0.995,10500,0.262,0.062,3029,3536,1918,1994,1842,0,0,0,0,0,0,14.88,14.85,14.20
$GC,2340,0.61,215.7,3029,3536,1994,1842,128.3,17.2,237,2351,0.28,2.25,0.00,0.000,5126,0.279,0.047,2946,2166,1918,1994,1842,0,0,0,0,0,0,14.49,14.78,14.68
$GC,2590,0.61,215.7,2945,2165,1994,1837,98.8,11.0,262,2599,0.00,2.30,0.00,0.000,260,0.000,0.065,2945,3534,1915,1993,1837,0,0,0,0,0,0,15.23,14.69,15.24
$GC,2646,0.61,215.7,2945,3534,1994,1837,92.4,11.9,267,2654,0.00,2.33,0.00,0.000,5126,0.000,0.050,2954,2130,1915,1994,1837,0,0,0,0,0,0,15.04,14.92,15.05
$GC,2897,0.61,223.0,2954,2130,1994,1836,67.4,9.7,292,2907,0.00,0.00,6.57,0.842,12806,0.000,0.000,2955,2130,1889,1969,1809,0,0,0,0,0,0,15.26,14.87,14.19
$GC,3148,0.64,273.1,2954,2130,1969,1808,48.0,7.5,317,3195,0.00,0.00,40.03,0.916,8454,0.000,0.000,2954,2130,1683,1772,1595,0,0,0,0,0,0,15.25,14.59,14.20
$GC,3440,0.64,273.1,2954,2129,1772,1590,18.7,10.7,356,3447,0.00,2.40,0.00,0.000,516,0.000,0.063,2966,717,1680,1772,1589,0,0,0,0,0,0,15.19,14.83,15.19
$GC,3493,0.64,273.1,2965,717,1768,1590,12.8,11.1,365,3501,0.00,2.42,0.00,0.000,5126,0.000,0.057,2966,2129,1678,1768,1589,0,0,0,0,0,0,14.98,14.83,15.00
$STATE,3579,end climb,SURFACE_DEPTH_REACHED
$STATE,3579,begin surface coast
$FINISH,0.2,1.016513
$STATE,3608,end surface coast,CONTROL_FINISHED_OK
$STATE,3608,begin surface
$SM_CCo,3626,52.38,0.181,0,0,1167,400.08
$SM_GC,1.50,6.53,0.22,52.38,0.067,0.065,0.181,156,2337,1167,-7.95,-0.62,400.08,0,0,0,0,0,0,14.97,15.00,14.66
$IRIDIUM_FIX,2237.01,-15802.37,021021,223009
$TT8_MAMPS,0.023219,0.343791
$HUMID,51.92
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.38,156.943
$10V_AH,12.78,0.000
$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,16.275,33.200,317.875,52.375,0.000,52.460,87.776,107.162,0.500,0.000,21.278,978.598,1492.830,409.550,1138.305,135.086,0.000,830.702,0.000,870.405,0.000,0.554,0.000
$DEVICE_MAMPS,437.580,105.570,1073.295,180.540,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.930,276.696,525.903,481.284,556.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,34075,386
$CAP_FILE_SIZE,59676,0
$CFSIZE,1023623168,957726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.086,338.27,1
$GPS,021021,233647,2245.170,-15800.004,9,1.1,20,9.8,0.7,305.7,8,9.4