version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 685
start: 10 3 121 4 8 58
data:
$ID,626
$MISSION,3
$DIVE,685
$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,33
$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
$GPS1,031021,040231,2244.8088,-15800.3291,8,0.8,41,9.8,0.4,236.3,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.8
$GPS2,031021,040806,2244.7957,-15800.3516,7,0.8,20,9.8,0.5,151.8,10,9.4
$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,43.6,710,-19.1,-10.101,-25.00,1808
$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,17,-0.58,-116.8,123,2294,1197,1120,0.0,0.0,0,80,0.00,0.00,-61.15,0.000,16386,0.000,0.000,123,2294,3082,3051,3113,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.58,-116.8,123,2294,3053,3113,3.1,-4.9,9,106,8.40,2.30,-3.22,0.000,18692,0.433,0.071,2545,3659,3281,3257,3305,0,0,0,0,0,0,14.21,13.36,14.50
$GC,120,-0.58,-116.8,2544,3659,3258,3304,19.4,-43.3,14,129,0.05,2.40,0.00,0.000,3078,0.343,0.052,2561,2260,3281,3262,3300,0,0,0,0,0,0,14.46,14.73,14.63
$GC,374,-0.58,-116.8,2561,2257,3267,3296,72.6,-18.7,43,378,0.00,2.33,0.00,0.000,2564,0.000,0.056,2562,858,3281,3267,3296,0,0,0,0,0,0,15.25,14.90,15.25
$GC,478,-0.58,-116.8,2561,858,3267,3295,87.8,-13.4,53,483,0.00,2.35,0.00,0.000,3078,0.000,0.057,2552,2255,3281,3268,3295,0,0,0,0,0,0,15.04,14.90,15.05
$GC,732,-0.58,-116.8,2552,2256,3269,3295,127.4,-15.9,78,742,0.00,2.33,0.00,0.000,2564,0.000,0.052,2552,855,3282,3270,3295,0,0,0,0,0,0,15.28,14.80,15.28
$GC,798,-0.58,-116.8,2552,855,3270,3295,136.3,-12.8,84,806,0.05,2.45,0.00,0.000,3078,0.332,0.059,2559,2267,3282,3270,3295,0,0,0,0,0,0,14.53,14.76,14.73
$GC,1048,-0.58,-116.8,2559,2267,3271,3295,171.7,-14.5,109,1052,0.00,2.38,0.00,0.000,2564,0.000,0.053,2560,848,3283,3271,3295,0,0,0,0,0,0,15.28,14.94,15.28
$GC,1100,-0.58,-116.8,2559,847,3271,3295,179.1,-12.9,114,1110,0.00,2.40,0.00,0.000,3078,0.000,0.058,2550,2272,3282,3271,3294,0,0,0,0,0,0,15.07,14.92,15.09
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1255,-0.13,0.0,2550,2086,3271,3295,200.9,-15.9,129,1352,0.43,0.08,93.75,1.080,10246,0.278,0.151,2703,2133,2799,2865,2734,0,0,0,0,0,0,14.30,14.62,14.01
$STATE,1353,end apogee,CONTROL_FINISHED_OK
$STATE,1353,begin climb
$GC,1356,0.58,116.8,2703,2145,2864,2733,205.9,0.0,139,1460,0.52,0.00,96.72,1.068,10502,0.140,0.000,2926,2146,2321,2404,2238,0,0,0,0,0,0,14.53,14.37,13.90
$GC,1701,0.65,234.6,2926,2145,2401,2233,194.4,3.4,174,1802,0.05,2.42,93.15,1.071,10500,0.268,0.068,3018,3531,1842,1917,1768,0,0,0,0,0,0,14.84,14.62,14.01
$GC,1847,0.65,234.6,3018,3531,1917,1768,180.7,13.8,188,1852,0.20,2.28,0.00,0.000,5126,0.292,0.041,2961,2155,1843,1918,1768,0,0,0,0,0,0,14.49,14.74,14.73
$GC,2101,0.66,255.3,2961,2150,1917,1762,157.9,8.9,213,2123,0.00,2.40,17.52,1.004,8708,0.000,0.054,2971,716,1757,1839,1676,0,0,0,0,0,0,15.20,14.81,14.19
$GC,2637,0.67,273.5,2971,716,1829,1675,104.3,9.1,265,2659,0.00,2.35,15.43,0.959,13318,0.000,0.057,2971,2116,1683,1770,1597,0,0,0,0,0,0,14.84,14.78,14.23
$GC,2908,0.70,307.2,2971,2116,1770,1593,80.9,8.2,292,2941,0.00,2.35,27.75,0.957,8708,0.000,0.061,2982,723,1545,1638,1453,0,0,0,0,0,0,15.26,14.86,14.23
$GC,3120,0.70,316.8,2981,722,1630,1453,60.7,9.6,312,3134,0.00,2.35,8.43,0.852,13318,0.000,0.055,2982,2125,1506,1597,1415,0,0,0,0,0,0,14.69,14.62,14.20
$GC,3383,0.70,318.0,2981,2125,1597,1413,35.6,10.0,338,3392,0.00,2.38,0.00,0.000,4356,0.000,0.069,2982,3539,1505,1597,1413,0,0,0,0,0,0,15.24,14.65,15.24
$GC,3566,0.70,318.0,2981,3540,1597,1413,14.5,12.2,367,3576,0.05,2.40,0.00,0.000,5126,0.295,0.048,2973,2127,1505,1597,1413,0,0,0,0,0,0,14.59,14.83,14.75
$STATE,3682,end climb,SURFACE_DEPTH_REACHED
$STATE,3682,begin surface coast
$FINISH,0.2,1.023062
$STATE,3710,end surface coast,CONTROL_FINISHED_OK
$STATE,3710,begin surface
$SM_CCo,3727,34.67,0.186,0,0,1165,400.08
$SM_GC,0.99,6.47,0.25,34.67,0.064,0.091,0.186,163,2277,1165,-7.90,-0.93,400.08,0,0,0,0,0,0,14.98,14.92,14.66
$IRIDIUM_FIX,2237.01,-15804.53,031021,040408
$TT8_MAMPS,0.02247,0.315329
$HUMID,52.87
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.36,157.714
$10V_AH,12.86,0.000
$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,16.225,38.425,352.750,34.675,0.000,32.960,63.798,112.747,0.500,0.000,22.068,1033.706,1330.595,386.157,1248.854,135.989,0.000,874.483,0.000,1018.935,0.000,0.556,0.000
$DEVICE_MAMPS,432.990,151.470,1080.180,185.895,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,260.032,282.334,534.858,482.789,571.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,37328,393
$CAP_FILE_SIZE,61253,0
$CFSIZE,1023623168,957399040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,168.71,1
$GPS,031021,051234,2244.841,-15800.153,8,1.0,17,9.8,0.0,0.0,8,9.4