version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 746
start: 10 6 121 5 5 37
data:
$ID,626
$MISSION,3
$DIVE,746
$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,67
$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
$GPS1,061021,045931,2245.4438,-15800.3066,6,0.8,25,9.8,0.5,283.5,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.7
$GPS2,061021,050447,2245.4751,-15800.3105,6,0.8,15,9.8,0.0,322.0,10,9.4
$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,169.7,1027,-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,-116.8,124,2232,1204,1110,0.0,0.0,0,80,0.00,0.00,-61.50,0.000,16386,0.000,0.000,124,2232,3109,3077,3142,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,124,2232,3078,3142,3.2,-4.9,9,107,8.45,2.25,-2.83,0.000,18948,0.429,0.066,2569,884,3279,3257,3301,0,0,0,0,0,0,14.16,13.33,14.45
$GC,145,-0.55,-116.8,2569,881,3266,3295,22.9,-17.5,19,154,0.00,2.40,0.00,0.000,3078,0.000,0.055,2560,2265,3280,3267,3293,0,0,0,0,0,0,14.83,14.77,14.86
$GC,403,-0.55,-116.8,2560,2267,3267,3293,86.3,-22.2,47,408,0.00,2.35,0.00,0.000,2308,0.000,0.050,2550,3689,3279,3267,3292,0,0,0,0,0,0,15.25,14.90,15.25
$GC,467,-0.55,-116.8,2549,3689,3267,3293,96.5,-12.8,53,473,0.08,2.25,0.00,0.000,3078,0.322,0.034,2577,2282,3280,3267,3293,0,0,0,0,0,0,14.66,14.96,14.90
$GC,723,-0.55,-116.8,2576,2278,3265,3294,133.7,-14.8,78,732,0.00,2.33,0.00,0.000,260,0.000,0.056,2567,3683,3280,3267,3293,0,0,0,0,0,0,15.28,14.78,15.28
$GC,779,-0.55,-116.8,2567,3685,3267,3294,140.8,-12.4,83,786,0.00,2.28,0.00,0.000,3078,0.000,0.034,2568,2258,3280,3268,3293,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1026,-0.55,-116.8,2567,2255,3267,3293,179.3,-15.1,108,1036,0.00,2.30,0.00,0.000,2564,0.000,0.053,2567,855,3279,3267,3292,0,0,0,0,0,0,15.30,14.86,15.30
$GC,1100,-0.55,-116.8,2567,855,3268,3292,188.3,-11.4,115,1106,0.05,2.38,0.00,0.000,3078,0.381,0.054,2575,2275,3280,3269,3291,0,0,0,0,0,0,14.69,14.92,14.92
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1231,-0.13,0.0,2575,2084,3270,3290,200.8,-9.6,127,1334,0.32,0.05,94.15,1.068,10246,0.237,0.096,2702,2143,2798,2864,2732,0,0,0,0,0,0,14.50,14.39,13.95
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1338,0.55,116.8,2702,2143,2864,2732,204.9,0.0,138,1444,0.50,2.38,96.78,1.062,10756,0.116,0.054,2935,759,2320,2404,2237,0,0,0,0,0,0,14.62,14.35,13.87
$GC,1623,0.60,194.8,2935,759,2391,2237,197.9,6.1,166,1693,0.00,2.25,62.78,1.056,11270,0.000,0.048,2935,2111,2003,2083,1923,0,0,0,0,0,0,14.79,14.75,14.01
$GC,1932,0.60,195.8,2934,2111,2082,1917,169.8,10.0,197,1941,0.00,2.38,0.00,0.000,2308,0.000,0.065,2934,3533,1999,2081,1917,0,0,0,0,0,0,15.19,14.76,15.19
$GC,1976,0.60,195.8,2934,3533,2081,1917,164.8,11.2,201,1987,0.00,2.22,0.00,0.000,5126,0.000,0.044,2945,2176,2000,2082,1918,0,0,0,0,0,0,15.02,14.90,15.04
$GC,2228,0.61,210.8,2945,2176,2081,1915,139.4,9.3,226,2248,0.00,2.35,13.48,0.975,8452,0.000,0.066,2945,3531,1938,2019,1858,0,0,0,0,0,0,15.23,14.90,14.19
$GC,2302,0.61,210.8,2945,3532,2019,1858,131.5,11.0,233,2312,0.00,2.25,0.00,0.000,5126,0.000,0.050,2955,2179,1938,2019,1858,0,0,0,0,0,0,14.95,14.90,14.96
$GC,2554,0.61,210.8,2955,2179,2019,1856,106.6,10.4,258,2563,0.00,2.35,0.00,0.000,4612,0.000,0.060,2967,769,1936,2017,1856,0,0,0,0,0,0,15.25,14.63,15.26
$GC,2927,0.64,270.9,2966,770,2010,1856,77.0,7.0,294,2984,0.00,2.25,47.47,0.950,13318,0.000,0.054,2967,2115,1693,1781,1605,0,0,0,0,0,0,14.70,14.65,14.19
$GC,3224,0.68,333.7,2966,2116,1781,1600,52.8,6.9,324,3284,0.00,2.45,48.75,0.916,8452,0.000,0.064,2967,3543,1437,1529,1345,0,0,0,0,0,0,15.20,14.64,14.15
$GC,3718,0.68,336.5,2966,3543,1529,1345,7.1,10.0,392,3726,0.00,2.35,1.20,0.327,13318,0.000,0.050,2977,2171,1423,1523,1324,0,0,0,0,0,0,14.86,14.81,14.60
$STATE,3760,end climb,SURFACE_DEPTH_REACHED
$STATE,3760,begin surface coast
$FINISH,0.3,1.011637
$STATE,3793,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3810,25.92,0.190,0,0,1166,400.08
$SM_GC,1.48,6.50,0.17,25.92,0.057,0.080,0.190,138,2303,1166,-7.95,-0.82,400.08,0,0,0,0,0,0,14.97,14.98,14.64
$IRIDIUM_FIX,2237.01,-15801.49,061021,050100
$TT8_MAMPS,0.02247,0.293608
$HUMID,52.52
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,13.33,167.916
$10V_AH,12.84,0.000
$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,15.900,42.300,364.600,25.925,0.000,25.776,46.969,120.792,1.000,0.000,16.359,1052.977,1340.016,396.103,1248.066,150.137,0.000,917.045,0.000,1046.936,0.000,0.555,0.000
$DEVICE_MAMPS,429.165,107.865,1067.940,190.485,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,267.348,298.642,551.354,505.135,585.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339116
$DATA_FILE_SIZE,37350,405
$CAP_FILE_SIZE,64659,0
$CFSIZE,1023623168,953401344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.072,76.20,1
$GPS,061021,061025,2245.560,-15800.092,6,0.9,14,9.8,0.0,284.0,8,9.2