version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 763
start: 10 7 121 1 31 32
data:
$ID,626
$MISSION,3
$DIVE,763
$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,47
$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
$GPS1,071021,012517,2245.2820,-15800.8320,8,0.9,48,9.8,1.1,292.0,7,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.3
$GPS2,071021,013041,2245.3184,-15800.8701,7,0.9,21,9.8,0.9,305.0,8,9.2
$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,103.6,1598,-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,-116.8,124,2237,1200,1114,0.0,0.0,0,81,0.00,0.00,-62.10,0.000,16386,0.000,0.000,124,2237,3161,3125,3198,0,0,0,0,0,0,15.19,28.83,15.19
$GC,84,-0.55,-116.8,123,2237,3126,3198,3.7,-7.0,9,100,8.48,2.30,-1.80,0.000,18948,0.431,0.063,2571,850,3280,3252,3309,0,0,0,0,0,0,14.15,13.31,14.45
$GC,134,-0.55,-116.8,2571,850,3266,3296,25.2,-30.1,17,141,0.00,2.45,0.00,0.000,3078,0.000,0.059,2562,2272,3281,3268,3295,0,0,0,0,0,0,14.95,14.81,14.97
$GC,388,-0.55,-116.8,2562,2274,3267,3295,76.4,-21.8,44,397,0.00,2.35,0.00,0.000,2564,0.000,0.055,2562,874,3281,3267,3295,0,0,0,0,0,0,15.23,14.58,15.23
$GC,456,-0.55,-116.8,2562,874,3268,3295,87.4,-14.5,50,464,0.05,2.38,0.00,0.000,3078,0.404,0.057,2568,2268,3281,3268,3294,0,0,0,0,0,0,14.61,14.84,14.87
$GC,704,-0.55,-116.8,2568,2270,3269,3294,122.2,-13.5,75,714,0.00,2.33,0.00,0.000,2564,0.000,0.054,2568,872,3281,3269,3294,0,0,0,0,0,0,15.27,14.76,15.27
$GC,770,-0.55,-116.8,2568,872,3271,3294,130.0,-10.9,81,778,0.00,2.35,0.00,0.000,3078,0.000,0.058,2559,2264,3282,3271,3293,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1021,-0.55,-116.8,2558,2264,3271,3293,161.8,-12.9,106,1029,0.00,2.33,0.00,0.000,2564,0.000,0.055,2559,868,3282,3271,3293,0,0,0,0,0,0,15.28,14.76,15.28
$GC,1094,-0.55,-116.8,2558,869,3272,3294,171.6,-12.1,113,1105,0.05,2.33,0.00,0.000,3078,0.313,0.057,2567,2266,3281,3271,3292,0,0,0,0,0,0,14.50,14.78,14.66
$STATE,1331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1338,-0.13,0.0,2568,2088,3272,3291,200.7,-11.7,137,1437,0.35,0.08,94.40,1.067,10246,0.233,0.143,2704,2146,2798,2864,2733,0,0,0,0,0,0,14.52,14.60,13.93
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1440,0.55,116.8,2704,2147,2864,2733,205.1,0.0,147,1545,0.50,2.38,96.75,1.058,10500,0.144,0.063,2917,3519,2322,2406,2239,0,0,0,0,0,0,14.57,14.57,13.90
$GC,1834,0.58,165.8,2917,3519,2404,2241,182.1,7.6,186,1885,0.00,2.22,40.33,1.042,11270,0.000,0.043,2928,2161,2122,2210,2034,0,0,0,0,0,0,14.94,14.90,14.05
$GC,2125,0.58,169.7,2928,2161,2210,2031,155.1,9.9,215,2135,0.00,2.35,4.12,0.780,10500,0.000,0.064,2929,3523,2107,2196,2018,0,0,0,0,0,0,15.21,14.83,14.04
$GC,2161,0.58,169.7,2928,3523,2196,2018,151.3,10.8,218,2169,0.00,2.30,0.00,0.000,5126,0.000,0.048,2939,2130,2107,2196,2018,0,0,0,0,0,0,15.02,14.90,15.03
$GC,2412,0.59,180.0,2939,2130,2196,2017,126.7,9.6,243,2431,0.00,2.38,9.73,0.932,8452,0.000,0.067,2939,3526,2064,2152,1977,0,0,0,0,0,0,15.23,14.89,14.16
$GC,2447,0.59,180.0,2939,3525,2152,1977,122.9,10.3,246,2456,0.00,2.38,0.00,0.000,5126,0.000,0.047,2950,2106,2064,2152,1977,0,0,0,0,0,0,15.02,14.90,15.03
$GC,2699,0.62,232.1,2949,2106,2152,1975,100.2,7.4,271,2746,0.00,2.40,41.90,0.968,8452,0.000,0.067,2950,3519,1851,1932,1770,0,0,0,0,0,0,15.25,14.81,14.16
$GC,2765,0.63,258.8,2949,3519,1933,1770,94.3,8.7,278,2798,0.00,2.30,22.48,0.938,13318,0.000,0.050,2961,2134,1742,1826,1658,0,0,0,0,0,0,14.69,14.66,14.06
$GC,3037,0.65,277.0,2960,2134,1827,1653,67.3,9.2,305,3056,0.00,0.00,15.35,0.903,12294,0.000,0.000,2961,2134,1667,1758,1577,0,0,0,0,0,0,15.19,14.81,14.17
$GC,3299,0.66,295.5,2960,2133,1758,1574,42.8,9.1,331,3319,0.00,2.33,15.20,0.875,8452,0.000,0.059,2961,3525,1594,1685,1503,0,0,0,0,0,0,15.21,14.87,14.21
$GC,3340,0.68,326.5,2960,3525,1685,1502,39.3,8.5,335,3371,0.00,2.38,25.30,0.881,13318,0.000,0.047,2971,2106,1466,1559,1374,0,0,0,0,0,0,14.97,14.85,14.16
$GC,3633,0.68,326.5,2971,2106,1559,1369,5.3,12.8,382,3641,0.00,2.40,0.00,0.000,4612,0.000,0.063,2982,713,1463,1558,1369,0,0,0,0,0,0,15.18,14.80,15.18
$STATE,3652,end climb,SURFACE_DEPTH_REACHED
$STATE,3652,begin surface coast
$FINISH,0.4,1.023084
$STATE,3676,end surface coast,CONTROL_FINISHED_OK
$STATE,3676,begin surface
$SM_CCo,3695,30.38,0.187,0,0,1167,400.08
$SM_GC,1.24,6.43,2.62,30.38,0.049,0.049,0.187,162,2250,1167,-7.93,-1.27,400.08,0,0,0,0,0,0,14.97,14.88,14.64
$IRIDIUM_FIX,2234.68,-15800.20,071021,012648
$TT8_MAMPS,0.02247,0.310086
$HUMID,52.32
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.31,170.831
$10V_AH,12.59,0.000
$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,15.850,47.525,365.550,30.375,0.000,29.552,48.759,111.698,0.500,0.000,22.512,996.160,1366.880,410.910,1158.713,152.987,0.000,882.779,0.000,945.398,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,143.055,1067.175,187.425,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,256.400,292.463,526.785,476.530,558.977,0.000,0.000,0.000,0.000,0.000
$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,37272,389
$CAP_FILE_SIZE,60907,0
$CFSIZE,1023623168,952287232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.123,2.73,1
$GPS,071021,023431,2245.503,-15800.430,7,0.9,16,9.8,0.0,173.3,8,10.0