version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 777
start: 10 7 121 18 36 3
data:
$ID,626
$MISSION,3
$DIVE,777
$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,56
$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
$GPS1,071021,182931,2244.8943,-15800.3174,7,0.9,27,9.8,0.8,65.5,10,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.7
$GPS2,071021,183508,2244.9175,-15800.3193,8,0.9,19,9.8,1.0,34.4,10,8.7
$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,90.6,567,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.58,-116.8,123,2304,1200,1110,0.0,0.0,0,75,0.00,0.00,-56.28,0.000,16386,0.000,0.000,123,2304,2962,2942,2983,0,0,0,0,0,0,15.19,28.83,15.19
$GC,79,-0.58,-116.8,123,2304,2942,2984,3.4,-6.5,8,102,8.48,2.45,-5.22,0.000,18948,0.432,0.074,2569,851,3280,3262,3298,0,0,0,0,0,0,14.15,13.89,14.43
$GC,149,-0.58,-116.8,2568,851,3269,3294,25.3,-20.6,19,156,0.00,2.40,0.00,0.000,3078,0.000,0.053,2559,2262,3281,3270,3292,0,0,0,0,0,0,14.95,14.81,14.97
$GC,401,-0.58,-116.8,2559,2264,3271,3291,76.4,-19.0,46,405,0.00,2.38,0.00,0.000,2564,0.000,0.060,2559,855,3281,3271,3291,0,0,0,0,0,0,15.24,14.88,15.25
$GC,487,-0.58,-116.8,2559,853,3271,3291,90.1,-14.7,54,496,0.00,2.42,0.00,0.000,3078,0.000,0.057,2549,2257,3280,3271,3290,0,0,0,0,0,0,14.81,14.73,14.83
$GC,735,-0.58,-116.8,2549,2257,3272,3290,127.2,-14.4,79,743,0.00,2.35,0.00,0.000,2564,0.000,0.057,2549,852,3280,3271,3290,0,0,0,0,0,0,15.28,14.75,15.28
$GC,830,-0.58,-116.8,2549,852,3272,3291,139.0,-11.8,88,839,0.08,2.42,0.00,0.000,3078,0.350,0.058,2564,2278,3281,3272,3290,0,0,0,0,0,0,14.61,14.87,14.88
$GC,1081,-0.58,-116.8,2564,2280,3272,3290,169.5,-11.9,113,1090,0.00,2.35,0.00,0.000,516,0.000,0.055,2564,855,3281,3272,3290,0,0,0,0,0,0,15.28,14.74,15.28
$GC,1143,-0.58,-116.8,2564,855,3272,3290,176.9,-10.7,119,1152,0.00,2.35,0.00,0.000,3078,0.000,0.056,2555,2264,3281,3272,3290,0,0,0,0,0,0,15.06,14.92,15.07
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1349,-0.13,0.0,2555,2084,3272,3290,200.1,-11.8,139,1448,0.38,0.08,94.43,1.068,10246,0.232,0.151,2700,2147,2799,2864,2734,0,0,0,0,0,0,14.51,14.60,13.93
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1451,0.58,116.8,2700,2147,2864,2733,204.7,0.0,149,1557,0.52,2.35,97.05,1.056,10500,0.135,0.062,2924,3515,2322,2406,2239,0,0,0,0,0,0,14.58,14.57,13.88
$GC,1702,0.58,116.8,2924,3515,2406,2240,192.2,10.8,174,1711,0.00,2.30,0.00,0.000,1030,0.000,0.044,2935,2152,2322,2406,2238,0,0,0,0,0,0,14.82,14.77,14.85
$GC,1954,0.60,151.9,2935,2150,2406,2234,169.3,8.1,199,1990,0.00,2.38,29.52,1.021,10500,0.000,0.065,2935,3522,2178,2267,2089,0,0,0,0,0,0,15.22,14.81,14.12
$GC,2035,0.60,151.9,2935,3522,2267,2090,161.6,10.2,207,2044,0.00,2.28,0.00,0.000,5126,0.000,0.045,2946,2138,2178,2267,2090,0,0,0,0,0,0,14.67,14.62,14.69
$GC,2286,0.63,198.9,2946,2138,2267,2084,140.0,7.4,232,2336,0.00,2.38,37.83,1.004,10500,0.000,0.066,2945,3511,1987,2071,1903,0,0,0,0,0,0,15.22,14.64,14.12
$GC,2372,0.63,198.9,2946,3510,2072,1903,131.9,10.9,240,2381,0.00,2.38,0.00,0.000,5126,0.000,0.048,2956,2101,1987,2072,1903,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2623,0.63,199.8,2956,2100,2071,1899,104.6,10.0,265,2632,0.00,2.40,0.00,0.000,4356,0.000,0.069,2956,3516,1985,2071,1900,0,0,0,0,0,0,15.21,14.72,15.22
$GC,2667,0.63,199.8,2956,3516,2071,1899,99.8,10.5,269,2676,0.03,2.28,0.00,0.000,5126,0.416,0.046,2958,2126,1985,2072,1899,0,0,0,0,0,0,14.52,14.78,14.65
$GC,2918,0.64,212.9,2957,2123,2069,1898,75.6,9.4,294,2936,0.00,0.00,11.85,0.901,12294,0.000,0.000,2957,2124,1930,2012,1848,0,0,0,0,0,0,15.26,14.85,14.19
$GC,3179,0.67,261.0,2957,2123,2013,1844,55.1,7.4,320,3226,0.00,2.38,38.28,0.916,10500,0.000,0.068,2957,3517,1733,1820,1647,0,0,0,0,0,0,15.23,14.62,14.17
$GC,3305,0.67,261.0,2957,3517,1820,1646,42.4,11.0,332,3315,0.00,2.30,0.00,0.000,5126,0.000,0.050,2966,2134,1734,1821,1647,0,0,0,0,0,0,14.64,14.59,14.66
$GC,3566,0.67,271.3,2966,2132,1820,1644,15.2,9.5,370,3575,0.00,2.42,4.12,0.265,8708,0.000,0.057,2977,709,1692,1781,1603,0,0,0,0,0,0,15.19,14.85,14.56
$GC,3589,0.67,271.3,2977,709,1778,1604,12.3,10.8,373,3598,0.00,2.42,0.00,0.000,5126,0.000,0.054,2978,2104,1690,1778,1602,0,0,0,0,0,0,14.78,14.71,14.81
$STATE,3671,end climb,SURFACE_DEPTH_REACHED
$STATE,3671,begin surface coast
$FINISH,0.5,1.023196
$STATE,3697,end surface coast,CONTROL_FINISHED_OK
$STATE,3697,begin surface
$SM_CCo,3714,53.55,0.181,0,0,1165,400.08
$SM_GC,1.34,6.47,0.25,53.55,0.052,0.058,0.181,150,2328,1165,-7.95,-0.85,400.08,0,0,0,0,0,0,14.94,15.00,14.63
$IRIDIUM_FIX,2237.01,-15757.16,071021,183112
$TT8_MAMPS,0.02247,0.342293
$HUMID,52.44
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,13.88,173.208
$10V_AH,12.37,0.000
$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,15.950,47.925,313.075,53.550,0.000,32.899,56.535,120.168,0.750,0.000,21.115,1015.290,1400.557,400.813,1173.541,155.213,0.000,874.778,0.000,954.710,0.000,0.555,0.000
$DEVICE_MAMPS,432.225,150.705,1067.940,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,258.882,285.118,536.658,489.455,567.499,0.000,0.000,0.000,0.000,0.000
$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,37350,392
$CAP_FILE_SIZE,62969,0
$CFSIZE,1023623168,951369728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.075,68.39,1
$GPS,071021,193948,2245.072,-15759.723,7,0.8,19,9.8,0.0,245.3,10,9.8