version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 800
start: 10 8 121 22 25 59
data:
$ID,626
$MISSION,3
$DIVE,800
$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,380
$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,31
$R_STBD_OVSHOOT,37
$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
$GPS1,081021,221942,2245.0125,-15800.1631,7,1.0,18,9.8,0.5,54.2,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.9
$GPS2,081021,222506,2244.9851,-15800.1943,7,0.9,25,9.8,0.9,108.1,9,9.6
$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,56.3,333,-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,-116.8,123,2286,1282,1195,0.0,0.0,0,74,0.00,0.00,-55.78,0.000,16386,0.000,0.000,123,2286,2987,2965,3010,0,0,0,0,0,0,15.19,28.83,15.19
$GC,78,-0.58,-116.8,123,2287,2965,3010,3.2,-5.5,8,101,8.43,2.33,-4.82,0.000,18692,0.426,0.072,2545,3673,3276,3256,3296,0,0,0,0,0,0,14.14,13.88,14.42
$GC,142,-0.58,-116.8,2545,3674,3257,3296,21.9,-16.6,18,152,0.03,2.42,0.00,0.000,3078,0.352,0.051,2555,2260,3276,3261,3292,0,0,0,0,0,0,14.51,14.71,14.62
$GC,402,-0.58,-116.8,2555,2258,3262,3291,73.6,-20.8,47,411,0.00,2.35,0.00,0.000,2308,0.000,0.060,2547,3662,3276,3261,3291,0,0,0,0,0,0,15.24,14.54,15.24
$GC,532,-0.58,-116.8,2547,3662,3261,3291,90.6,-10.6,59,540,0.05,2.30,0.00,0.000,3078,0.360,0.047,2566,2266,3276,3262,3290,0,0,0,0,0,0,14.67,14.91,14.90
$GC,782,-0.58,-116.8,2565,2262,3263,3290,121.5,-11.9,84,792,0.00,2.33,0.00,0.000,516,0.000,0.059,2566,855,3277,3265,3289,0,0,0,0,0,0,15.26,14.55,15.26
$GC,893,-0.58,-116.8,2566,855,3266,3290,133.4,-9.7,94,901,0.00,2.45,0.00,0.000,3078,0.000,0.060,2557,2261,3277,3267,3288,0,0,0,0,0,0,14.87,14.81,14.90
$GC,1142,-0.58,-116.8,2557,2262,3267,3288,163.9,-13.0,119,1151,0.00,2.35,0.00,0.000,2564,0.000,0.057,2557,862,3278,3267,3289,0,0,0,0,0,0,15.28,14.77,15.27
$GC,1226,-0.58,-116.8,2556,862,3267,3289,174.3,-11.5,127,1235,0.00,2.35,0.00,0.000,3078,0.000,0.059,2547,2259,3277,3267,3288,0,0,0,0,0,0,14.80,14.73,14.83
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1440,-0.13,0.0,2547,2093,3267,3288,200.6,-12.4,148,1539,0.40,0.08,94.25,1.072,10246,0.240,0.149,2699,2149,2798,2863,2734,0,0,0,0,0,0,14.46,14.59,13.90
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1543,0.58,116.8,2699,2149,2863,2734,205.0,0.0,158,1648,0.55,2.47,97.88,1.060,10756,0.138,0.054,2942,739,2320,2402,2239,0,0,0,0,0,0,14.51,14.56,13.87
$GC,1685,0.63,194.9,2942,738,2391,2240,203.8,5.7,172,1755,0.00,2.33,63.65,1.051,11270,0.000,0.054,2941,2111,2003,2082,1924,0,0,0,0,0,0,14.81,14.69,13.90
$GC,2003,0.63,194.9,2942,2111,2081,1919,163.7,12.3,204,2014,0.00,2.38,0.00,0.000,2308,0.000,0.066,2942,3533,2000,2081,1919,0,0,0,0,0,0,15.19,14.62,15.19
$GC,2088,0.63,194.9,2942,3532,2081,1918,152.6,13.0,212,2098,0.00,2.25,0.00,0.000,1030,0.000,0.048,2953,2161,2000,2081,1919,0,0,0,0,0,0,14.81,14.76,14.85
$GC,2341,0.63,194.9,2952,2160,2081,1918,123.5,11.5,237,2350,0.00,2.42,0.00,0.000,516,0.000,0.063,2964,723,1999,2081,1917,0,0,0,0,0,0,15.23,14.73,15.24
$GC,2385,0.63,194.9,2964,723,2074,1917,118.2,11.6,241,2394,0.00,2.38,0.00,0.000,5126,0.000,0.059,2964,2128,1995,2074,1917,0,0,0,0,0,0,14.81,14.73,14.84
$GC,2635,0.63,194.9,2964,2128,2074,1917,89.0,11.8,266,2642,0.00,0.00,0.00,0.000,4102,0.000,0.000,2964,2128,1995,2074,1917,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2885,0.65,225.2,2964,2128,2075,1917,64.6,8.4,291,2914,0.00,0.00,24.08,0.923,12550,0.000,0.000,2964,2128,1879,1960,1799,0,0,0,0,0,0,15.27,14.81,14.16
$GC,3157,0.67,259.7,2964,2128,1960,1795,43.9,8.1,318,3195,0.00,2.38,27.85,0.895,8452,0.000,0.065,2964,3543,1739,1825,1654,0,0,0,0,0,0,15.21,14.62,14.15
$GC,3243,0.67,259.7,2964,3543,1824,1654,35.4,10.7,326,3250,0.00,2.42,0.00,0.000,5126,0.000,0.049,2975,2128,1739,1825,1654,0,0,0,0,0,0,14.95,14.77,14.96
$GC,3507,0.67,259.7,2974,2126,1825,1651,7.9,11.1,370,3513,0.00,0.00,0.00,0.000,4102,0.000,0.000,2975,2126,1738,1825,1652,0,0,0,0,0,0,15.19,15.19,15.19
$STATE,3546,end climb,SURFACE_DEPTH_REACHED
$STATE,3546,begin surface coast
$FINISH,0.3,0.998427
$STATE,3570,end surface coast,CONTROL_FINISHED_OK
$STATE,3570,begin surface
$SM_CCo,3588,50.35,0.178,0,0,1249,380.21
$SM_GC,1.28,6.53,0.25,50.35,0.060,0.067,0.178,142,2292,1249,-7.96,-0.79,380.21,0,0,0,0,0,0,14.95,14.95,14.62
$IRIDIUM_FIX,2237.01,-15801.49,081021,222107
$TT8_MAMPS,0.02247,0.316078
$HUMID,52.44
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,13.87,177.034
$10V_AH,12.72,0.000
$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,15.975,38.450,307.700,50.350,0.000,23.498,45.783,121.766,0.500,0.000,26.535,976.874,1340.219,402.511,1130.376,151.467,0.000,847.789,0.000,926.588,0.000,0.555,0.000
$DEVICE_MAMPS,426.105,149.175,1071.765,178.245,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,251.624,275.572,523.082,489.287,575.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339092
$DATA_FILE_SIZE,33964,381
$CAP_FILE_SIZE,59306,0
$CFSIZE,1023623168,949862400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.179,220.08,1
$GPS,081021,232738,2244.916,-15800.212,8,1.0,22,9.8,0.7,321.7,8,8.6