version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 891
start: 10 13 121 17 58 13
data:
$ID,626
$MISSION,3
$DIVE,891
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,131021,175126,2243.9922,-15801.4248,8,0.9,17,9.8,1.0,253.2,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.3
$GPS2,131021,175723,2243.9783,-15801.4863,8,1.0,20,9.8,0.5,53.0,8,8.5
$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,60.1,3166,-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,-116.8,124,2243,1287,1195,0.0,0.0,0,75,0.00,0.00,-56.72,0.000,16386,0.000,0.000,124,2243,3040,3013,3067,0,0,0,0,0,0,15.17,28.83,15.19
$GC,79,-0.55,-116.8,123,2244,3012,3068,3.3,-5.7,8,103,8.52,2.42,-4.05,0.000,19204,0.428,0.069,2553,3681,3280,3257,3303,0,0,0,0,0,0,14.07,13.26,14.35
$GC,112,-0.55,-116.8,2552,3681,3259,3302,16.0,-34.4,12,120,0.05,2.40,0.00,0.000,3078,0.375,0.055,2570,2283,3280,3261,3300,0,0,0,0,0,0,14.56,14.78,14.81
$GC,374,-0.55,-116.8,2569,2279,3266,3295,55.8,-15.3,45,384,0.00,2.35,0.00,0.000,2308,0.000,0.065,2561,3670,3280,3266,3295,0,0,0,0,0,0,15.23,14.59,15.23
$GC,494,-0.55,-116.8,2561,3670,3266,3295,70.8,-11.7,56,504,0.00,2.30,0.00,0.000,3078,0.000,0.044,2561,2257,3281,3267,3295,0,0,0,0,0,0,14.60,14.56,14.61
$GC,746,-0.55,-116.8,2561,2255,3267,3295,107.4,-13.5,81,755,0.00,2.33,0.00,0.000,2564,0.000,0.059,2561,863,3281,3268,3294,0,0,0,0,0,0,15.26,14.70,15.26
$GC,840,-0.55,-116.8,2561,863,3268,3294,119.9,-12.2,90,850,0.05,2.38,0.00,0.000,3078,0.308,0.057,2568,2275,3280,3269,3292,0,0,0,0,0,0,14.24,14.51,14.42
$GC,1091,-0.55,-116.8,2568,2275,3270,3292,152.7,-13.3,115,1100,0.00,2.38,0.00,0.000,2564,0.000,0.056,2568,862,3281,3270,3292,0,0,0,0,0,0,15.27,14.70,15.28
$GC,1197,-0.55,-116.8,2568,861,3270,3293,166.2,-12.2,125,1206,0.00,2.35,0.00,0.000,3078,0.000,0.057,2559,2263,3280,3270,3291,0,0,0,0,0,0,14.78,14.74,14.80
$GC,1451,-0.55,-116.8,2558,2263,3270,3290,193.7,-9.9,150,1461,0.00,2.38,0.00,0.000,2564,0.000,0.057,2559,857,3280,3270,3291,0,0,0,0,0,0,15.28,14.52,15.28
$GC,1496,-0.55,-116.8,2559,857,3270,3292,198.0,-9.2,154,1506,0.05,2.38,0.00,0.000,3078,0.312,0.058,2567,2270,3281,3271,3291,0,0,0,0,0,0,14.43,14.70,14.60
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1524,begin apogee
$GC,1532,-0.13,0.0,2568,2076,3271,3291,200.4,-7.9,157,1634,0.35,0.08,94.78,1.072,10246,0.213,0.079,2706,2152,2799,2864,2734,0,0,0,0,0,0,14.47,14.35,13.84
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1638,0.55,116.8,2707,2152,2863,2734,204.0,0.0,168,1744,0.47,2.40,97.15,1.069,10756,0.116,0.050,2931,750,2320,2401,2239,0,0,0,0,0,0,14.59,14.32,13.82
$GC,1845,0.58,167.8,2930,750,2389,2238,201.0,7.5,188,1893,0.00,2.30,42.12,1.054,11270,0.000,0.054,2931,2112,2113,2197,2029,0,0,0,0,0,0,14.89,14.77,13.95
$GC,2133,0.58,171.8,2930,2112,2197,2023,173.8,9.9,217,2144,0.00,2.45,4.18,0.806,10500,0.000,0.067,2931,3542,2097,2185,2010,0,0,0,0,0,0,15.19,14.78,13.95
$GC,2292,0.58,171.8,2930,3542,2185,2011,155.7,11.8,232,2299,0.00,2.28,0.00,0.000,5126,0.000,0.045,2941,2154,2098,2185,2011,0,0,0,0,0,0,15.02,14.90,15.03
$GC,2544,0.59,179.9,2941,2153,2185,2010,129.6,9.7,257,2563,0.00,2.40,8.35,0.925,12804,0.000,0.060,2953,723,2063,2151,1976,0,0,0,0,0,0,15.23,14.71,14.07
$GC,2628,0.60,196.3,2952,723,2147,1975,121.7,9.3,265,2648,0.00,2.35,14.07,0.959,13318,0.000,0.056,2953,2123,1997,2082,1913,0,0,0,0,0,0,14.78,14.73,14.11
$GC,2888,0.62,226.9,2953,2122,2081,1911,100.2,8.5,291,2919,0.00,2.40,25.00,0.965,12804,0.000,0.060,2963,732,1873,1956,1791,0,0,0,0,0,0,15.23,14.82,14.12
$GC,2949,0.63,248.9,2963,732,1951,1791,94.9,9.0,297,2978,0.00,2.35,18.42,0.936,13318,0.000,0.057,2963,2125,1784,1868,1701,0,0,0,0,0,0,14.75,14.69,14.04
$GC,3220,0.65,281.0,2963,2125,1867,1696,71.2,8.4,324,3259,0.00,2.40,26.48,0.923,12548,0.000,0.070,2963,3538,1652,1742,1562,0,0,0,0,0,0,15.21,14.59,14.10
$GC,3338,0.65,281.0,2963,3538,1742,1562,60.0,10.8,335,3349,0.05,2.33,0.00,0.000,5126,0.288,0.052,2955,2135,1652,1742,1562,0,0,0,0,0,0,14.31,14.56,14.47
$GC,3589,0.67,319.7,2954,2134,1742,1559,38.2,8.1,360,3627,0.00,0.00,30.83,0.885,10758,0.000,0.000,2954,2133,1494,1587,1402,0,0,0,0,0,0,15.23,14.48,14.09
$GC,3882,0.70,359.6,2954,2133,1587,1397,11.9,8.0,408,3903,0.00,0.00,16.75,0.233,10246,0.000,0.000,2954,2133,1330,1422,1239,0,0,0,0,0,0,15.18,14.80,14.53
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FINISH,0.3,1.023271
$STATE,3991,end surface coast,CONTROL_FINISHED_OK
$STATE,3992,begin surface
$SM_CCo,4009,8.20,0.201,0,0,1247,380.21
$SM_GC,1.56,6.22,0.22,8.20,0.024,0.080,0.201,155,2284,1247,-7.92,-1.05,380.21,0,0,0,0,0,0,14.93,14.90,14.59
$IRIDIUM_FIX,2234.68,-15800.20,131021,175308
$TT8_MAMPS,0.02247,0.286118
$HUMID,53.11
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,13.26,193.153
$10V_AH,12.22,0.000
$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,15.775,47.850,378.125,8.200,0.000,30.844,46.069,138.745,0.500,0.000,21.995,1093.606,1422.552,410.169,1290.208,190.325,0.000,939.504,0.000,1062.833,0.000,0.555,0.000
$DEVICE_MAMPS,427.635,80.325,1071.765,201.195,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.736,321.415,586.215,548.637,629.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339084
$DATA_FILE_SIZE,40708,427
$CAP_FILE_SIZE,70980,0
$CFSIZE,1023623168,943882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.179,299.24,1
$GPS,131021,190631,2244.366,-15801.662,8,0.8,41,9.8,1.0,42.7,10,5.3