version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 904
start: 10 14 121 10 48 54
data:
$ID,626
$MISSION,3
$DIVE,904
$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,94
$R_STBD_OVSHOOT,61
$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
$GPS1,141021,104223,2244.1543,-15800.7783,6,1.0,19,9.8,0.5,6.4,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.2
$GPS2,141021,104804,2244.1589,-15800.8066,7,1.0,20,9.8,0.5,261.4,8,9.5
$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,51.2,2079,-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,-116.8,122,2311,1161,1036,0.0,0.0,0,81,0.00,0.00,-62.47,0.000,16386,0.000,0.000,122,2312,3096,3064,3128,0,0,0,0,0,0,15.17,28.83,15.18
$GC,85,-0.55,-116.8,122,2312,3065,3128,3.4,-6.3,9,108,8.50,2.35,-3.00,0.000,18948,0.427,0.063,2576,909,3280,3258,3303,0,0,0,0,0,0,14.06,13.26,14.37
$GC,122,-0.55,-116.8,2575,909,3265,3297,18.0,-35.9,14,131,0.00,2.35,0.00,0.000,3078,0.000,0.064,2567,2230,3281,3267,3295,0,0,0,0,0,0,14.70,14.63,14.73
$GC,384,-0.55,-116.8,2567,2232,3267,3294,67.7,-17.3,45,394,0.00,2.22,0.00,0.000,2564,0.000,0.055,2568,912,3281,3268,3294,0,0,0,0,0,0,15.23,14.86,15.23
$GC,442,-0.55,-116.8,2567,912,3268,3294,76.1,-14.8,50,450,0.00,2.38,0.00,0.000,3078,0.000,0.056,2557,2271,3280,3268,3293,0,0,0,0,0,0,14.81,14.73,14.85
$GC,690,-0.55,-116.8,2557,2272,3268,3294,108.8,-10.8,75,698,0.00,2.35,0.00,0.000,2308,0.000,0.069,2547,3674,3281,3268,3294,0,0,0,0,0,0,15.26,14.68,15.26
$GC,755,-0.55,-116.8,2547,3674,3268,3294,115.0,-9.2,81,763,0.08,2.20,0.00,0.000,3078,0.285,0.037,2578,2301,3281,3268,3294,0,0,0,0,0,0,14.67,14.94,14.89
$GC,1007,-0.55,-116.8,2578,2300,3269,3294,137.5,-9.9,106,1012,0.00,2.35,0.00,0.000,260,0.000,0.071,2570,3676,3281,3269,3294,0,0,0,0,0,0,15.26,14.85,15.26
$GC,1043,-0.55,-116.8,2569,3677,3268,3294,141.0,-9.4,109,1051,0.00,2.25,0.00,0.000,3078,0.000,0.035,2570,2270,3281,3269,3293,0,0,0,0,0,0,14.83,14.79,14.84
$GC,1293,-0.55,-116.8,2569,2268,3270,3293,161.7,-8.0,134,1297,0.00,2.40,0.00,0.000,2308,0.000,0.070,2558,3676,3281,3270,3292,0,0,0,0,0,0,15.26,14.84,15.27
$GC,1501,-0.55,-116.8,2558,3676,3269,3293,176.7,-6.2,154,1505,0.00,2.28,0.00,0.000,3078,0.000,0.034,2558,2260,3281,3270,3292,0,0,0,0,0,0,15.04,14.95,15.07
$GC,1756,-0.55,-116.8,2558,2256,3269,3290,192.3,-5.8,179,1764,0.00,2.33,0.00,0.000,2564,0.000,0.054,2559,857,3281,3271,3291,0,0,0,0,0,0,15.26,14.71,15.27
$GC,1801,-0.55,-116.8,2558,857,3271,3291,195.3,-6.4,183,1811,0.05,2.35,0.00,0.000,3078,0.244,0.054,2573,2266,3281,3272,3290,0,0,0,0,0,0,14.28,14.52,14.42
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1895,-0.13,0.0,2573,2073,3272,3290,200.5,-6.0,192,1994,0.30,0.10,95.10,1.079,10246,0.189,0.125,2699,2155,2798,2864,2733,0,0,0,0,0,0,14.37,14.59,13.86
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1998,0.55,116.8,2699,2155,2864,2732,206.0,0.0,202,2103,0.52,2.42,97.60,1.076,10756,0.100,0.047,2949,722,2321,2403,2239,0,0,0,0,0,0,14.60,14.55,13.83
$GC,2629,0.62,230.9,2948,722,2389,2236,185.4,4.2,263,2729,0.00,2.30,91.22,1.075,9222,0.000,0.050,2949,2100,1856,1934,1778,0,0,0,0,0,0,15.00,14.90,13.92
$GC,2969,0.62,230.9,2948,2100,1934,1771,151.8,10.1,297,2974,0.00,2.33,0.00,0.000,516,0.000,0.060,2959,730,1852,1933,1771,0,0,0,0,0,0,15.18,14.82,15.19
$GC,3267,0.62,230.9,2959,730,1923,1772,118.0,11.3,326,3277,0.00,2.33,0.00,0.000,5126,0.000,0.057,2959,2111,1847,1923,1771,0,0,0,0,0,0,14.67,14.62,14.70
$GC,3521,0.66,299.6,2959,2111,1923,1770,95.6,6.6,351,3582,0.00,2.42,54.53,0.981,8452,0.000,0.067,2959,3542,1577,1665,1489,0,0,0,0,0,0,15.23,14.74,14.05
$GC,3604,0.69,342.2,2959,3542,1665,1489,89.7,7.9,359,3645,0.00,2.38,35.05,0.953,9222,0.000,0.048,2970,2130,1403,1496,1310,0,0,0,0,0,0,14.87,14.77,13.99
$GC,3894,0.72,390.2,2970,2129,1494,1303,67.3,7.6,388,3943,0.00,2.42,37.70,0.933,10756,0.000,0.065,2981,719,1206,1303,1110,0,0,0,0,0,0,15.18,14.53,14.06
$GC,4028,0.72,402.7,2980,719,1297,1110,56.0,9.5,401,4048,0.00,2.40,10.88,0.869,9222,0.000,0.058,2981,2124,1155,1254,1057,0,0,0,0,0,0,14.90,14.79,14.00
$GC,4288,0.72,402.7,2980,2125,1254,1055,32.8,10.2,427,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2125,1154,1254,1055,0,0,0,0,0,0,15.19,15.21,15.20
$GC,4546,0.72,402.7,2980,2126,1254,1053,3.2,13.3,472,4554,0.00,2.50,0.00,0.000,516,0.000,0.064,2992,723,1154,1254,1054,0,0,0,0,0,0,15.19,14.65,15.20
$STATE,4560,end climb,SURFACE_DEPTH_REACHED
$STATE,4560,begin surface coast
$FINISH,0.2,1.010120
$STATE,4582,end surface coast,CONTROL_FINISHED_OK
$STATE,4582,begin surface
$SM_CCo,4662,0.00,0.000,0,0,1151,404.49
$SM_GC,1.11,6.45,2.65,0.00,0.045,0.050,0.000,149,2270,1151,-7.94,-0.79,404.49,0,0,0,0,0,0,14.98,14.85,15.02
$IRIDIUM_FIX,2234.68,-15800.20,141021,104358
$TT8_MAMPS,0.023219,0.316827
$HUMID,54.25
$INTERNAL_PRESSURE,9.27732
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.26,195.498
$10V_AH,12.67,0.000
$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,15.900,52.275,422.075,0.000,0.000,23.088,44.538,134.123,0.250,0.000,21.727,1236.109,1678.573,406.568,1518.573,190.773,0.000,1016.540,0.000,1233.285,0.000,0.555,0.000
$DEVICE_MAMPS,426.870,124.695,1078.650,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.710,520.212,646.982,559.911,657.264,0.000,0.000,0.000,0.000,0.000
$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,44160,478
$CAP_FILE_SIZE,71688,0
$CFSIZE,1023623168,943030272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,30
$CURRENT,0.118,257.67,1
$GPS,141021,120755,2244.097,-15800.768,8,0.7,44,9.8,0.0,113.9,11,5.5