version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 909
start: 10 14 121 17 43 23
data:
$ID,626
$MISSION,3
$DIVE,909
$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,42
$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
$GPS1,141021,173701,2243.3967,-15801.7578,8,0.9,42,9.8,0.5,191.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.8
$GPS2,141021,174233,2243.3623,-15801.7861,8,0.8,17,9.8,0.0,277.1,10,9.9
$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,37.6,4302,-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,-116.8,123,2297,1222,1097,0.0,0.0,0,81,0.00,0.00,-62.17,0.000,16386,0.000,0.000,122,2298,3174,3135,3213,0,0,0,0,0,0,15.18,28.83,15.19
$GC,85,-0.55,-116.8,122,2298,3136,3213,3.8,-7.4,9,101,8.52,2.33,-1.62,0.000,18692,0.428,0.070,2554,3677,3279,3250,3309,0,0,0,0,0,0,14.04,13.27,14.36
$GC,163,-0.55,-116.8,2553,3677,3259,3302,26.3,-11.4,22,171,0.05,2.40,0.00,0.000,3078,0.362,0.047,2571,2261,3280,3261,3299,0,0,0,0,0,0,14.57,14.80,14.81
$GC,421,-0.55,-116.8,2571,2257,3265,3296,67.1,-16.1,49,430,0.00,2.35,0.00,0.000,2564,0.000,0.057,2571,851,3280,3266,3295,0,0,0,0,0,0,15.24,14.51,15.24
$GC,538,-0.55,-116.8,2571,851,3267,3294,82.8,-11.9,60,547,0.00,2.42,0.00,0.000,3078,0.000,0.055,2563,2246,3280,3268,3293,0,0,0,0,0,0,14.76,14.69,14.78
$GC,786,-0.55,-116.8,2562,2246,3267,3293,112.4,-12.1,85,794,0.00,2.33,0.00,0.000,2564,0.000,0.055,2563,859,3280,3268,3293,0,0,0,0,0,0,15.26,14.71,15.27
$GC,871,-0.55,-116.8,2562,858,3268,3294,122.3,-11.3,93,878,0.05,2.38,0.00,0.000,3078,0.372,0.056,2570,2269,3280,3269,3292,0,0,0,0,0,0,14.64,14.87,14.88
$GC,1121,-0.55,-116.8,2570,2271,3269,3292,150.2,-9.2,118,1126,0.00,2.40,0.00,0.000,2564,0.000,0.054,2570,844,3280,3269,3292,0,0,0,0,0,0,15.26,14.89,15.26
$GC,1198,-0.55,-116.8,2570,844,3269,3293,156.8,-8.5,125,1205,0.00,2.42,0.00,0.000,3078,0.000,0.057,2561,2277,3280,3269,3291,0,0,0,0,0,0,15.02,14.88,15.04
$GC,1447,-0.55,-116.8,2561,2278,3269,3291,184.0,-11.9,150,1451,0.00,2.42,0.00,0.000,2564,0.000,0.057,2561,844,3280,3269,3291,0,0,0,0,0,0,15.27,14.90,15.28
$GC,1510,-0.55,-116.8,2561,843,3269,3292,191.8,-11.5,156,1516,0.08,2.40,0.00,0.000,3078,0.325,0.057,2578,2266,3280,3269,3291,0,0,0,0,0,0,14.62,14.89,14.87
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1608,-0.13,0.0,2578,2068,3269,3291,200.4,-8.8,165,1707,0.32,0.12,94.80,1.073,10246,0.208,0.103,2707,2161,2798,2863,2734,0,0,0,0,0,0,14.34,14.59,13.86
$STATE,1708,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1712,0.55,116.8,2707,2161,2863,2733,205.3,0.0,175,1816,0.50,2.47,97.22,1.066,10756,0.112,0.052,2944,709,2322,2405,2239,0,0,0,0,0,0,14.59,14.56,13.83
$GC,1970,0.55,124.6,2943,709,2390,2237,195.2,9.7,201,1984,0.03,2.35,6.65,0.901,13318,0.394,0.054,2934,2104,2291,2373,2210,0,0,0,0,0,0,14.37,14.65,13.93
$GC,2233,0.61,214.1,2934,2104,2372,2209,174.7,5.5,227,2314,0.00,2.45,72.22,1.044,10500,0.000,0.065,2934,3534,1928,2008,1848,0,0,0,0,0,0,15.23,14.42,13.92
$GC,2360,0.61,224.2,2934,3534,2008,1847,165.2,9.6,239,2380,0.00,2.35,10.12,0.938,11270,0.000,0.048,2943,2128,1883,1964,1803,0,0,0,0,0,0,14.68,14.63,13.95
$GC,2619,0.61,224.2,2943,2129,1964,1798,137.7,11.1,265,2628,0.00,2.38,0.00,0.000,516,0.000,0.063,2955,720,1879,1961,1798,0,0,0,0,0,0,15.20,14.68,15.21
$GC,2652,0.61,224.2,2954,720,1958,1798,133.8,11.5,268,2662,0.00,2.35,0.00,0.000,5126,0.000,0.054,2954,2120,1877,1957,1798,0,0,0,0,0,0,14.70,14.62,14.69
$GC,2905,0.61,224.2,2954,2120,1957,1797,105.4,10.9,293,2914,0.00,2.40,0.00,0.000,4612,0.000,0.060,2965,713,1877,1957,1798,0,0,0,0,0,0,15.23,14.69,15.23
$GC,2938,0.61,224.2,2964,713,1955,1797,101.5,10.6,296,2949,0.05,2.35,0.00,0.000,5126,0.278,0.054,2946,2117,1876,1956,1797,0,0,0,0,0,0,14.38,14.62,14.54
$GC,3190,0.64,261.6,2945,2118,1956,1797,78.5,8.2,321,3229,0.00,2.45,29.85,0.940,10756,0.000,0.062,2955,699,1732,1819,1645,0,0,0,0,0,0,15.26,14.82,14.11
$GC,3339,0.67,311.8,2955,699,1813,1645,66.9,7.5,335,3387,0.00,2.40,40.40,0.926,11270,0.000,0.056,2955,2121,1526,1616,1436,0,0,0,0,0,0,14.65,14.62,14.08
$GC,3628,0.67,316.5,2955,2121,1616,1430,40.4,9.9,364,3640,0.00,2.45,4.80,0.753,10500,0.000,0.070,2955,3541,1506,1600,1413,0,0,0,0,0,0,15.19,14.81,14.06
$GC,3665,0.67,316.5,2955,3541,1600,1413,36.6,10.6,367,3674,0.00,2.35,0.00,0.000,1030,0.000,0.049,2966,2125,1506,1600,1412,0,0,0,0,0,0,14.69,14.64,14.72
$GC,3927,0.68,326.3,2965,2123,1600,1413,9.2,9.6,410,3942,0.00,2.45,4.10,0.249,8708,0.000,0.064,2976,711,1466,1558,1374,0,0,0,0,0,0,15.19,14.81,14.53
$STATE,3982,end climb,SURFACE_DEPTH_REACHED
$STATE,3982,begin surface coast
$FINISH,0.3,1.023200
$STATE,4009,end surface coast,CONTROL_FINISHED_OK
$STATE,4009,begin surface
$SM_CCo,4029,22.38,0.192,0,0,1248,380.21
$SM_GC,1.41,6.45,2.67,22.38,0.056,0.050,0.192,169,2272,1248,-7.91,-0.74,380.21,0,0,0,0,0,0,14.92,14.85,14.59
$IRIDIUM_FIX,2234.68,-15800.20,141021,173839
$TT8_MAMPS,0.02247,0.346787
$HUMID,53.26
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.40
$XPDR_PINGS,4
$24V_AH,13.27,196.430
$10V_AH,11.35,0.000
$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,16.050,58.100,360.175,22.375,0.000,26.867,43.182,128.681,1.000,0.000,18.338,1098.849,1477.083,400.067,1250.231,190.530,0.000,927.030,0.000,1053.535,0.000,0.554,0.000
$DEVICE_MAMPS,428.400,103.275,1072.530,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,280.066,306.203,582.858,527.991,615.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339132
$DATA_FILE_SIZE,40750,424
$CAP_FILE_SIZE,70091,0
$CFSIZE,1023623168,942702592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.194,252.37,1
$GPS,141021,185153,2243.449,-15802.040,8,0.9,18,9.8,0.6,259.6,9,9.4