version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 919
start: 10 15 121 6 33 54
data:
$ID,626
$MISSION,3
$DIVE,919
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,151021,062707,2244.2832,-15801.5918,8,0.9,20,9.8,0.0,306.5,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.7
$GPS2,151021,063305,2244.2671,-15801.6514,8,0.9,18,9.8,0.6,273.9,8,9.7
$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,41.5,3130,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-116.8,123,2283,1296,1188,0.0,0.0,0,73,0.00,0.00,-53.80,0.000,16386,0.000,0.000,123,2284,2950,2931,2969,0,0,0,0,0,0,15.17,28.83,15.18
$GC,77,-0.55,-116.8,123,2284,2931,2970,3.2,-6.0,8,100,8.52,2.35,-5.72,0.000,18692,0.428,0.076,2552,3681,3281,3261,3301,0,0,0,0,0,0,14.07,13.83,14.38
$GC,129,-0.55,-116.8,2551,3680,3261,3301,18.5,-20.1,16,137,0.08,2.42,0.00,0.000,3078,0.291,0.050,2580,2254,3281,3267,3296,0,0,0,0,0,0,14.57,14.79,14.81
$GC,385,-0.55,-116.8,2580,2250,3268,3295,56.7,-14.2,47,395,0.00,2.40,0.00,0.000,4356,0.000,0.070,2571,3660,3281,3268,3295,0,0,0,0,0,0,15.23,14.45,15.23
$GC,442,-0.55,-116.8,2571,3660,3268,3295,63.4,-11.3,52,453,0.00,2.30,0.00,0.000,3078,0.000,0.045,2571,2256,3281,3268,3295,0,0,0,0,0,0,14.58,14.53,14.60
$GC,693,-0.55,-116.8,2571,2254,3270,3295,92.7,-11.2,77,701,0.00,2.40,0.00,0.000,2308,0.000,0.070,2561,3661,3282,3269,3295,0,0,0,0,0,0,15.26,14.63,15.26
$GC,725,-0.55,-116.8,2560,3661,3270,3295,96.3,-10.7,80,736,0.00,2.28,0.00,0.000,3078,0.000,0.042,2560,2258,3282,3270,3294,0,0,0,0,0,0,14.72,14.73,14.71
$GC,979,-0.55,-116.8,2561,2258,3270,3295,125.0,-12.0,105,988,0.00,2.38,0.00,0.000,2308,0.000,0.070,2551,3659,3282,3270,3295,0,0,0,0,0,0,15.25,14.64,15.26
$GC,1035,-0.55,-116.8,2550,3659,3270,3295,131.5,-11.0,110,1045,0.08,2.35,0.00,0.000,3078,0.290,0.041,2581,2258,3282,3270,3295,0,0,0,0,0,0,14.62,14.80,14.85
$GC,1284,-0.55,-116.8,2580,2259,3271,3295,156.7,-9.9,135,1294,0.00,2.40,0.00,0.000,4356,0.000,0.074,2572,3662,3283,3271,3295,0,0,0,0,0,0,15.28,14.42,15.28
$GC,1308,-0.55,-116.8,2571,3662,3271,3294,158.9,-9.4,137,1317,0.00,2.28,0.00,0.000,1030,0.000,0.040,2572,2259,3283,3272,3294,0,0,0,0,0,0,14.96,14.93,14.96
$GC,1559,-0.55,-116.8,2572,2258,3271,3294,182.6,-9.4,162,1569,0.00,2.40,0.00,0.000,260,0.000,0.075,2561,3659,3282,3271,3294,0,0,0,0,0,0,15.26,14.44,15.27
$GC,1596,-0.55,-116.8,2561,3659,3271,3294,185.9,-9.3,165,1603,0.00,2.33,0.00,0.000,3078,0.000,0.037,2561,2262,3283,3272,3294,0,0,0,0,0,0,14.86,14.81,14.97
$STATE,1741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1741,begin apogee
$GC,1749,-0.13,0.0,2561,2078,3271,3293,200.8,-10.1,180,1853,0.38,0.08,95.32,1.082,10246,0.220,0.147,2704,2144,2798,2865,2732,0,0,0,0,0,0,14.26,14.57,13.85
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1857,0.55,116.8,2704,2144,2865,2732,207.4,0.0,191,1964,0.52,2.38,97.50,1.073,11012,0.111,0.068,2939,3516,2322,2405,2239,0,0,0,0,0,0,14.59,14.28,13.77
$GC,1990,0.67,310.8,2939,3515,2405,2239,211.2,0.1,204,2155,0.00,2.22,155.43,1.074,11270,0.000,0.043,2949,2174,1531,1614,1448,0,0,0,0,0,0,14.54,14.50,13.83
$GC,2404,0.67,310.8,2949,2174,1614,1441,161.1,12.2,245,2412,0.00,2.45,0.00,0.000,2564,0.000,0.063,2961,724,1527,1614,1441,0,0,0,0,0,0,15.18,14.67,15.18
$GC,2592,0.67,310.8,2961,724,1612,1440,137.8,12.7,263,2601,0.00,2.30,0.00,0.000,1030,0.000,0.060,2961,2090,1525,1612,1439,0,0,0,0,0,0,14.77,14.72,14.81
$GC,2843,0.68,334.4,2961,2091,1612,1438,111.6,8.9,288,2872,0.00,2.47,19.42,0.975,10500,0.000,0.068,2961,3537,1437,1531,1343,0,0,0,0,0,0,15.23,14.52,14.02
$GC,3064,0.68,334.4,2961,3537,1531,1343,86.4,11.7,309,3072,0.00,2.35,0.00,0.000,5126,0.000,0.054,2972,2130,1436,1531,1342,0,0,0,0,0,0,14.76,14.71,14.79
$GC,3317,0.71,384.5,2972,2130,1530,1344,63.4,7.5,334,3367,0.00,2.42,40.53,0.941,10756,0.000,0.067,2983,715,1229,1327,1132,0,0,0,0,0,0,15.23,14.50,14.02
$GC,3413,0.73,419.9,2983,715,1324,1133,55.5,8.3,343,3453,0.00,2.40,28.02,0.911,9222,0.000,0.058,2983,2126,1087,1188,986,0,0,0,0,0,0,14.62,14.54,13.95
$GC,3693,0.75,452.5,2983,2126,1188,982,30.5,8.4,371,3725,0.00,2.38,25.42,0.884,10500,0.000,0.066,2983,3543,953,1061,845,0,0,0,0,0,0,15.19,14.79,14.12
$GC,3749,0.75,452.5,2982,3543,1061,845,24.6,10.6,379,3757,0.00,2.42,0.00,0.000,1030,0.000,0.050,2992,2122,952,1061,844,0,0,0,0,0,0,14.90,14.78,14.92
$STATE,3931,end climb,SURFACE_DEPTH_REACHED
$STATE,3931,begin surface coast
$FINISH,0.2,1.004698
$STATE,3955,end surface coast,CONTROL_FINISHED_OK
$STATE,3955,begin surface
$SM_CCo,4033,0.00,0.000,0,0,951,453.55
$SM_GC,1.08,6.45,0.25,0.00,0.041,0.060,0.000,153,2328,951,-7.93,-0.93,453.55,0,0,0,0,0,0,14.93,14.95,14.98
$IRIDIUM_FIX,2234.68,-15802.37,151021,062848
$TT8_MAMPS,0.02247,0.34454
$HUMID,54.09
$INTERNAL_PRESSURE,9.25779
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.77,198.251
$10V_AH,11.86,0.000
$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,16.025,52.600,461.650,0.000,0.000,26.859,44.006,144.318,0.250,0.000,19.947,1038.679,1479.258,457.413,1259.448,181.579,0.000,997.964,0.000,1033.559,0.000,0.555,0.000
$DEVICE_MAMPS,428.400,146.880,1082.475,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,273.126,299.263,561.543,523.401,608.518,0.000,0.000,0.000,0.000,0.000
$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,40685,416
$CAP_FILE_SIZE,64964,0
$CFSIZE,1023623168,942063616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.104,245.71,1
$GPS,151021,074208,2244.141,-15801.899,7,1.0,25,9.8,0.0,8.6,8,9.6