version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 976
start: 10 18 121 10 49 2
data:
$ID,626
$MISSION,3
$DIVE,976
$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,100
$R_STBD_OVSHOOT,40
$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
$GPS1,181021,104155,2240.0300,-15810.4121,6,0.8,42,9.8,0.5,184.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.7
$GPS2,181021,104812,2240.0149,-15810.4512,7,0.8,15,9.8,0.6,333.7,10,9.8
$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,51.7,20095,-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,-116.8,124,2286,930,796,0.0,0.0,0,89,0.00,0.00,-69.80,0.000,16386,0.000,0.000,124,2287,3133,3096,3171,0,0,0,0,0,0,15.16,28.83,15.17
$GC,93,-0.55,-116.8,123,2287,3097,3170,3.8,-7.4,10,116,8.57,2.33,-2.33,0.000,19204,0.431,0.074,2555,3661,3279,3254,3304,0,0,0,0,0,0,14.04,13.23,14.36
$GC,125,-0.55,-116.8,2555,3661,3256,3303,16.9,-36.8,14,133,0.03,2.25,0.00,0.000,3078,0.386,0.040,2565,2321,3279,3261,3298,0,0,0,0,0,0,14.50,14.70,14.62
$GC,385,-0.55,-116.8,2564,2316,3264,3296,57.8,-14.7,46,393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,2316,3279,3264,3295,0,0,0,0,0,0,15.22,15.22,15.23
$GC,635,-0.55,-116.8,2564,2317,3266,3295,91.1,-11.6,71,644,0.00,2.28,0.00,0.000,2308,0.000,0.067,2556,3660,3280,3266,3295,0,0,0,0,0,0,15.25,14.67,15.25
$GC,669,-0.55,-116.8,2556,3660,3266,3295,94.3,-9.8,74,679,0.00,2.15,0.00,0.000,3078,0.000,0.037,2556,2318,3280,3266,3294,0,0,0,0,0,0,14.64,14.62,14.66
$GC,919,-0.55,-116.8,2556,2317,3266,3294,120.1,-10.7,99,930,0.05,2.28,0.00,0.000,2308,0.392,0.064,2565,3662,3280,3266,3295,0,0,0,0,0,0,14.73,14.65,14.88
$GC,966,-0.55,-116.8,2565,3662,3266,3294,124.1,-8.9,103,975,0.00,2.15,0.00,0.000,3078,0.000,0.033,2565,2310,3280,3267,3293,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1217,-0.55,-116.8,2565,2310,3267,3292,150.3,-11.4,128,1225,0.00,2.30,0.00,0.000,2308,0.000,0.071,2555,3661,3279,3267,3292,0,0,0,0,0,0,15.25,14.66,15.26
$GC,1252,-0.55,-116.8,2555,3662,3267,3293,154.3,-11.1,131,1261,0.05,2.22,0.00,0.000,3078,0.335,0.035,2577,2268,3279,3267,3292,0,0,0,0,0,0,14.67,14.94,14.88
$GC,1501,-0.55,-116.8,2576,2267,3267,3291,179.1,-9.2,156,1510,0.00,2.38,0.00,0.000,260,0.000,0.073,2567,3655,3279,3268,3291,0,0,0,0,0,0,15.26,14.42,15.27
$GC,1516,-0.55,-116.8,2566,3655,3267,3292,179.9,-9.1,157,1525,0.00,2.25,0.00,0.000,3078,0.000,0.036,2567,2263,3279,3267,3291,0,0,0,0,0,0,15.03,14.93,15.04
$STATE,1722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1722,begin apogee
$GC,1730,-0.13,0.0,2567,2093,3266,3290,200.9,-9.9,178,1833,0.35,0.00,94.82,1.075,10246,0.212,0.000,2705,2089,2800,2867,2733,0,0,0,0,0,0,14.42,14.31,13.76
$STATE,1833,end apogee,CONTROL_FINISHED_OK
$STATE,1834,begin climb
$GC,1837,0.55,116.8,2705,2089,2867,2733,209.3,0.0,189,1944,0.50,2.33,98.50,1.066,10756,0.105,0.049,2948,740,2320,2402,2239,0,0,0,0,0,0,14.60,14.60,13.81
$GC,2310,0.65,282.3,2948,740,2390,2233,203.8,1.6,235,2450,0.00,2.28,132.52,1.070,11270,0.000,0.047,2948,2116,1648,1737,1559,0,0,0,0,0,0,14.76,14.72,13.85
$GC,2693,0.65,282.3,2948,2116,1736,1551,170.7,11.6,273,2702,0.00,2.38,0.00,0.000,2308,0.000,0.067,2948,3529,1644,1736,1552,0,0,0,0,0,0,15.18,14.51,15.18
$GC,2910,0.65,282.3,2948,3529,1737,1552,145.7,10.4,294,2920,0.00,2.25,0.00,0.000,1030,0.000,0.049,2959,2168,1644,1736,1552,0,0,0,0,0,0,14.66,14.61,14.69
$GC,3164,0.69,343.4,2958,2167,1736,1551,127.1,6.9,319,3222,0.00,2.53,49.70,1.000,10756,0.000,0.060,2970,705,1398,1492,1304,0,0,0,0,0,0,15.23,14.77,14.00
$GC,3256,0.71,375.9,2970,704,1487,1305,119.6,8.4,328,3290,0.00,2.40,27.33,0.965,11270,0.000,0.057,2970,2118,1264,1359,1170,0,0,0,0,0,0,14.59,14.54,14.00
$GC,3539,0.71,382.0,2970,2118,1359,1164,91.3,9.8,356,3551,0.00,2.45,5.78,0.829,10500,0.000,0.070,2970,3537,1240,1339,1142,0,0,0,0,0,0,15.19,14.80,14.00
$GC,3576,0.72,389.1,2970,3538,1339,1143,87.7,9.7,359,3596,0.00,2.35,7.68,0.854,9222,0.000,0.054,2982,2130,1211,1310,1112,0,0,0,0,0,0,14.76,14.69,13.98
$GC,3836,0.74,432.5,2982,2129,1310,1110,64.4,7.9,385,3876,0.00,2.45,34.47,0.920,10756,0.000,0.064,2993,712,1034,1132,937,0,0,0,0,0,0,15.22,14.78,14.08
$GC,3958,0.77,474.9,2993,710,1126,938,54.5,7.9,396,3997,0.00,2.45,33.12,0.900,9222,0.000,0.056,2993,2128,863,972,754,0,0,0,0,0,0,14.90,14.77,14.02
$GC,4242,0.77,486.5,2992,2128,971,750,28.7,9.5,425,4257,0.00,2.45,9.40,0.822,10500,0.000,0.073,2993,3537,813,926,701,0,0,0,0,0,0,15.19,14.81,14.11
$GC,4281,0.77,486.5,2993,3537,926,701,24.8,10.4,431,4289,0.00,2.40,0.00,0.000,5126,0.000,0.050,3003,2121,813,926,701,0,0,0,0,0,0,14.95,14.80,14.96
$STATE,4514,end climb,SURFACE_DEPTH_REACHED
$STATE,4514,begin surface coast
$FINISH,0.2,1.013204
$STATE,4543,end surface coast,CONTROL_FINISHED_OK
$STATE,4543,begin surface
$SM_CCo,4622,0.00,0.000,0,0,812,487.40
$SM_GC,1.13,6.50,0.25,0.00,0.050,0.057,0.000,151,2314,812,-7.90,-0.96,487.40,0,0,0,0,0,0,14.96,14.97,15.00
$IRIDIUM_FIX,2232.34,-15810.61,181021,104340
$TT8_MAMPS,0.02247,0.343791
$HUMID,53.85
$INTERNAL_PRESSURE,9.24802
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.23,208.950
$10V_AH,12.05,0.000
$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,16.050,51.725,493.325,0.000,0.000,27.081,48.409,158.652,0.000,0.000,16.356,1198.098,1713.310,486.390,1423.007,205.220,0.000,1086.970,0.000,1186.022,0.000,0.554,0.000
$DEVICE_MAMPS,431.460,74.205,1074.825,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.295,344.856,651.614,584.411,676.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339036
$DATA_FILE_SIZE,44019,479
$CAP_FILE_SIZE,72333,0
$CFSIZE,1023623168,938311680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078,291.03,1
$GPS,181021,120700,2240.037,-15810.544,7,0.9,19,9.8,0.7,105.0,9,9.7