version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 985
start: 10 18 121 23 13 42
data:
$ID,626
$MISSION,3
$DIVE,985
$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,69
$R_STBD_OVSHOOT,64
$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
$GPS1,181021,230649,2239.0691,-15812.6377,7,0.8,41,9.8,0.9,287.0,10,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.4
$GPS2,181021,231252,2239.0789,-15812.6846,6,0.8,16,9.8,0.6,265.8,10,9.8
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA2
$TGT_LATLONG,2244.750,-15800.750
$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,88.0,22931,-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,-116.8,123,2213,1291,1188,0.0,0.0,0,75,0.00,0.00,-55.12,0.000,16386,0.000,0.000,123,2213,2990,2966,3014,0,0,0,0,0,0,15.17,28.83,15.18
$GC,79,-0.55,-116.8,123,2213,2966,3014,3.4,-7.4,8,101,8.55,0.00,-4.90,0.000,18950,0.428,0.000,2562,2213,3279,3261,3298,0,0,0,0,0,0,14.05,13.88,14.36
$GC,349,-0.55,-116.8,2562,2213,3266,3294,54.4,-15.9,44,358,0.00,2.22,0.00,0.000,2564,0.000,0.053,2563,890,3280,3267,3294,0,0,0,0,0,0,15.22,14.84,15.23
$GC,434,-0.55,-116.8,2562,890,3267,3293,67.1,-13.8,52,444,0.05,2.25,0.00,0.000,3078,0.334,0.052,2572,2230,3279,3267,3291,0,0,0,0,0,0,14.31,14.84,14.42
$GC,686,-0.55,-116.8,2571,2233,3268,3291,101.3,-12.9,77,690,0.00,2.22,0.00,0.000,516,0.000,0.050,2572,891,3279,3268,3291,0,0,0,0,0,0,15.23,14.87,15.23
$GC,770,-0.55,-116.8,2572,891,3268,3291,111.4,-10.8,85,775,0.00,2.33,0.00,0.000,3078,0.000,0.056,2563,2264,3279,3269,3290,0,0,0,0,0,0,15.00,14.85,15.02
$GC,1024,-0.55,-116.8,2563,2263,3269,3290,137.7,-10.2,110,1033,0.00,2.30,0.00,0.000,2564,0.000,0.050,2563,886,3279,3268,3291,0,0,0,0,0,0,15.26,14.52,15.27
$GC,1067,-0.55,-116.8,2562,886,3269,3291,142.1,-10.1,114,1077,0.05,2.30,0.00,0.000,3078,0.295,0.056,2573,2263,3280,3269,3291,0,0,0,0,0,0,14.33,14.78,14.45
$GC,1319,-0.55,-116.8,2572,2264,3270,3291,164.1,-7.9,139,1324,0.00,2.28,0.00,0.000,516,0.000,0.050,2573,889,3280,3270,3291,0,0,0,0,0,0,15.26,14.88,15.26
$GC,1383,-0.55,-116.8,2572,889,3270,3291,169.2,-7.6,145,1389,0.00,2.33,0.00,0.000,3078,0.000,0.057,2563,2264,3280,3270,3291,0,0,0,0,0,0,15.00,14.85,15.03
$GC,1640,-0.55,-116.8,2563,2264,3270,3290,188.9,-8.0,170,1648,0.00,2.30,0.00,0.000,2564,0.000,0.049,2564,887,3280,3270,3291,0,0,0,0,0,0,15.26,14.70,15.26
$GC,1693,-0.55,-116.8,2564,886,3271,3291,193.6,-8.6,175,1699,0.05,2.33,0.00,0.000,3078,0.373,0.057,2573,2267,3280,3271,3290,0,0,0,0,0,0,14.61,14.85,14.85
$STATE,1775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1775,begin apogee
$GC,1783,-0.13,0.0,2573,2096,3271,3290,200.7,-8.7,183,1886,0.32,0.00,95.22,1.069,10246,0.202,0.000,2703,2094,2799,2867,2731,0,0,0,0,0,0,14.28,14.58,13.83
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1890,0.55,116.8,2703,2094,2867,2731,207.2,0.0,194,1998,0.52,2.25,97.72,1.063,10756,0.098,0.044,2957,765,2320,2401,2240,0,0,0,0,0,0,14.60,14.26,13.76
$GC,2208,0.57,148.0,2957,765,2390,2237,196.4,8.5,225,2246,0.05,2.38,26.08,1.028,13318,0.318,0.051,2938,2138,2195,2281,2109,0,0,0,0,0,0,14.47,14.74,13.92
$GC,2487,0.60,203.5,2938,2138,2281,2104,173.1,7.2,253,2538,0.00,2.40,45.53,1.034,10500,0.000,0.068,2939,3533,1968,2050,1886,0,0,0,0,0,0,15.21,14.69,13.97
$GC,2558,0.61,224.5,2938,3533,2050,1886,167.2,9.0,260,2586,0.00,2.22,18.48,0.987,9222,0.000,0.046,2947,2186,1882,1963,1802,0,0,0,0,0,0,14.71,14.66,13.93
$GC,2827,0.61,224.5,2947,2185,1963,1795,140.8,10.4,287,2837,0.00,2.33,0.00,0.000,516,0.000,0.058,2958,782,1878,1961,1795,0,0,0,0,0,0,15.19,14.65,15.20
$GC,2882,0.61,224.5,2958,782,1956,1795,134.7,11.3,292,2891,0.00,2.25,0.00,0.000,5126,0.000,0.054,2958,2120,1875,1956,1795,0,0,0,0,0,0,14.59,14.54,14.62
$GC,3136,0.63,244.8,2958,2119,1956,1795,108.9,9.1,317,3163,0.00,2.35,16.62,0.954,12548,0.000,0.066,2958,3526,1801,1885,1717,0,0,0,0,0,0,15.23,14.58,14.04
$GC,3253,0.63,249.7,2957,3526,1885,1716,97.2,9.8,328,3264,0.05,2.28,5.75,0.825,13318,0.310,0.047,2949,2188,1781,1867,1696,0,0,0,0,0,0,14.48,14.76,14.00
$GC,3514,0.66,304.6,2948,2187,1866,1692,76.0,7.3,354,3565,0.00,2.42,44.33,0.939,10756,0.000,0.059,2958,778,1556,1647,1465,0,0,0,0,0,0,15.23,14.75,14.04
$GC,3620,0.68,334.9,2958,778,1642,1464,67.9,8.5,364,3655,0.00,2.35,24.52,0.907,11270,0.000,0.051,2958,2125,1434,1526,1342,0,0,0,0,0,0,14.89,14.70,13.95
$GC,3896,0.69,354.6,2958,2125,1526,1336,42.9,9.1,392,3919,0.00,2.42,16.55,0.868,10500,0.000,0.070,2958,3538,1352,1447,1257,0,0,0,0,0,0,15.19,14.78,14.09
$GC,3938,0.70,367.7,2958,3538,1447,1257,38.8,9.4,396,3958,0.00,2.28,11.88,0.844,11270,0.000,0.048,2969,2188,1297,1392,1202,0,0,0,0,0,0,14.95,14.83,14.08
$GC,4209,0.71,377.1,2968,2188,1392,1200,12.5,9.6,438,4220,0.00,2.45,3.60,0.262,10756,0.000,0.062,2978,774,1260,1355,1166,0,0,0,0,0,0,15.17,14.78,14.47
$STATE,4299,end climb,SURFACE_DEPTH_REACHED
$STATE,4299,begin surface coast
$FINISH,0.2,0.999895
$STATE,4329,end surface coast,CONTROL_FINISHED_OK
$STATE,4329,begin surface
$SM_CCo,4350,0.65,0.384,0,0,1248,380.21
$SM_GC,1.67,6.40,2.55,0.65,0.045,0.045,0.384,151,2267,1248,-7.89,-0.82,380.21,0,0,0,0,0,0,14.97,14.83,14.57
$IRIDIUM_FIX,2227.67,-15813.65,181021,230834
$TT8_MAMPS,0.023219,0.342293
$HUMID,54.25
$INTERNAL_PRESSURE,9.28709
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.76,210.622
$10V_AH,12.08,0.000
$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,16.050,56.025,406.275,0.650,0.000,27.131,45.692,146.412,0.000,0.000,17.557,1178.189,1586.920,410.157,1352.622,217.656,0.000,975.798,0.000,1136.131,0.000,0.554,0.000
$DEVICE_MAMPS,427.635,130.815,1069.470,384.030,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,303.489,333.672,633.037,570.345,661.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339080
$DATA_FILE_SIZE,40795,459
$CAP_FILE_SIZE,75340,0
$CFSIZE,1023623168,937721856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1966.22,0x23609a,1,24
$CURRENT,0.216,307.51,1
$GPS,191021,002711,2239.381,-15812.739,7,0.9,18,9.8,0.0,36.5,9,9.4