version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 3
start: 10 17 119 17 28 47
data:
$ID,512
$MISSION,10
$DIVE,3
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,44
$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,50
$T_MISSION,120
$T_ABORT,720
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,52638
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,215
$PITCH_MAX,3897
$C_PITCH,3063
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,158
$ROLL_MAX,3882
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-152.01132
$PRESSURE_SLOPE,0.00014004001
$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,1.0700001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,69
$DEVICE4,35
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943917
$SEABIRD_T_H,0.00062894222
$SEABIRD_T_I,2.3572227e-05
$SEABIRD_T_J,2.4870369e-06
$SEABIRD_C_G,-9.7596245
$SEABIRD_C_H,1.0842633
$SEABIRD_C_I,-0.0017886258
$SEABIRD_C_J,0.00018584721
$GPS1,171019,172406,2244.0291,-15803.6553,6,1.1,26,9.8,0.0,249.5,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.9
$GPS2,171019,172822,2244.0588,-15803.6455,6,1.2,23,9.8,0.0,134.3,8,9.8
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$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,102.2,6466,-19.6,-10.000,-22.30,1939
$D_GRID,150
$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,15,-0.81,-127.0,195,2790,1029,1095,0.0,0.0,0,105,0.00,0.00,-82.82,0.000,16390,0.000,0.000,183,2789,3218,3202,3235,0,0,0,0,0,0,26.93,26.10,26.94
$GC,107,-0.81,-127.0,181,2790,3202,3235,2.5,-2.6,11,124,10.18,1.65,0.00,0.000,2308,0.225,0.042,2788,3893,3220,3205,3235,0,0,0,0,0,0,26.22,26.48,26.37
$GC,192,-0.81,-127.0,2788,3894,3207,3234,15.8,-16.6,24,200,0.00,1.65,0.00,0.000,3078,0.000,0.034,2788,2779,3220,3207,3234,0,0,0,0,0,0,26.70,26.67,26.72
$GC,462,-0.81,-127.0,2788,2779,3207,3233,50.8,-13.2,57,467,0.00,2.05,0.00,0.000,2564,0.000,0.038,2789,1388,3220,3207,3233,0,0,0,0,0,0,27.06,26.67,27.06
$GC,511,-0.81,-127.0,2788,1388,3208,3233,57.2,-13.4,61,521,0.05,2.17,0.00,0.000,3078,0.168,0.041,2795,2804,3219,3207,3232,0,0,0,0,0,0,26.52,26.67,26.61
$GC,761,-0.81,-127.0,2794,2804,3209,3232,74.1,-3.7,86,772,0.00,2.05,0.00,0.000,2564,0.000,0.035,2795,1391,3220,3209,3232,0,0,0,0,0,0,27.10,26.72,27.11
$GC,980,-0.81,-127.0,2794,1391,3210,3232,81.2,-3.7,105,984,0.00,2.12,0.00,0.000,3078,0.000,0.040,2786,2811,3221,3210,3232,0,0,0,0,0,0,26.85,26.73,26.87
$GC,1232,-0.81,-127.0,2786,2812,3210,3232,91.4,-4.0,130,1236,0.05,1.58,0.00,0.000,2308,0.189,0.047,2796,3874,3221,3210,3232,0,0,0,0,0,0,26.84,26.71,26.88
$GC,1697,-0.81,-127.0,2795,3874,3210,3232,104.4,-3.8,173,1703,0.00,1.58,0.00,0.000,3078,0.000,0.034,2796,2802,3220,3210,3231,0,0,0,0,0,0,26.87,26.84,26.89
$GC,1944,-0.81,-127.0,2795,2802,3210,3230,117.3,-5.6,198,1955,0.00,2.08,0.00,0.000,2564,0.000,0.038,2795,1388,3220,3210,3230,0,0,0,0,0,0,27.17,26.75,27.18
$GC,2053,-0.81,-127.0,2795,1388,3210,3230,123.3,-5.6,208,2065,0.05,2.12,0.00,0.000,3078,0.186,0.042,2802,2797,3220,3210,3230,0,0,0,0,0,0,26.66,26.74,26.77
$GC,2305,-0.81,-127.0,2801,2797,3210,3228,132.5,-2.7,233,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2797,3219,3210,3228,0,0,0,0,0,0,27.17,27.18,27.18
$GC,2553,-0.81,-127.0,2801,2797,3210,3227,141.3,-4.0,258,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2797,3218,3209,3227,0,0,0,0,0,0,27.17,27.19,27.18
$GC,2793,-0.81,-127.0,2801,2798,3210,3225,149.8,-3.4,282,2804,0.00,2.08,0.00,0.000,516,0.000,0.038,2802,1378,3217,3210,3224,0,0,0,0,0,0,27.17,26.75,27.19
$STATE,2807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2807,begin apogee
$GC,2812,-0.17,0.0,2798,2007,3210,3225,150.1,-3.4,283,2914,0.60,0.00,97.95,0.599,10246,0.110,0.000,3004,2007,2700,2702,2698,0,0,0,0,0,0,26.54,25.79,25.27
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin climb
$GC,2917,0.81,127.0,3004,2007,2701,2697,149.1,0.0,293,3035,0.80,2.17,103.22,0.579,10500,0.068,0.046,3317,3374,2182,2211,2153,0,0,0,0,0,0,25.94,25.41,25.08
$GC,3171,0.81,127.0,3317,3374,2208,2149,98.6,23.7,317,3179,0.00,2.12,0.00,0.000,5126,0.000,0.034,3328,2008,2178,2208,2149,0,0,0,0,0,0,26.36,26.32,26.39
$GC,3421,0.81,127.0,3327,2004,2205,2146,51.8,13.8,342,3433,0.00,2.22,0.00,0.000,4612,0.000,0.057,3338,576,2175,2204,2146,0,0,0,0,0,0,26.90,26.47,26.90
$GC,3447,0.81,127.0,3338,576,2204,2146,48.2,13.5,344,3459,0.05,2.10,0.00,0.000,5126,0.187,0.034,3324,1980,2174,2203,2146,0,0,0,0,0,0,26.46,26.58,26.57
$GC,3720,0.81,127.0,3323,1986,2202,2144,12.1,16.0,380,3729,0.00,2.17,0.00,0.000,260,0.000,0.057,3324,3380,2173,2202,2144,0,0,0,0,0,0,27.00,26.64,27.01
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.6,1.022531
$STATE,3797,end surface coast,CONTROL_FINISHED_OK
$STATE,3797,begin surface
$SM_CCo,3813,107.28,0.056,0,0,1069,400.08
$SM_GC,1.27,7.90,0.90,107.28,0.034,0.030,0.056,196,2747,1069,-8.86,0.59,400.08,0,0,0,0,0,0,26.67,26.72,26.53
$IRIDIUM_FIX,2237.01,-15802.37,171019,171903
$TT8_MAMPS,0.017976,0.334054
$HUMID,43.54
$INTERNAL_PRESSURE,9.53677
$TCM_TEMP,24.80
$XPDR_PINGS,41
$24V_AH,25.08,4.685
$10V_AH,10.54,2.746
$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,19.675,33.750,201.175,107.275,0.000,0.000,0.000,0.000,10.250,0.000,24.099,1014.580,1232.479,375.404,1329.755,50.546,0.000,853.885,0.000,1311.632,0.000,0.549,0.000
$DEVICE_MAMPS,224.910,57.375,598.995,55.845,0.000,0.000,0.000,0.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,266.626,281.864,546.260,599.207,919.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339296
$DATA_FILE_SIZE,33929,392
$CAP_FILE_SIZE,61634,0
$CFSIZE,260165632,259108864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.136,35.83,1
$GPS,171019,183519,2244.322,-15803.121,14,1.0,38,9.8,0.0,106.7,8,9.6