version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 18
start: 10 18 119 13 19 28
data:
$ID,512
$MISSION,10
$DIVE,18
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,250
$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,140
$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,380
$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,0
$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,3004
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3110
$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
$GPS1,181019,131352,2249.7627,-15757.1836,8,0.9,20,9.8,0.0,96.6,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.4
$GPS2,181019,131906,2249.7715,-15757.1855,7,0.9,18,9.8,0.6,359.5,8,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,A2
$TGT_LATLONG,2247.000,-15802.000
$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,227.5,9692,-18.9,-10.000,-21.62,2087
$D_GRID,300
$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,-0.80,-136.8,188,2022,1527,1574,0.0,0.0,0,91,0.00,0.00,-73.40,0.000,16386,0.000,0.000,187,2021,3521,3490,3553,0,0,0,0,0,0,26.63,28.83,26.65
$GC,94,-0.80,-136.8,186,2022,3490,3553,3.4,-4.6,9,112,9.88,2.15,-2.88,0.000,18948,0.223,0.043,2742,601,3670,3664,3676,0,0,0,0,0,0,26.04,25.17,26.21
$GC,324,-0.80,-136.8,2741,601,3669,3676,61.9,-23.8,35,334,0.03,2.10,0.00,0.000,3078,0.220,0.029,2739,1996,3673,3670,3676,0,0,0,0,0,0,26.44,26.54,26.48
$GC,572,-0.80,-136.8,2739,1996,3674,3676,95.3,-12.4,60,583,0.00,2.08,0.00,0.000,2564,0.000,0.034,2740,604,3675,3674,3676,0,0,0,0,0,0,26.93,26.61,26.94
$GC,756,-0.80,-136.8,2739,603,3677,3676,118.0,-12.3,77,761,0.00,2.05,0.00,0.000,3078,0.000,0.028,2733,2011,3676,3677,3676,0,0,0,0,0,0,26.77,26.69,26.78
$GC,1008,-0.80,-136.8,2732,2011,3679,3676,149.9,-13.1,102,1019,0.00,2.10,0.00,0.000,2308,0.000,0.043,2722,3406,3677,3679,3676,0,0,0,0,0,0,27.03,26.70,27.03
$GC,1073,-0.80,-136.8,2721,3406,3679,3676,158.3,-13.1,108,1084,0.08,2.03,0.00,0.000,3078,0.147,0.023,2746,1990,3677,3679,3676,0,0,0,0,0,0,26.61,26.77,26.73
$GC,1326,-0.80,-136.8,2746,1987,3680,3676,184.5,-9.7,133,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1986,3677,3679,3676,0,0,0,0,0,0,27.05,27.08,27.07
$GC,1583,-0.80,-136.8,2746,1986,3679,3676,207.9,-9.0,153,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1986,3678,3680,3677,0,0,0,0,0,0,27.08,27.10,27.10
$GC,1823,-0.80,-136.8,2745,1986,3679,3675,228.8,-8.8,159,1828,0.00,2.12,0.00,0.000,260,0.000,0.044,2737,3403,3677,3679,3675,0,0,0,0,0,0,27.10,26.77,27.11
$GC,2121,-0.80,-136.8,2737,3403,3679,3673,255.2,-9.4,166,2125,0.00,2.00,0.00,0.000,3078,0.000,0.024,2737,2005,3676,3679,3673,0,0,0,0,0,0,26.92,26.85,26.93
$GC,2377,-0.80,-136.8,2737,2002,3679,3671,282.4,-10.1,173,2381,0.00,2.12,0.00,0.000,2308,0.000,0.046,2726,3392,3675,3678,3672,0,0,0,0,0,0,27.14,26.79,27.14
$GC,2471,-0.80,-136.8,2726,3392,3678,3671,290.4,-10.5,175,2476,0.05,2.05,0.00,0.000,3078,0.139,0.024,2755,1988,3674,3678,3671,0,0,0,0,0,0,26.70,26.86,26.82
$STATE,2572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2572,begin apogee
$GC,2576,-0.17,0.0,2755,1986,3678,3670,301.6,-9.7,178,2686,0.55,0.00,106.80,0.761,10246,0.106,0.000,2948,1981,3110,3119,3101,0,0,0,0,0,0,26.67,25.45,24.90
$STATE,2687,end apogee,CONTROL_FINISHED_OK
$STATE,2687,begin climb
$GC,2688,0.80,136.8,2947,1981,3118,3101,303.3,0.0,180,2806,0.80,0.00,112.65,0.732,10758,0.062,0.000,3249,1981,2552,2573,2531,0,0,0,0,0,0,25.59,25.22,24.71
$GC,3013,0.80,136.8,3248,1981,2565,2524,261.6,15.2,189,3017,0.00,2.20,0.00,0.000,2308,0.000,0.045,3249,3395,2544,2565,2524,0,0,0,0,0,0,26.51,26.20,26.52
$GC,3053,0.80,136.8,3247,3395,2563,2524,255.9,15.5,190,3057,0.00,2.05,0.00,0.000,3078,0.000,0.025,3256,2020,2543,2563,2524,0,0,0,0,0,0,26.38,26.30,26.39
$GC,3324,0.80,136.8,3255,2019,2561,2520,216.1,14.0,197,3328,0.00,2.15,0.00,0.000,2308,0.000,0.046,3256,3396,2540,2561,2520,0,0,0,0,0,0,26.80,26.47,26.80
$GC,3398,0.80,136.8,3255,3397,2560,2521,210.1,14.1,198,3405,0.00,2.08,0.00,0.000,5126,0.000,0.024,3265,1985,2540,2560,2521,0,0,0,0,0,0,26.63,26.56,26.65
$GC,3647,0.80,136.8,3265,1984,2558,2519,166.9,15.3,220,3648,0.00,0.00,0.00,0.000,4102,0.000,0.000,3265,1984,2539,2559,2519,0,0,0,0,0,0,26.92,26.93,26.93
$GC,3885,0.80,136.8,3265,1983,2557,2517,133.1,12.8,244,3889,0.00,2.08,0.00,0.000,4612,0.000,0.039,3275,592,2537,2557,2517,0,0,0,0,0,0,26.98,26.65,26.98
$GC,3950,0.80,136.8,3275,592,2556,2516,124.4,13.5,250,3955,0.05,2.08,0.00,0.000,5126,0.197,0.028,3262,1999,2536,2556,2517,0,0,0,0,0,0,26.55,26.69,26.69
$GC,4205,0.80,136.8,3261,1999,2555,2515,93.7,11.7,275,4213,0.00,2.10,0.00,0.000,260,0.000,0.046,3261,3393,2535,2555,2515,0,0,0,0,0,0,27.01,26.69,27.03
$GC,4250,0.80,136.8,3261,3393,2555,2515,88.1,12.4,279,4259,0.00,2.03,0.00,0.000,5126,0.000,0.025,3269,2001,2534,2554,2515,0,0,0,0,0,0,26.77,26.74,26.79
$GC,4500,0.83,164.2,3268,2001,2555,2514,61.7,8.7,304,4525,0.00,2.12,20.75,0.588,8708,0.000,0.037,3276,587,2439,2467,2411,0,0,0,0,0,0,27.04,26.19,25.84
$GC,4910,0.83,164.2,3276,587,2460,2409,33.8,10.0,340,4914,0.00,2.08,0.00,0.000,5126,0.000,0.028,3276,2005,2434,2460,2408,0,0,0,0,0,0,26.76,26.67,26.77
$GC,5196,0.83,164.2,3275,2005,2460,2407,10.4,11.5,385,5204,0.00,2.15,0.00,0.000,4356,0.000,0.044,3276,3392,2433,2460,2407,0,0,0,0,0,0,27.01,26.69,27.01
$GC,5236,0.85,175.9,3276,3391,2460,2407,6.5,9.4,391,5263,0.00,2.10,17.17,0.205,13318,0.000,0.025,3283,1982,2392,2420,2365,0,0,0,0,1,0,26.77,26.74,25.96
$STATE,5289,end climb,SURFACE_DEPTH_REACHED
$STATE,5289,begin surface coast
$FINISH,0.5,1.010300
$STATE,5332,end surface coast,CONTROL_FINISHED_OK
$STATE,5333,begin surface
$SM_CCo,5348,84.57,0.059,0,0,1560,380.21
$SM_GC,1.30,7.88,0.00,84.57,0.041,0.000,0.059,218,1979,1560,-8.64,-0.51,380.21,0,0,0,0,0,0,26.63,26.96,26.52
$IRIDIUM_FIX,2239.35,-15756.28,181019,115722
$TT8_MAMPS,0.018725,0.295106
$HUMID,41.69
$INTERNAL_PRESSURE,9.48795
$TCM_TEMP,25.80
$XPDR_PINGS,27
$24V_AH,24.71,5.710
$10V_AH,10.44,3.561
$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,19.300,46.000,257.375,84.575,0.000,24.659,46.954,144.201,6.750,0.000,19.325,1147.404,2474.730,407.489,1659.570,74.027,0.000,948.917,0.000,1405.266,0.000,0.547,0.000
$DEVICE_MAMPS,222.615,45.900,761.175,58.905,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.968,269.187,509.431,532.686,817.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339068
$DATA_FILE_SIZE,37313,405
$CAP_FILE_SIZE,66743,0
$CFSIZE,260165632,258539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.055,93.11,1
$GPS,181019,145119,2249.504,-15757.484,25,0.8,43,9.8,0.6,216.8,9,5.2