version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 32
start: 10 19 119 13 5 6
data:
$ID,512
$MISSION,10
$DIVE,32
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,550
$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,133
$T_MISSION,300
$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,2995
$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,2200
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3200
$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
$GPS1,191019,125919,2246.9851,-15801.8018,8,0.9,39,9.8,0.8,278.3,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.5
$GPS2,191019,130438,2246.9988,-15801.8213,8,0.8,17,9.8,0.0,310.1,9,7.9
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,A3
$TGT_LATLONG,2250.000,-15757.000
$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,53.9,9930,-18.9,-10.025,-21.66,2082
$D_GRID,400
$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,16,-0.80,-136.8,179,2229,1617,1664,0.0,0.0,0,92,0.00,0.00,-73.97,0.000,16386,0.000,0.000,178,2230,3622,3606,3638,0,0,0,0,0,0,26.54,28.83,26.55
$GC,95,-0.80,-136.8,179,2229,3607,3640,3.4,-4.8,9,114,9.95,2.12,-2.58,0.000,18692,0.225,0.054,2718,3589,3759,3757,3762,0,0,0,0,0,0,25.97,25.11,26.14
$GC,157,-0.80,-136.8,2717,3589,3762,3762,26.4,-27.6,18,167,0.05,2.10,0.00,0.000,3078,0.158,0.022,2733,2184,3762,3763,3762,0,0,0,0,0,0,26.22,26.36,26.29
$GC,417,-0.80,-136.8,2733,2180,3766,3762,75.4,-14.5,44,428,0.00,2.00,0.00,0.000,2564,0.000,0.031,2734,813,3764,3766,3762,0,0,0,0,0,0,26.80,26.49,26.80
$GC,519,-0.80,-136.8,2733,813,3768,3762,90.7,-14.1,53,523,0.00,2.03,0.00,0.000,3078,0.000,0.028,2725,2187,3765,3768,3762,0,0,0,0,0,0,26.63,26.53,26.64
$GC,771,-0.80,-136.8,2724,2187,3772,3762,124.1,-13.7,78,782,0.00,2.17,0.00,0.000,2308,0.000,0.048,2714,3601,3767,3772,3762,0,0,0,0,0,0,26.92,26.57,26.92
$GC,893,-0.80,-136.8,2713,3601,3773,3762,141.1,-14.3,89,901,0.05,2.05,0.00,0.000,3078,0.208,0.022,2731,2185,3767,3773,3762,0,0,0,0,0,0,25.40,26.70,26.44
$GC,1141,-0.80,-136.8,2730,2181,3774,3762,173.2,-11.8,114,1152,0.00,2.20,0.00,0.000,2308,0.000,0.049,2722,3607,3768,3774,3762,0,0,0,0,0,0,26.99,26.65,27.00
$GC,1186,-0.80,-136.8,2722,3607,3774,3762,178.2,-11.7,118,1195,0.00,2.00,0.00,0.000,3078,0.000,0.023,2722,2190,3768,3774,3762,0,0,0,0,0,0,26.78,26.75,26.79
$GC,1464,-0.80,-136.8,2721,2190,3775,3762,209.2,-10.5,140,1466,0.05,0.00,0.00,0.000,2054,0.181,0.000,2738,2189,3768,3775,3762,0,0,0,0,0,0,26.74,26.82,26.79
$GC,1704,-0.80,-136.8,2738,2189,3774,3762,234.6,-10.7,146,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2190,3768,3775,3762,0,0,0,0,0,0,27.05,27.07,27.06
$GC,1944,-0.80,-136.8,2738,2190,3774,3762,260.6,-10.7,152,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2189,3768,3774,3762,0,0,0,0,0,0,27.07,27.08,27.08
$GC,2184,-0.80,-136.8,2738,2189,3774,3761,286.2,-10.7,158,2188,0.00,2.17,0.00,0.000,260,0.000,0.051,2730,3601,3767,3774,3761,0,0,0,0,0,0,27.08,26.73,27.10
$GC,2208,-0.80,-136.8,2729,3601,3773,3761,286.2,-10.7,158,2212,0.00,2.03,0.00,0.000,3078,0.000,0.024,2729,2207,3767,3774,3760,0,0,0,0,0,0,26.86,26.84,26.88
$GC,2460,-0.80,-136.8,2729,2203,3773,3759,315.4,-10.4,165,2464,0.00,2.17,0.00,0.000,2308,0.000,0.053,2719,3603,3766,3773,3759,0,0,0,0,0,0,27.10,26.74,27.11
$GC,2489,-0.80,-136.8,2718,3603,3773,3759,315.4,-10.4,165,2494,0.05,2.05,0.00,0.000,3078,0.139,0.024,2747,2184,3765,3772,3759,0,0,0,0,0,0,26.67,26.84,26.80
$GC,2742,-0.80,-136.8,2747,2180,3772,3757,340.4,-8.6,172,2745,0.00,1.98,0.00,0.000,4612,0.000,0.031,2747,831,3764,3772,3757,0,0,0,0,0,0,27.11,26.79,27.12
$GC,2796,-0.80,-136.8,2747,831,3771,3757,344.0,-9.0,173,2800,0.00,2.00,0.00,0.000,1030,0.000,0.031,2741,2193,3764,3771,3757,0,0,0,0,0,0,26.87,26.78,26.89
$GC,3053,-0.80,-136.8,2740,2193,3770,3754,373.5,-11.0,180,3058,0.00,2.20,0.00,0.000,260,0.000,0.055,2733,3607,3761,3769,3754,0,0,0,0,0,0,27.11,26.74,27.13
$GC,3196,-0.80,-136.8,2732,3607,3767,3754,387.2,-11.3,183,3200,0.00,2.00,0.00,0.000,3078,0.000,0.025,2733,2206,3760,3767,3754,0,0,0,0,0,0,26.93,26.87,26.94
$STATE,3291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3291,begin apogee
$GC,3295,-0.17,0.0,2733,1964,3767,3753,400.2,-11.0,186,3406,0.60,0.00,107.05,0.844,10246,0.112,0.000,2938,1957,3200,3210,3191,0,0,0,0,0,0,26.65,25.32,24.75
$STATE,3407,end apogee,CONTROL_FINISHED_OK
$STATE,3407,begin climb
$GC,3408,0.80,136.8,2937,1957,3209,3190,402.7,0.0,188,3535,0.82,2.15,112.28,0.811,10756,0.062,0.034,3254,632,2641,2657,2626,0,0,0,0,0,0,25.47,25.11,24.55
$GC,3555,0.80,136.8,3254,632,2653,2625,393.2,9.2,192,3559,0.00,2.12,0.00,0.000,5126,0.000,0.028,3254,2004,2639,2653,2625,0,0,0,0,0,0,25.65,25.57,25.67
$GC,3817,0.80,136.8,3254,2005,2645,2621,348.0,15.3,199,3821,0.00,2.17,0.00,0.000,4356,0.000,0.048,3255,3386,2632,2644,2621,0,0,0,0,0,0,26.53,26.21,26.54
$GC,3861,0.80,136.8,3254,3386,2643,2621,342.1,15.4,200,3866,0.00,2.05,0.00,0.000,5126,0.000,0.024,3265,2033,2632,2643,2621,0,0,0,0,0,0,26.36,26.35,26.37
$GC,4133,0.80,136.8,3264,2029,2641,2619,296.7,16.0,207,4137,0.00,2.15,0.00,0.000,4612,0.000,0.035,3275,594,2630,2641,2619,0,0,0,0,0,0,26.77,26.46,26.77
$GC,4147,0.80,136.8,3275,593,2641,2619,296.7,16.0,207,4152,0.05,2.12,0.00,0.000,5126,0.187,0.028,3253,1995,2629,2640,2619,0,0,0,0,0,0,26.29,26.48,26.48
$GC,4414,0.80,136.8,3252,1995,2639,2618,256.7,13.9,214,4418,0.00,2.15,0.00,0.000,260,0.000,0.049,3253,3377,2628,2639,2617,0,0,0,0,0,0,26.86,26.53,26.88
$GC,4478,0.80,136.8,3252,3377,2637,2617,251.6,13.9,215,4482,0.00,2.10,0.00,0.000,5126,0.000,0.024,3261,1986,2627,2637,2617,0,0,0,0,0,0,26.70,26.62,26.71
$GC,4730,0.80,136.8,3260,1984,2637,2616,213.3,13.6,222,4734,0.00,2.17,0.00,0.000,4356,0.000,0.048,3261,3386,2626,2637,2616,0,0,0,0,0,0,26.94,26.60,26.94
$GC,4744,0.80,136.8,3260,3386,2636,2616,213.3,13.6,222,4749,0.08,2.08,0.00,0.000,5126,0.189,0.024,3251,1967,2626,2636,2616,0,0,0,0,0,0,26.48,26.67,26.64
$GC,4997,0.80,136.8,3250,1965,2636,2614,177.6,12.7,240,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1965,2625,2636,2614,0,0,0,0,0,0,26.97,26.98,26.98
$GC,5236,0.80,136.8,3250,1965,2634,2613,149.3,11.1,264,5240,0.00,2.20,0.00,0.000,260,0.000,0.047,3251,3387,2623,2634,2613,0,0,0,0,0,0,27.00,26.66,27.01
$GC,5331,0.80,136.8,3250,3387,2633,2613,137.5,12.9,272,5340,0.00,2.10,0.00,0.000,5126,0.000,0.024,3258,1981,2623,2633,2613,0,0,0,0,0,0,26.77,26.73,26.79
$GC,5581,0.80,136.8,3257,1981,2633,2611,106.6,11.5,297,5587,0.00,0.00,0.00,0.000,4102,0.000,0.000,3257,1980,2622,2633,2611,0,0,0,0,0,0,27.04,27.05,27.04
$GC,5831,0.80,136.8,3257,1981,2633,2611,79.0,10.2,322,5839,0.00,0.00,0.00,0.000,4102,0.000,0.000,3257,1981,2622,2633,2611,0,0,0,0,0,0,27.05,27.06,27.06
$GC,6080,0.97,271.6,3257,1980,2632,2609,56.8,3.4,347,6196,0.08,2.17,105.00,0.583,10756,0.097,0.035,3325,602,2091,2135,2048,0,0,0,0,0,0,26.82,25.46,25.14
$GC,6281,0.97,271.6,3324,602,2130,2045,39.5,14.4,365,6291,0.05,2.12,0.00,0.000,5126,0.168,0.025,3310,1991,2087,2130,2045,0,0,0,0,0,0,25.94,26.08,26.02
$STATE,6531,end climb,SURFACE_DEPTH_REACHED
$STATE,6531,begin surface coast
$FINISH,0.4,1.018107
$STATE,6552,end surface coast,CONTROL_FINISHED_OK
$STATE,6552,begin surface
$SM_CCo,6567,41.33,0.060,0,0,1649,380.21
$SM_GC,1.47,8.02,0.28,41.33,0.035,0.047,0.060,206,2207,1649,-8.66,-1.55,380.21,0,0,0,0,0,0,26.34,26.43,26.29
$IRIDIUM_FIX,2237.01,-15801.49,191019,110702
$TT8_MAMPS,0.018725,0.361767
$HUMID,43.81
$INTERNAL_PRESSURE,9.44888
$TCM_TEMP,23.90
$XPDR_PINGS,18
$24V_AH,24.55,6.855
$10V_AH,10.40,4.343
$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,19.850,63.675,324.325,41.325,0.000,27.453,41.994,147.259,4.500,0.000,19.180,1141.948,3761.392,406.358,1554.996,81.784,0.000,991.688,0.000,1300.309,0.000,0.545,0.000
$DEVICE_MAMPS,224.910,55.080,843.795,59.670,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.405,246.631,468.349,455.325,698.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339032
$DATA_FILE_SIZE,37218,406
$CAP_FILE_SIZE,74264,0
$CFSIZE,260165632,257933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,32.29,1
$GPS,191019,145631,2247.579,-15800.809,9,0.9,43,9.8,1.1,320.7,9,5.5