version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 55
start: 10 21 119 15 40 23
data:
$ID,512
$MISSION,10
$DIVE,55
$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,166
$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,2985
$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,48
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3260
$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
$GPS1,211019,153336,2248.6919,-15759.5439,16,1.1,57,9.8,0.4,95.4,7,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.7
$GPS2,211019,153957,2248.7000,-15759.5518,8,1.1,48,9.8,0.4,233.3,7,3.9
$SPEED_LIMITS,0.139,0.234
$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,211.3,5234,-15.6,-8.032,-18.91,2592
$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,-0.69,-136.8,182,2223,1683,1716,0.0,0.0,0,89,0.00,0.00,-70.62,0.000,16386,0.000,0.000,181,2224,3603,3585,3622,0,0,0,0,0,0,26.55,28.83,26.56
$GC,91,-0.69,-136.8,181,2224,3587,3622,3.5,-5.8,9,111,10.10,2.17,-4.12,0.000,18948,0.226,0.043,2755,786,3821,3819,3823,0,0,0,0,0,0,25.96,25.10,26.13
$GC,347,-0.69,-136.8,2755,786,3826,3823,65.2,-14.0,37,359,0.05,2.03,0.00,0.000,3078,0.165,0.028,2762,2176,3824,3826,3823,0,0,0,0,0,0,26.32,26.48,26.41
$GC,596,-0.69,-136.8,2762,2176,3830,3823,101.0,-12.1,62,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2176,3826,3830,3823,0,0,0,0,0,0,26.86,26.86,26.87
$GC,836,-0.69,-136.8,2762,2176,3833,3822,128.9,-11.0,86,840,0.00,2.00,0.00,0.000,516,0.000,0.029,2763,793,3828,3833,3823,0,0,0,0,0,0,26.92,26.63,26.94
$GC,888,-0.69,-136.8,2762,793,3833,3822,134.3,-11.1,90,897,0.00,2.10,0.00,0.000,3078,0.000,0.027,2755,2204,3828,3833,3823,0,0,0,0,0,0,26.69,26.65,26.70
$GC,1138,-0.69,-136.8,2754,2204,3834,3823,162.9,-11.3,115,1147,0.00,2.12,0.00,0.000,2308,0.000,0.050,2749,3597,3829,3835,3823,0,0,0,0,0,0,26.99,26.64,26.99
$GC,1204,-0.69,-136.8,2749,3597,3834,3823,170.5,-11.4,121,1212,0.00,2.05,0.00,0.000,3078,0.000,0.021,2750,2174,3828,3834,3823,0,0,0,0,0,0,26.77,26.74,26.79
$GC,1453,-0.69,-136.8,2749,2171,3835,3822,197.0,-10.1,146,1457,0.00,2.20,0.00,0.000,2308,0.000,0.048,2741,3599,3828,3835,3822,0,0,0,0,0,0,27.03,26.67,27.03
$GC,1521,-0.69,-136.8,2740,3599,3835,3822,201.8,-10.9,150,1525,0.08,1.98,0.00,0.000,3078,0.139,0.021,2766,2182,3828,3834,3823,0,0,0,0,0,0,26.63,26.79,26.74
$GC,1773,-0.69,-136.8,2766,2178,3835,3822,231.6,-10.8,157,1778,0.00,1.92,0.00,0.000,516,0.000,0.028,2767,831,3829,3835,3823,0,0,0,0,0,0,27.05,26.74,27.06
$GC,1835,-0.69,-136.8,2766,831,3835,3823,236.2,-11.0,158,1839,0.00,2.05,0.00,0.000,3078,0.000,0.028,2760,2205,3829,3835,3823,0,0,0,0,0,0,26.79,26.75,26.82
$GC,2092,-0.69,-136.8,2760,2205,3835,3821,265.2,-10.2,165,2094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2760,2205,3828,3835,3821,0,0,0,0,0,0,27.08,27.08,27.08
$GC,2333,-0.69,-136.8,2760,2206,3833,3820,287.1,-9.0,171,2338,0.00,2.15,0.00,0.000,2308,0.000,0.051,2750,3599,3827,3834,3820,0,0,0,0,0,0,27.09,26.72,27.10
$GC,2395,-0.69,-136.8,2750,3599,3833,3820,290.7,-9.0,172,2400,0.00,2.00,0.00,0.000,3078,0.000,0.021,2750,2208,3826,3833,3820,0,0,0,0,0,0,26.87,26.85,26.88
$GC,2653,-0.69,-136.8,2750,2203,3832,3818,318.5,-10.1,179,2654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2750,2203,3825,3832,3818,0,0,0,0,0,0,27.10,27.11,27.11
$GC,2893,-0.69,-136.8,2750,2203,3831,3816,344.4,-10.9,185,2894,0.00,0.00,0.00,0.000,2054,0.000,0.000,2750,2203,3823,3831,3816,0,0,0,0,0,0,27.11,27.12,27.12
$GC,3132,-0.69,-136.8,2750,2203,3830,3815,370.6,-10.9,191,3136,0.00,2.03,0.00,0.000,2564,0.000,0.031,2750,822,3821,3829,3814,0,0,0,0,0,0,27.13,26.79,27.13
$GC,3161,-0.69,-136.8,2750,821,3829,3814,370.6,-10.9,191,3166,0.08,2.03,0.00,0.000,3078,0.155,0.029,2766,2200,3821,3829,3814,0,0,0,0,0,0,26.67,26.79,26.80
$GC,3409,-0.69,-136.8,2766,2200,3828,3812,394.4,-8.0,197,3413,0.00,2.20,0.00,0.000,260,0.000,0.054,2761,3606,3820,3828,3812,0,0,0,0,0,0,27.11,26.74,27.13
$GC,3460,-0.69,-136.8,2761,3605,3827,3812,397.6,-7.7,198,3464,0.00,2.00,0.00,0.000,3078,0.000,0.023,2762,2189,3819,3827,3812,0,0,0,0,0,0,26.93,26.87,26.94
$STATE,3484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3484,begin apogee
$GC,3489,-0.17,0.0,2761,1994,3828,3812,400.1,-7.6,199,3599,0.47,0.00,107.30,0.830,10246,0.104,0.000,2927,1987,3260,3267,3253,0,0,0,0,0,0,26.65,25.37,24.79
$STATE,3600,end apogee,CONTROL_FINISHED_OK
$STATE,3601,begin climb
$GC,3602,0.69,136.8,2926,1987,3267,3253,401.2,0.0,201,3728,0.73,2.22,112.05,0.798,10756,0.063,0.034,3207,614,2700,2719,2682,0,0,0,0,0,0,25.48,25.15,24.59
$GC,3758,0.69,136.8,3206,614,2715,2682,393.4,7.3,205,3763,0.00,2.17,0.00,0.000,1030,0.000,0.024,3207,2003,2698,2714,2682,0,0,0,0,0,0,25.70,25.66,25.71
$GC,4011,0.69,136.8,3206,2003,2707,2680,358.8,11.6,212,4015,0.00,2.15,0.00,0.000,260,0.000,0.047,3207,3384,2693,2706,2680,0,0,0,0,0,0,26.53,26.22,26.55
$GC,4069,0.69,136.8,3206,3385,2704,2680,354.3,11.6,213,4074,0.00,2.03,0.00,0.000,5126,0.000,0.022,3218,2023,2692,2704,2680,0,0,0,0,0,0,26.41,26.35,26.43
$GC,4327,0.69,136.8,3217,2022,2703,2678,321.7,11.5,220,4328,0.00,0.00,0.00,0.000,4102,0.000,0.000,3217,2022,2690,2702,2678,0,0,0,0,0,0,26.77,26.78,26.77
$GC,4567,0.69,136.8,3217,2022,2700,2677,292.9,12.2,226,4571,0.00,2.15,0.00,0.000,4612,0.000,0.034,3228,578,2688,2700,2677,0,0,0,0,0,0,26.86,26.55,26.86
$GC,4576,0.69,136.8,3228,578,2700,2677,292.9,12.2,226,4582,0.08,2.08,0.00,0.000,5126,0.174,0.025,3207,1994,2688,2700,2677,0,0,0,0,0,0,26.41,26.57,26.57
$GC,4844,0.69,136.8,3206,1994,2698,2676,258.8,12.1,233,4848,0.00,2.15,0.00,0.000,260,0.000,0.047,3206,3393,2687,2698,2676,0,0,0,0,0,0,26.92,26.58,26.93
$GC,4962,0.69,136.8,3206,3393,2696,2675,243.7,12.7,236,4966,0.00,2.12,0.00,0.000,5126,0.000,0.022,3216,1964,2685,2696,2675,0,0,0,0,0,0,26.70,26.67,26.72
$GC,5239,0.69,136.8,3215,1964,2696,2673,211.7,10.7,243,5244,0.00,2.03,0.00,0.000,4612,0.000,0.035,3226,595,2684,2696,2673,0,0,0,0,0,0,26.99,26.67,26.99
$GC,5361,0.69,136.8,3225,595,2695,2673,198.0,11.1,246,5366,0.08,2.05,0.00,0.000,5126,0.171,0.024,3204,1991,2684,2696,2673,0,0,0,0,0,0,26.54,26.70,26.70
$GC,5615,0.69,136.8,3203,1991,2695,2671,172.4,9.8,271,5624,0.00,2.10,0.00,0.000,260,0.000,0.046,3203,3380,2682,2694,2671,0,0,0,0,0,0,27.02,26.67,27.03
$GC,5679,0.69,136.8,3203,3380,2694,2671,166.0,10.3,277,5683,0.00,2.03,0.00,0.000,5126,0.000,0.021,3212,1991,2682,2694,2670,0,0,0,0,0,0,26.83,26.77,26.84
$GC,5930,0.69,136.8,3212,1990,2693,2671,142.9,8.5,302,5935,0.00,2.15,0.00,0.000,4356,0.000,0.047,3212,3386,2681,2693,2670,0,0,0,0,0,0,27.05,26.69,27.05
$GC,6135,0.69,136.8,3211,3386,2693,2670,122.1,10.6,321,6145,0.05,2.00,0.00,0.000,5126,0.177,0.021,3207,1992,2681,2692,2670,0,0,0,0,0,0,26.59,26.78,26.68
$GC,6383,0.75,183.5,3206,1992,2692,2670,102.8,6.2,346,6424,0.00,2.15,35.40,0.620,10756,0.000,0.035,3216,601,2510,2534,2486,0,0,0,0,0,0,27.07,26.22,25.69
$GC,6547,0.75,183.5,3215,601,2530,2483,88.0,10.1,361,6555,0.00,2.10,0.00,0.000,3078,0.000,0.024,3216,1990,2506,2530,2482,0,0,0,0,0,0,26.49,26.46,26.51
$GC,6798,0.75,183.5,3215,1990,2529,2480,64.9,9.0,386,6802,0.00,2.10,0.00,0.000,2564,0.000,0.034,3226,596,2505,2529,2481,0,0,0,0,0,0,26.86,26.54,26.86
$GC,6833,0.75,183.5,3225,596,2529,2480,61.6,8.8,389,6844,0.00,2.03,0.00,0.000,5126,0.000,0.024,3226,1995,2504,2529,2480,0,0,0,0,0,0,26.63,26.59,26.64
$GC,7086,0.86,275.3,3225,1995,2529,2480,50.8,4.4,414,7170,0.05,2.20,73.55,0.563,10756,0.131,0.033,3277,596,2136,2178,2095,0,0,0,0,0,0,26.72,25.65,25.33
$GC,7218,0.86,275.3,3277,596,2174,2094,40.6,9.4,426,7223,0.05,2.08,0.00,0.000,5126,0.177,0.021,3263,1993,2133,2174,2093,0,0,0,0,0,0,25.98,26.10,26.09
$GC,7491,0.86,275.3,3262,1999,2172,2092,12.1,13.4,463,7499,0.00,2.17,0.00,0.000,260,0.000,0.051,3262,3377,2131,2172,2091,0,0,0,0,0,0,26.67,26.36,26.69
$GC,7549,0.86,275.3,3261,3377,2171,2091,4.9,12.3,472,7557,0.00,2.08,0.00,0.000,5126,0.000,0.021,3269,1986,2131,2171,2091,0,0,0,0,0,0,26.48,26.46,26.51
$STATE,7565,end climb,SURFACE_DEPTH_REACHED
$STATE,7565,begin surface coast
$FINISH,0.4,1.022754
$STATE,7592,end surface coast,CONTROL_FINISHED_OK
$STATE,7592,begin surface
$SM_CCo,7607,42.47,0.060,0,0,1709,380.21
$SM_GC,1.31,7.95,0.30,42.47,0.041,0.041,0.060,198,2218,1709,-8.59,-1.58,380.21,0,0,0,0,0,0,26.46,26.51,26.36
$IRIDIUM_FIX,2239.35,-15801.49,211019,131652
$TT8_MAMPS,0.018725,0.366261
$HUMID,42.08
$INTERNAL_PRESSURE,9.46842
$TCM_TEMP,25.20
$XPDR_PINGS,23
$24V_AH,24.59,8.762
$10V_AH,10.45,5.835
$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,19.750,79.850,328.300,42.475,0.000,29.434,41.457,171.579,5.750,0.000,49.779,1368.647,4264.656,416.959,1890.624,103.257,0.000,1098.501,0.000,1579.050,0.000,0.545,0.000
$DEVICE_MAMPS,226.440,53.550,830.025,59.670,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,327.168,296.731,559.190,543.473,833.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339072
$DATA_FILE_SIZE,43861,478
$CAP_FILE_SIZE,88835,0
$CFSIZE,260165632,256737280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4569.47,0x2131ca,1,24
$CURRENT,0.063,59.88,1
$GPS,211019,174854,2248.111,-15759.863,16,1.0,27,9.8,0.0,134.2,8,9.8