version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 73
start: 10 23 119 9 57 53
data:
$ID,512
$MISSION,10
$DIVE,73
$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,35
$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,64
$R_STBD_OVSHOOT,44
$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
$GPS1,231019,095128,2247.4878,-15800.6865,21,1.0,35,9.8,0.5,307.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.8
$GPS2,231019,095726,2247.4956,-15800.6582,7,1.0,24,9.8,0.6,130.1,8,10.0
$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,240.1,2469,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-136.8,178,2188,1679,1724,0.0,0.0,0,84,0.00,0.00,-66.22,0.000,16386,0.000,0.000,178,2188,3470,3444,3497,0,0,0,0,0,0,26.53,28.83,26.55
$GC,86,-0.61,-136.8,178,2188,3445,3497,3.2,-4.9,8,113,10.35,2.05,-6.85,0.000,18948,0.231,0.040,2777,811,3821,3825,3818,0,0,0,0,0,0,25.93,25.76,26.10
$GC,321,-0.61,-136.8,2776,811,3830,3819,59.7,-21.5,34,332,0.05,2.03,0.00,0.000,3078,0.162,0.028,2784,2195,3824,3830,3819,0,0,0,0,0,0,26.29,26.44,25.36
$GC,571,-0.61,-136.8,2784,2196,3834,3818,93.0,-12.0,59,581,0.00,2.15,0.00,0.000,2308,0.000,0.050,2775,3594,3826,3834,3818,0,0,0,0,0,0,26.85,26.50,26.85
$GC,680,-0.61,-136.8,2774,3594,3836,3819,106.5,-12.4,69,690,0.00,1.98,0.00,0.000,3078,0.000,0.020,2775,2175,3827,3836,3818,0,0,0,0,0,0,26.67,26.65,26.66
$GC,930,-0.61,-136.8,2774,2175,3838,3818,134.7,-10.6,94,940,0.00,1.95,0.00,0.000,2564,0.000,0.028,2775,830,3828,3838,3819,0,0,0,0,0,0,26.94,26.63,26.95
$GC,1050,-0.61,-136.8,2775,830,3839,3819,147.4,-10.9,105,1061,0.05,2.00,0.00,0.000,3078,0.143,0.030,2787,2204,3828,3839,3818,0,0,0,0,0,0,26.53,26.65,26.60
$GC,1302,-0.61,-136.8,2786,2204,3840,3819,169.4,-8.2,130,1310,0.00,2.12,0.00,0.000,260,0.000,0.053,2781,3603,3829,3840,3819,0,0,0,0,0,0,26.99,26.63,27.01
$GC,1450,-0.61,-136.8,2780,3603,3840,3819,181.6,-8.3,144,1461,0.00,1.98,0.00,0.000,3078,0.000,0.021,2781,2193,3829,3840,3819,0,0,0,0,0,0,26.83,26.78,26.84
$GC,1709,-0.61,-136.8,2780,2192,3840,3819,204.5,-9.4,167,1715,0.00,1.98,0.00,0.000,2564,0.000,0.029,2781,833,3829,3840,3819,0,0,0,0,0,0,27.05,26.73,27.05
$GC,1777,-0.61,-136.8,2780,833,3840,3819,208.4,-9.6,168,1781,0.00,2.05,0.00,0.000,3078,0.000,0.031,2781,2200,3829,3840,3818,0,0,0,0,0,0,26.84,26.73,26.86
$GC,2029,-0.61,-136.8,2780,2200,3839,3818,235.5,-9.6,175,2033,0.00,2.17,0.00,0.000,2308,0.000,0.056,2781,3594,3829,3839,3819,0,0,0,0,0,0,27.07,26.69,27.07
$GC,2073,-0.61,-136.8,2780,3594,3839,3818,238.8,-9.4,176,2078,0.00,2.00,0.00,0.000,3078,0.000,0.021,2781,2195,3828,3839,3818,0,0,0,0,0,0,26.85,26.83,26.86
$GC,2345,-0.61,-136.8,2780,2192,3837,3818,260.9,-7.6,183,2347,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,2192,3828,3838,3818,0,0,0,0,0,0,27.08,27.09,27.09
$GC,2586,-0.61,-136.8,2780,2192,3837,3817,277.7,-6.9,189,2587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,2192,3827,3837,3817,0,0,0,0,0,0,27.10,27.10,27.10
$GC,2825,-0.61,-136.8,2780,2192,3835,3814,295.5,-7.5,195,2827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,2192,3825,3835,3815,0,0,0,0,0,0,27.10,27.10,27.11
$GC,3066,-0.61,-136.8,2781,2192,3834,3813,312.6,-7.0,201,3069,0.00,2.22,0.00,0.000,2308,0.000,0.057,2781,3600,3823,3834,3812,0,0,0,0,0,0,27.11,26.72,27.11
$GC,3116,-0.61,-136.8,2780,3600,3833,3812,315.5,-7.0,202,3121,0.00,1.98,0.00,0.000,3078,0.000,0.022,2781,2189,3823,3833,3813,0,0,0,0,0,0,26.91,26.87,26.93
$GC,3388,-0.61,-136.8,2780,2186,3832,3811,336.5,-7.6,209,3389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,2186,3821,3832,3811,0,0,0,0,0,0,27.11,27.12,27.12
$GC,3628,-0.61,-136.8,2780,2186,3830,3808,355.4,-7.9,215,3634,0.00,2.22,0.00,0.000,2308,0.000,0.058,2781,3594,3819,3830,3808,0,0,0,0,0,0,27.12,26.72,27.13
$GC,3718,-0.61,-136.8,2780,3594,3829,3808,361.6,-7.8,217,3722,0.00,1.95,0.00,0.000,3078,0.000,0.023,2781,2199,3818,3829,3808,0,0,0,0,0,0,26.93,26.88,26.94
$GC,3989,-0.61,-136.8,2780,2196,3828,3806,383.1,-7.6,224,3994,0.00,2.22,0.00,0.000,2308,0.000,0.057,2781,3603,3816,3827,3806,0,0,0,0,0,0,27.12,26.71,27.13
$GC,4024,-0.61,-136.8,2780,3603,3827,3806,383.1,-7.6,224,4031,0.00,1.98,0.00,0.000,3078,0.000,0.023,2781,2196,3816,3827,3806,0,0,0,0,0,0,26.93,26.88,26.94
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4235,-0.14,0.0,2781,2004,3826,3804,400.1,-7.0,230,4345,0.45,0.00,106.88,0.841,10246,0.104,0.000,2938,1997,3260,3268,3253,0,0,0,0,0,0,26.63,25.36,24.79
$STATE,4346,end apogee,CONTROL_FINISHED_OK
$STATE,4346,begin climb
$GC,4347,0.61,136.8,2938,1997,3267,3253,401.7,0.0,232,4474,0.65,2.22,112.28,0.806,10756,0.058,0.033,3191,614,2700,2720,2681,0,0,0,0,0,0,25.49,25.15,24.59
$GC,4559,0.61,136.8,3191,613,2713,2680,387.6,8.8,238,4564,0.00,2.15,0.00,0.000,5126,0.000,0.025,3191,1994,2696,2713,2680,0,0,0,0,0,0,25.92,25.88,25.95
$GC,4837,0.61,136.8,3191,1995,2707,2678,359.0,9.9,245,4841,0.00,2.20,0.00,0.000,4356,0.000,0.052,3191,3390,2692,2707,2678,0,0,0,0,0,0,26.61,26.27,26.62
$GC,4931,0.61,136.8,3191,3390,2704,2677,350.2,10.7,247,4935,0.08,2.03,0.00,0.000,5126,0.169,0.021,3179,2012,2691,2704,2678,0,0,0,0,0,0,26.26,26.42,26.41
$GC,5192,0.61,136.8,3178,2010,2703,2676,322.4,10.0,254,5197,0.00,2.17,0.00,0.000,260,0.000,0.052,3179,3383,2689,2703,2676,0,0,0,0,0,0,26.80,26.45,26.82
$GC,5258,0.61,136.8,3178,3383,2702,2676,317.8,10.3,255,5261,0.00,2.05,0.00,0.000,5126,0.000,0.021,3188,1986,2689,2702,2677,0,0,0,0,0,0,26.63,26.55,26.65
$GC,5510,0.61,136.8,3187,1985,2701,2675,289.5,9.8,262,5511,0.00,0.00,0.00,0.000,4102,0.000,0.000,3187,1985,2688,2701,2675,0,0,0,0,0,0,26.91,26.91,26.91
$GC,5749,0.61,136.8,3187,1986,2699,2673,265.7,10.2,268,5750,0.00,0.00,0.00,0.000,4102,0.000,0.000,3188,1985,2686,2699,2673,0,0,0,0,0,0,26.95,26.95,26.95
$GC,5989,0.61,136.8,3187,1985,2698,2672,241.3,10.1,274,5995,0.00,2.20,0.00,0.000,4356,0.000,0.050,3187,3396,2684,2698,2671,0,0,0,0,0,0,26.98,26.61,26.99
$GC,6008,0.61,136.8,3187,3396,2697,2672,241.3,10.1,274,6012,0.05,2.05,0.00,0.000,5126,0.198,0.021,3183,1984,2684,2697,2672,0,0,0,0,0,0,26.55,26.72,26.69
$GC,6264,0.61,136.8,3183,1980,2696,2671,215.1,9.1,281,6268,0.00,2.20,0.00,0.000,260,0.000,0.050,3183,3398,2683,2696,2671,0,0,0,0,0,0,27.00,26.63,27.01
$GC,6303,0.61,136.8,3182,3397,2696,2671,211.8,9.0,282,6307,0.00,2.10,0.00,0.000,5126,0.000,0.021,3192,1983,2683,2696,2671,0,0,0,0,0,0,26.78,26.76,26.79
$GC,6554,0.63,148.8,3191,1981,2696,2670,192.7,7.6,295,6564,0.00,0.00,8.23,0.636,12294,0.000,0.000,3192,1981,2653,2665,2641,0,0,0,0,0,0,27.03,26.46,25.86
$GC,6802,0.63,148.8,3191,1981,2662,2638,172.1,8.7,320,6810,0.00,2.20,0.00,0.000,4356,0.000,0.049,3192,3388,2650,2662,2639,0,0,0,0,0,0,26.97,26.61,26.98
$GC,6888,0.63,148.8,3191,3388,2662,2638,164.0,9.4,328,6897,0.05,2.00,0.00,0.000,5126,0.165,0.021,3186,1991,2650,2662,2639,0,0,0,0,0,0,26.55,26.72,26.62
$GC,7138,0.63,148.8,3186,1988,2662,2637,142.3,9.5,353,7142,0.00,2.15,0.00,0.000,260,0.000,0.049,3186,3385,2649,2662,2637,0,0,0,0,0,0,27.01,26.65,27.02
$GC,7182,0.63,148.8,3186,3386,2661,2637,137.7,10.5,357,7187,0.00,2.03,0.00,0.000,5126,0.000,0.021,3191,1988,2649,2661,2637,0,0,0,0,0,0,26.82,26.74,26.83
$GC,7435,0.64,155.8,3191,1987,2661,2637,114.8,7.8,382,7447,0.00,2.10,7.07,0.559,8708,0.000,0.033,3202,601,2623,2637,2609,0,0,0,0,0,0,27.03,26.53,25.91
$GC,7609,0.65,166.6,3201,601,2636,2609,100.9,7.6,398,7625,0.00,2.05,10.62,0.584,13318,0.000,0.025,3202,1994,2580,2597,2563,0,0,0,0,0,0,26.77,26.68,25.86
$GC,7874,0.65,166.6,3201,1994,2595,2558,78.4,8.1,424,7885,0.00,2.15,0.00,0.000,4356,0.000,0.053,3202,3384,2576,2595,2558,0,0,0,0,0,0,26.94,26.58,26.94
$GC,7956,0.70,210.4,3201,3384,2595,2559,72.6,6.3,431,7999,0.00,2.05,36.72,0.588,9222,0.000,0.021,3212,1984,2401,2433,2370,0,0,0,0,0,0,26.74,26.70,25.62
$GC,8240,0.81,298.9,3212,1982,2429,2365,53.7,4.5,459,8318,0.05,2.10,71.60,0.561,10756,0.128,0.033,3267,599,2040,2084,1996,0,0,0,0,0,0,26.53,25.70,25.22
$GC,8372,0.81,298.9,3266,599,2078,1995,42.8,10.7,471,8377,0.08,2.10,0.00,0.000,5126,0.145,0.022,3244,2005,2036,2078,1994,0,0,0,0,0,0,25.90,26.01,26.02
$GC,8640,0.81,298.9,3242,2008,2075,1992,21.0,8.5,506,8649,0.00,2.17,0.00,0.000,260,0.000,0.049,3243,3377,2033,2075,1992,0,0,0,0,0,0,26.63,26.31,26.65
$GC,8681,0.81,298.9,3242,3378,2075,1991,15.8,12.7,512,8689,0.00,2.08,0.00,0.000,1030,0.000,0.022,3243,1995,2033,2075,1991,0,0,0,0,0,0,26.44,26.40,26.45
$STATE,8808,end climb,SURFACE_DEPTH_REACHED
$STATE,8808,begin surface coast
$FINISH,0.4,1.022726
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8864,begin surface
$SM_CCo,8879,33.65,0.060,0,0,1709,380.21
$SM_GC,1.32,7.68,0.30,33.65,0.028,0.044,0.060,208,2206,1709,-8.59,-1.39,380.21,0,0,0,0,0,0,26.48,26.51,26.38
$IRIDIUM_FIX,2239.35,-15801.49,231019,072253
$TT8_MAMPS,0.018725,0.301098
$HUMID,42.04
$INTERNAL_PRESSURE,9.45865
$TCM_TEMP,25.50
$XPDR_PINGS,26
$24V_AH,24.59,10.341
$10V_AH,10.45,7.072
$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,19.525,84.125,353.400,33.650,0.000,27.415,42.451,172.258,6.500,0.000,26.343,1533.448,5156.936,439.310,2049.000,106.236,0.000,1199.000,0.000,1756.816,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,115.515,840.735,60.435,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,371.684,331.339,621.823,590.806,906.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339076
$DATA_FILE_SIZE,50648,542
$CAP_FILE_SIZE,97792,0
$CFSIZE,260165632,255754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.138,31.12,1
$GPS,231019,122801,2247.737,-15801.235,53,0.8,60,9.8,0.9,327.7,10,7.2