version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 765
start: 1 28 120 1 59 30
data:
$ID,512
$MISSION,10
$DIVE,765
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,208
$T_MISSION,400
$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,390
$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,2993
$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,2260
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3250
$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
$GPS1,280120,015001,2237.3376,-15807.5215,14,0.8,32,9.8,1.1,320.2,10,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.2
$GPS2,280120,015853,2237.3989,-15807.5801,7,0.8,18,9.8,0.0,228.6,10,9.7
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,CTR3h
$TGT_LATLONG,2237.500,-15807.500
$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,53.0,231,-27.0,-8.013,-29.47,903
$D_GRID,500
$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,17,-0.83,-47.3,175,2272,1615,1690,0.0,0.0,0,88,0.00,0.00,-67.28,0.000,16390,0.000,0.000,176,2271,3444,3420,3468,0,0,0,0,0,0,26.55,24.33,26.56
$GC,92,-0.88,-86.2,175,2271,3421,3468,3.1,-3.6,9,110,10.25,0.00,-3.12,0.000,18438,0.213,0.000,2703,2271,3604,3598,3610,0,0,0,0,0,0,25.10,24.53,25.29
$GC,366,-0.88,-86.2,2702,2271,3605,3610,68.6,-22.1,42,370,0.00,2.17,0.00,0.000,2308,0.000,0.049,2693,3645,3607,3605,3609,0,0,0,0,0,0,26.77,25.96,26.77
$GC,446,-0.88,-86.2,2693,3646,3605,3609,86.1,-21.1,49,455,0.03,2.00,0.00,0.000,3078,0.182,0.018,2702,2239,3607,3606,3609,0,0,0,0,0,0,26.27,26.41,26.27
$GC,699,-0.88,-86.2,2701,2236,3607,3609,130.9,-13.8,74,703,0.00,2.22,0.00,0.000,2308,0.000,0.048,2693,3646,3608,3607,3609,0,0,0,0,0,0,26.86,26.06,26.86
$GC,736,-0.88,-86.2,2692,3646,3607,3609,135.4,-12.3,77,744,0.05,2.00,0.00,0.000,3078,0.161,0.018,2709,2239,3608,3607,3610,0,0,0,0,0,0,26.32,26.50,26.38
$GC,985,-0.88,-86.2,2708,2235,3610,3609,163.6,-10.8,102,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2235,3610,3610,3610,0,0,0,0,0,0,26.89,26.89,26.89
$GC,1237,-0.88,-86.2,2708,2235,3611,3609,192.8,-12.6,127,1245,0.00,1.95,0.00,0.000,516,0.000,0.026,2709,877,3610,3611,3610,0,0,0,0,0,0,26.90,26.33,26.91
$GC,1453,-0.88,-86.2,2709,877,3612,3609,217.5,-11.6,136,1457,0.00,2.03,0.00,0.000,3078,0.000,0.026,2700,2259,3610,3612,3609,0,0,0,0,0,0,26.47,26.36,26.50
$GC,1721,-0.88,-86.2,2700,2260,3612,3610,249.4,-11.2,143,1722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2700,2260,3611,3612,3610,0,0,0,0,0,0,26.94,26.94,26.94
$GC,1960,-0.88,-86.2,2700,2260,3612,3609,272.3,-9.3,149,1966,0.00,2.20,0.00,0.000,2308,0.000,0.054,2690,3656,3610,3612,3609,0,0,0,0,0,0,26.94,26.06,26.94
$GC,2030,-0.88,-86.2,2689,3656,3612,3609,276.1,-9.3,150,2040,0.08,1.98,0.00,0.000,3078,0.142,0.020,2714,2241,3610,3612,3609,0,0,0,0,0,0,26.32,26.58,26.39
$GC,2281,-0.88,-86.2,2713,2242,3612,3608,299.8,-8.3,157,2287,0.00,1.92,0.00,0.000,516,0.000,0.027,2714,902,3610,3612,3608,0,0,0,0,0,0,26.94,26.33,26.94
$GC,2320,-0.88,-86.2,2713,902,3612,3607,303.5,-8.6,158,2327,0.00,2.00,0.00,0.000,3078,0.000,0.027,2705,2259,3609,3612,3607,0,0,0,0,0,0,26.48,26.36,26.51
$GC,2601,-0.88,-86.2,2705,2259,3612,3605,329.6,-9.4,165,2606,0.00,2.00,0.00,0.000,2564,0.000,0.028,2705,900,3608,3612,3605,0,0,0,0,0,0,26.94,26.32,26.95
$GC,2736,-0.88,-86.2,2705,900,3611,3605,341.8,-10.1,168,2741,0.05,2.00,0.00,0.000,3078,0.179,0.028,2711,2258,3608,3611,3605,0,0,0,0,0,0,26.24,26.35,26.32
$GC,3004,-0.88,-86.2,2711,2258,3610,3603,372.0,-10.9,175,3010,0.00,1.98,0.00,0.000,516,0.000,0.027,2712,909,3606,3609,3603,0,0,0,0,0,0,26.94,26.31,26.95
$GC,3073,-0.88,-86.2,2711,908,3609,3603,376.3,-10.9,176,3077,0.00,2.00,0.00,0.000,3078,0.000,0.027,2703,2262,3605,3609,3602,0,0,0,0,0,0,26.47,26.35,26.50
$GC,3319,-0.88,-86.2,2702,2263,3608,3600,406.5,-10.9,182,3323,0.00,2.25,0.00,0.000,2308,0.000,0.057,2692,3664,3603,3607,3600,0,0,0,0,0,0,26.95,26.02,26.95
$GC,3405,-0.88,-86.2,2691,3664,3606,3600,416.4,-11.5,184,3410,0.05,2.00,0.00,0.000,3078,0.160,0.021,2709,2273,3603,3606,3600,0,0,0,0,0,0,26.39,26.56,26.45
$GC,3683,-0.88,-86.2,2708,2270,3605,3597,445.7,-10.2,191,3687,0.00,2.03,0.00,0.000,516,0.000,0.028,2709,897,3601,3605,3597,0,0,0,0,0,0,26.94,26.29,26.95
$GC,3820,-0.88,-86.2,2709,897,3604,3596,458.5,-10.4,194,3826,0.00,2.03,0.00,0.000,3078,0.000,0.028,2701,2264,3600,3604,3596,0,0,0,0,0,0,26.46,26.33,26.48
$GC,4086,-0.88,-86.2,2700,2263,3602,3594,485.9,-9.5,201,4090,0.00,2.05,0.00,0.000,2564,0.000,0.028,2700,891,3598,3602,3594,0,0,0,0,0,0,26.95,26.29,26.95
$GC,4168,-0.88,-86.2,2700,891,3601,3595,494.0,-9.5,203,4174,0.08,2.05,0.00,0.000,3078,0.152,0.026,2715,2265,3597,3601,3594,0,0,0,0,0,0,26.17,26.34,26.27
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4250,begin apogee
$GC,4257,-0.14,0.0,2714,2019,3601,3592,501.2,-9.2,205,4332,0.70,0.00,71.53,0.868,10246,0.106,0.000,2948,2012,3250,3258,3242,0,0,0,0,0,0,25.71,24.96,23.92
$STATE,4333,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4336,0.88,86.2,2948,2012,3258,3242,503.2,0.0,207,4419,0.90,2.03,74.90,0.851,10756,0.050,0.029,3297,733,2897,2910,2884,0,0,0,0,0,0,25.56,24.92,23.91
$GC,4440,0.88,86.2,3297,732,2908,2883,500.5,4.7,209,4445,0.08,2.03,0.00,0.000,5126,0.172,0.022,3277,2074,2894,2907,2882,0,0,0,0,0,0,25.41,25.63,25.54
$GC,4688,0.88,86.2,3276,2073,2902,2875,471.1,10.9,215,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2073,2888,2902,2875,0,0,0,0,0,0,26.60,26.60,26.60
$GC,4928,0.88,86.2,3277,2073,2900,2872,447.5,9.5,221,4932,0.00,2.17,0.00,0.000,260,0.000,0.051,3277,3447,2885,2899,2872,0,0,0,0,0,0,26.74,26.01,26.75
$GC,5044,0.88,86.2,3276,3447,2896,2872,439.1,9.7,223,5052,0.00,1.95,0.00,0.000,5126,0.000,0.021,3286,2100,2884,2896,2872,0,0,0,0,0,0,26.48,26.40,26.50
$GC,5290,0.88,86.2,3285,2100,2895,2870,412.9,9.1,230,5292,0.00,0.00,0.00,0.000,4102,0.000,0.000,3286,2100,2882,2895,2870,0,0,0,0,0,0,26.85,26.86,26.86
$GC,5531,0.88,88.0,3285,2100,2894,2869,393.7,7.8,236,5535,0.00,2.15,0.00,0.000,4356,0.000,0.052,3286,3446,2881,2894,2869,0,0,0,0,0,0,26.88,26.06,26.89
$GC,5973,0.88,88.0,3285,3446,2891,2867,354.3,8.2,247,5978,0.08,2.03,0.00,0.000,5126,0.178,0.021,3275,2064,2879,2891,2867,0,0,0,0,0,0,26.18,26.50,26.29
$GC,6258,0.89,95.8,3274,2062,2891,2865,333.2,7.1,254,6269,0.00,2.10,6.00,0.650,8708,0.000,0.033,3283,674,2859,2873,2845,0,0,0,0,0,0,26.92,25.53,24.34
$GC,6384,0.90,100.9,3283,674,2872,2845,324.1,7.4,257,6395,0.00,2.03,6.53,0.664,13318,0.000,0.024,3283,2056,2838,2854,2822,0,0,0,0,0,0,26.36,26.32,24.32
$GC,6654,0.90,104.4,3283,2056,2853,2817,303.4,7.6,264,6661,0.00,0.00,4.43,0.565,8198,0.000,0.000,3283,2056,2824,2841,2807,0,0,0,0,0,0,26.86,25.40,24.34
$GC,6894,0.91,115.2,3283,2056,2840,2806,286.5,6.8,270,6910,0.00,2.22,11.20,0.708,8452,0.000,0.054,3283,3450,2779,2798,2761,0,0,0,0,0,0,26.86,25.56,24.48
$GC,7181,0.91,115.2,3283,3450,2797,2757,261.5,9.6,277,7185,0.00,2.05,0.00,0.000,5126,0.000,0.021,3294,2057,2777,2797,2757,0,0,0,0,0,0,26.48,26.41,26.51
$GC,7449,0.91,115.4,3293,2056,2796,2755,238.8,8.0,284,7454,0.00,2.22,0.00,0.000,4356,0.000,0.051,3294,3453,2775,2796,2755,0,0,0,0,0,0,26.88,26.01,26.88
$GC,7731,0.91,115.4,3294,3453,2795,2755,214.6,9.1,291,7736,0.05,2.05,0.00,0.000,5126,0.209,0.021,3292,2048,2775,2795,2755,0,0,0,0,0,0,26.25,26.48,26.32
$GC,7985,0.92,121.1,3291,2047,2795,2754,195.0,7.4,301,7995,0.00,2.12,6.15,0.584,12804,0.000,0.032,3300,674,2756,2775,2737,0,0,0,0,0,0,26.92,25.53,24.42
$GC,8053,0.93,127.7,3300,674,2773,2737,189.9,7.3,307,8066,0.00,2.08,7.70,0.613,13318,0.000,0.024,3300,2062,2727,2741,2714,0,0,0,0,0,0,26.43,26.32,24.46
$GC,8314,0.95,143.7,3300,2062,2734,2714,172.7,6.2,333,8335,0.00,2.28,15.15,0.642,12548,0.000,0.054,3300,3449,2664,2673,2655,0,0,0,0,0,0,26.84,25.58,24.63
$GC,8498,0.95,143.7,3299,3449,2670,2653,155.0,9.7,350,8506,0.00,2.05,0.00,0.000,5126,0.000,0.021,3310,2047,2661,2670,2653,0,0,0,0,0,0,26.39,26.35,26.40
$GC,8752,0.96,148.9,3309,2047,2669,2652,134.8,7.4,375,8763,0.00,2.30,6.00,0.531,12548,0.000,0.049,3310,3454,2642,2651,2633,0,0,0,0,0,0,26.84,25.50,24.49
$GC,8896,0.96,148.9,3309,3454,2650,2632,121.9,10.3,388,8907,0.05,2.03,0.00,0.000,5126,0.181,0.021,3307,2066,2641,2650,2632,0,0,0,0,0,0,26.13,26.41,26.17
$GC,9147,0.98,171.2,3306,2064,2650,2632,105.0,5.5,413,9176,0.00,2.25,20.67,0.581,8452,0.000,0.050,3306,3458,2550,2569,2531,0,0,0,0,0,0,26.86,25.23,24.75
$GC,9396,1.02,201.5,3305,3458,2568,2527,93.3,4.6,436,9428,0.00,2.10,26.88,0.569,11270,0.000,0.021,3315,2050,2427,2460,2395,0,0,0,0,0,0,26.39,26.36,24.68
$GC,9679,1.02,203.7,3314,2050,2457,2390,74.2,7.8,464,9689,0.00,2.05,0.00,0.000,2564,0.000,0.032,3325,681,2423,2457,2390,0,0,0,0,0,0,26.71,26.10,26.72
$GC,9739,1.02,203.7,3325,681,2456,2390,69.0,8.7,469,9751,0.00,2.03,0.00,0.000,5126,0.000,0.023,3325,2058,2422,2456,2389,0,0,0,0,0,0,26.27,26.24,26.29
$GC,9994,1.03,207.1,3324,2058,2456,2390,48.1,7.6,494,10006,0.00,2.25,5.65,0.459,12548,0.000,0.049,3325,3450,2405,2438,2373,0,0,0,0,0,0,26.82,25.45,24.49
$GC,10033,1.03,210.5,3325,3449,2438,2373,44.8,7.6,497,10046,0.00,2.00,5.32,0.433,13318,0.000,0.020,3336,2059,2390,2423,2358,0,0,0,0,0,0,26.44,26.41,24.59
$GC,10302,1.03,210.5,3335,2059,2421,2357,21.5,9.2,529,10311,0.00,2.25,0.00,0.000,4356,0.000,0.047,3336,3449,2389,2421,2357,0,0,0,0,0,0,26.80,26.07,26.81
$GC,10339,1.03,210.5,3335,3449,2420,2357,17.7,10.5,534,10349,0.05,2.05,0.00,0.000,5126,0.174,0.019,3331,2061,2388,2420,2357,0,0,0,0,0,0,26.15,26.45,26.20
$STATE,10498,end climb,SURFACE_DEPTH_REACHED
$STATE,10498,begin surface coast
$FINISH,0.4,1.023174
$STATE,10531,end surface coast,CONTROL_FINISHED_OK
$STATE,10531,begin surface
$SM_CCo,10550,74.62,0.060,0,0,1660,390.02
$SM_GC,1.53,8.10,0.30,74.62,0.032,0.048,0.060,200,2259,1660,-8.61,-1.22,390.02,0,0,0,0,0,0,26.37,26.46,25.96
$IRIDIUM_FIX,2227.67,-15811.48,270120,224000
$TT8_MAMPS,0.018725,0.364763
$HUMID,50.07
$INTERNAL_PRESSURE,9.43912
$TCM_TEMP,24.00
$XPDR_PINGS,56
$24V_AH,23.91,79.044
$10V_AH,9.66,61.505
$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,20.575,96.225,268.100,74.625,0.000,66.222,48.900,205.691,14.000,0.000,19.855,1724.460,6250.620,435.849,2472.680,285.485,0.000,1348.388,0.000,2111.588,0.000,0.544,0.000
$DEVICE_MAMPS,212.670,56.610,868.275,59.670,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,386.723,329.190,604.988,560.572,860.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,50667,565
$CAP_FILE_SIZE,117678,0
$CFSIZE,260165632,213561344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,247.32,1
$GPS,280120,045759,2237.743,-15807.370,28,1.0,45,9.8,0.2,201.2,8,9.8