version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 772
start: 1 29 120 1 10 42
data:
$ID,512
$MISSION,10
$DIVE,772
$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,68
$R_STBD_OVSHOOT,53
$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
$GPS1,290120,010238,2237.2356,-15807.5088,31,0.9,38,9.8,0.0,65.4,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.1
$GPS2,290120,011015,2237.2820,-15807.5303,7,0.9,15,9.8,0.6,262.1,9,9.1
$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,41.6,407,-27.6,-8.013,-30.00,867
$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,-0.84,-45.4,165,2280,1638,1673,0.0,0.0,0,88,0.00,0.00,-66.78,0.000,16390,0.000,0.000,165,2278,3436,3413,3460,0,0,0,0,0,0,26.51,24.30,26.53
$GC,91,-0.88,-78.1,165,2279,3414,3461,3.2,-4.2,9,111,10.38,2.20,-2.60,0.000,18692,0.215,0.053,2689,3652,3572,3565,3579,0,0,0,0,0,0,24.98,24.06,25.18
$GC,304,-0.88,-78.1,2689,3652,3570,3578,54.1,-20.0,34,315,0.05,2.00,0.00,0.000,3078,0.153,0.018,2705,2245,3574,3570,3579,0,0,0,0,0,0,26.10,26.34,26.14
$GC,557,-0.88,-78.1,2704,2242,3571,3578,102.4,-18.3,59,562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2705,2242,3575,3572,3578,0,0,0,0,0,0,26.81,26.81,26.81
$GC,805,-0.88,-78.1,2704,2242,3573,3579,139.9,-14.6,84,810,0.00,2.20,0.00,0.000,2308,0.000,0.047,2696,3642,3575,3573,3578,0,0,0,0,0,0,26.86,26.06,26.86
$GC,960,-0.88,-78.1,2695,3642,3574,3579,162.4,-14.5,98,967,0.00,1.98,0.00,0.000,3078,0.000,0.018,2696,2256,3577,3575,3579,0,0,0,0,0,0,26.57,26.51,26.58
$GC,1206,-0.88,-78.1,2695,2252,3575,3579,193.8,-11.9,123,1207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2696,2252,3577,3576,3578,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1466,-0.88,-78.1,2695,2252,3577,3578,223.2,-11.1,134,1471,0.00,2.17,0.00,0.000,2308,0.000,0.048,2685,3646,3578,3577,3579,0,0,0,0,0,0,26.91,26.08,26.92
$GC,1535,-0.88,-78.1,2684,3646,3577,3578,227.8,-11.2,135,1545,0.08,1.98,0.00,0.000,3078,0.141,0.018,2710,2231,3578,3577,3579,0,0,0,0,0,0,26.31,26.55,26.38
$GC,1786,-0.88,-78.1,2709,2231,3577,3579,255.6,-9.7,142,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2231,3577,3577,3578,0,0,0,0,0,0,26.91,26.93,26.93
$GC,2025,-0.88,-78.1,2709,2231,3577,3578,280.4,-10.4,148,2031,0.00,1.92,0.00,0.000,516,0.000,0.025,2710,894,3577,3577,3578,0,0,0,0,0,0,26.92,26.35,26.93
$GC,2107,-0.88,-78.1,2709,894,3577,3578,289.3,-10.9,150,2112,0.00,2.00,0.00,0.000,3078,0.000,0.025,2701,2256,3578,3577,3579,0,0,0,0,0,0,26.48,26.36,26.51
$GC,2381,-0.88,-78.1,2700,2256,3577,3576,318.9,-10.6,157,2382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2256,3576,3577,3576,0,0,0,0,0,0,26.94,26.94,26.94
$GC,2620,-0.88,-78.1,2700,2256,3576,3574,342.5,-9.8,163,2624,0.00,2.03,0.00,0.000,2564,0.000,0.028,2701,904,3574,3576,3573,0,0,0,0,0,0,26.94,26.32,26.94
$GC,2650,-0.88,-78.1,2700,903,3577,3574,342.5,-9.8,163,2655,0.05,2.00,0.00,0.000,3078,0.184,0.027,2707,2266,3575,3576,3574,0,0,0,0,0,0,26.23,26.36,26.32
$GC,2899,-0.88,-78.1,2706,2266,3576,3572,368.3,-9.3,169,2900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2707,2266,3573,3575,3572,0,0,0,0,0,0,26.94,26.94,26.94
$GC,3137,-0.88,-78.1,2706,2266,3575,3570,388.4,-8.3,175,3139,0.00,0.00,0.00,0.000,2054,0.000,0.000,2707,2266,3572,3575,3570,0,0,0,0,0,0,26.94,26.95,26.94
$GC,3379,-0.89,-80.9,2706,2266,3573,3568,407.0,-7.7,181,3384,0.00,2.15,0.00,0.000,260,0.000,0.054,2698,3644,3570,3572,3569,0,0,0,0,0,0,26.94,26.03,26.94
$GC,3411,-0.89,-83.7,2698,3644,3572,3569,407.0,-7.7,181,3418,0.00,1.95,0.00,0.000,3078,0.000,0.021,2698,2271,3570,3572,3568,0,0,0,0,0,0,26.62,26.56,26.63
$GC,3658,-0.89,-83.7,2698,2271,3571,3566,431.2,-8.7,188,3662,0.00,2.22,0.00,0.000,2308,0.000,0.053,2687,3653,3568,3571,3566,0,0,0,0,0,0,26.94,26.03,26.94
$GC,3770,-0.89,-83.7,2687,3653,3570,3566,439.1,-9.3,190,3779,0.05,2.00,0.00,0.000,3078,0.160,0.021,2704,2240,3568,3570,3566,0,0,0,0,0,0,26.38,26.56,26.44
$GC,4021,-0.89,-83.7,2703,2241,3569,3563,465.0,-9.3,197,4027,0.00,2.00,0.00,0.000,2564,0.000,0.028,2705,886,3566,3569,3564,0,0,0,0,0,0,26.94,26.29,26.95
$GC,4199,-0.89,-83.7,2704,887,3568,3563,480.8,-9.9,201,4203,0.00,2.05,0.00,0.000,3078,0.000,0.028,2696,2267,3565,3568,3563,0,0,0,0,0,0,26.44,26.31,26.47
$STATE,4413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4414,begin apogee
$GC,4421,-0.14,0.0,2695,2022,3567,3560,503.0,-9.4,207,4494,0.77,0.00,65.28,0.870,10246,0.127,0.000,2943,2016,3250,3258,3242,0,0,0,0,0,0,25.10,24.98,23.95
$STATE,4495,end apogee,CONTROL_FINISHED_OK
$STATE,4496,begin climb
$GC,4498,0.89,83.7,2943,2016,3258,3242,504.6,0.0,209,4577,0.88,0.00,73.12,0.847,10246,0.049,0.000,3272,2015,2908,2922,2894,0,0,0,0,0,0,25.61,24.83,23.91
$GC,4816,0.89,83.7,3271,2015,2914,2886,475.8,10.9,217,4822,0.00,2.30,0.00,0.000,2308,0.000,0.050,3272,3464,2899,2913,2886,0,0,0,0,0,0,26.55,25.88,26.56
$GC,4865,0.89,83.7,3271,3464,2912,2886,471.1,11.2,218,4871,0.00,1.98,0.00,0.000,5126,0.000,0.020,3282,2114,2899,2912,2886,0,0,0,0,0,0,26.31,26.24,26.33
$GC,5137,0.89,83.7,3281,2113,2909,2884,441.9,10.2,225,5143,0.00,2.05,0.00,0.000,4612,0.000,0.031,3293,734,2896,2909,2884,0,0,0,0,0,0,26.76,26.16,26.77
$GC,5218,0.89,83.7,3292,734,2908,2884,433.4,10.3,227,5222,0.00,1.98,0.00,0.000,5126,0.000,0.024,3292,2071,2896,2908,2884,0,0,0,0,0,0,26.39,26.28,26.42
$GC,5497,0.89,83.7,3291,2070,2907,2881,409.2,8.2,234,5501,0.00,2.20,0.00,0.000,4356,0.000,0.051,3290,3454,2894,2907,2881,0,0,0,0,0,0,26.85,26.04,26.86
$GC,5812,0.89,83.7,3290,3454,2903,2880,385.1,8.6,241,5820,0.08,1.95,0.00,0.000,5126,0.192,0.021,3279,2109,2891,2903,2880,0,0,0,0,0,0,26.13,26.47,26.25
$GC,6059,0.90,94.9,3278,2107,2903,2878,364.9,6.7,248,6069,0.00,0.00,8.07,0.726,10246,0.000,0.000,3279,2107,2862,2876,2849,0,0,0,0,0,0,26.91,25.39,24.34
$GC,6299,0.91,99.3,3278,2107,2874,2845,347.0,7.5,254,6310,0.00,2.17,5.22,0.626,10500,0.000,0.050,3277,3444,2845,2861,2829,0,0,0,0,0,0,26.86,25.53,24.33
$GC,6382,0.91,99.3,3276,3444,2860,2828,339.3,8.6,256,6386,0.00,2.03,0.00,0.000,1030,0.000,0.021,3285,2060,2844,2860,2828,0,0,0,0,0,0,26.47,26.41,26.49
$GC,6660,0.91,99.3,3285,2060,2859,2826,313.6,9.1,263,6665,0.00,2.08,0.00,0.000,516,0.000,0.032,3296,676,2842,2859,2826,0,0,0,0,0,0,26.86,26.21,26.87
$GC,6713,0.91,99.3,3296,676,2858,2825,310.1,9.0,264,6717,0.00,2.05,0.00,0.000,5126,0.000,0.025,3296,2053,2842,2859,2825,0,0,0,0,0,0,26.41,26.29,26.44
$GC,6980,0.91,99.3,3296,2053,2858,2824,285.4,8.6,271,6987,0.00,2.22,0.00,0.000,4356,0.000,0.054,3296,3453,2841,2858,2824,0,0,0,0,0,0,26.91,25.98,26.91
$GC,7345,0.91,99.3,3296,3453,2857,2824,251.8,9.1,280,7350,0.08,2.03,0.00,0.000,5126,0.190,0.021,3287,2056,2840,2856,2824,0,0,0,0,0,0,26.13,26.48,26.22
$GC,7624,0.93,117.0,3287,2053,2857,2823,233.2,5.9,287,7646,0.00,2.28,16.40,0.699,10500,0.000,0.052,3287,3454,2772,2792,2753,0,0,0,0,0,0,26.93,25.03,24.45
$GC,7725,0.95,128.4,3286,3454,2789,2751,227.3,6.7,289,7742,0.00,2.03,11.38,0.667,9222,0.000,0.021,3295,2066,2725,2739,2712,0,0,0,0,0,0,26.37,26.35,24.48
$GC,8020,0.95,128.4,3295,2065,2730,2713,200.9,8.0,297,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2066,2721,2730,2712,0,0,0,0,0,0,26.76,26.77,26.77
$GC,8261,0.95,133.0,3295,2066,2729,2713,181.3,7.5,318,8273,0.00,2.28,4.32,0.496,8452,0.000,0.054,3295,3457,2710,2718,2703,0,0,0,0,0,0,26.83,25.01,24.39
$GC,8436,0.95,133.0,3295,3457,2717,2702,166.9,8.5,334,8445,0.00,2.05,0.00,0.000,5126,0.000,0.020,3306,2052,2709,2717,2702,0,0,0,0,0,0,26.44,26.41,26.46
$GC,8689,0.97,144.1,3305,2052,2717,2702,147.9,6.7,359,8710,0.00,2.30,12.02,0.611,12548,0.000,0.055,3306,3460,2662,2670,2654,0,0,0,0,0,0,26.88,25.15,24.63
$GC,8826,0.97,144.1,3306,3460,2669,2653,136.5,9.1,371,8834,0.00,2.05,0.00,0.000,5126,0.000,0.021,3315,2061,2661,2669,2653,0,0,0,0,0,0,26.39,26.38,26.42
$GC,9076,0.99,160.6,3315,2060,2669,2652,119.1,6.1,396,9098,0.00,2.17,15.73,0.594,12804,0.000,0.033,3326,665,2595,2609,2581,0,0,0,0,0,0,26.85,25.60,24.71
$GC,9131,1.01,179.6,3326,665,2606,2580,116.0,5.8,401,9154,0.00,2.08,17.65,0.600,13318,0.000,0.024,3326,2061,2518,2542,2494,0,0,0,0,0,0,26.24,26.21,24.63
$GC,9403,1.04,203.0,3325,2061,2540,2487,101.4,5.3,428,9435,0.00,2.28,21.45,0.570,8452,0.000,0.054,3326,3450,2421,2454,2388,0,0,0,0,0,0,26.69,25.53,24.67
$GC,9549,1.04,203.0,3325,3450,2452,2386,90.1,8.6,441,9556,0.00,2.08,0.00,0.000,5126,0.000,0.021,3336,2060,2419,2452,2386,0,0,0,0,0,0,26.29,26.22,26.31
$GC,9801,1.04,203.0,3335,2060,2452,2384,68.5,9.2,466,9812,0.00,2.08,0.00,0.000,4612,0.000,0.034,3347,673,2418,2451,2385,0,0,0,0,0,0,26.75,26.12,26.76
$GC,9851,1.04,203.0,3346,673,2451,2385,63.7,9.3,470,9863,0.05,2.05,0.00,0.000,5126,0.171,0.024,3332,2059,2418,2451,2385,0,0,0,0,0,0,25.98,26.22,26.03
$GC,10104,1.04,203.0,3331,2059,2451,2385,40.1,10.1,495,10114,0.00,2.20,0.00,0.000,4356,0.000,0.054,3332,3447,2417,2450,2385,0,0,0,0,0,0,26.84,25.98,26.84
$GC,10178,1.04,203.0,3331,3447,2450,2385,32.9,10.0,501,10188,0.05,2.08,0.00,0.000,5126,0.182,0.021,3326,2053,2417,2450,2385,0,0,0,0,0,0,26.12,26.39,26.15
$GC,10469,1.04,203.0,3326,2052,2450,2385,8.2,8.9,548,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2052,2417,2450,2385,0,0,0,0,0,0,26.86,26.87,26.87
$STATE,10533,end climb,SURFACE_DEPTH_REACHED
$STATE,10533,begin surface coast
$FINISH,0.4,1.011394
$STATE,10577,end surface coast,CONTROL_FINISHED_OK
$STATE,10577,begin surface
$SM_CCo,10597,81.55,0.060,0,0,1659,390.02
$SM_GC,1.45,7.95,0.32,81.55,0.025,0.045,0.060,192,2287,1659,-8.61,-0.96,390.02,0,0,0,0,0,0,26.44,26.50,25.93
$IRIDIUM_FIX,2223.01,-15814.52,280120,213040
$TT8_MAMPS,0.018725,0.301098
$HUMID,50.59
$INTERNAL_PRESSURE,9.42935
$TCM_TEMP,23.70
$XPDR_PINGS,67
$24V_AH,23.91,79.712
$10V_AH,9.71,62.071
$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,20.450,88.400,250.650,81.550,0.000,29.276,45.065,234.785,16.750,0.000,16.139,1667.360,6438.283,453.993,2304.911,273.275,0.000,1290.228,0.000,1960.814,0.000,0.544,0.000
$DEVICE_MAMPS,214.965,55.080,869.805,60.435,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,387.554,325.320,599.492,560.604,860.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339200
$DATA_FILE_SIZE,50789,565
$CAP_FILE_SIZE,110464,0
$CFSIZE,260165632,213127168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.093,268.19,1
$GPS,290120,041001,2237.910,-15807.394,16,0.8,40,9.8,0.6,279.7,9,8.3