version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 789
start: 1 30 120 21 19 44
data:
$ID,512
$MISSION,10
$DIVE,789
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,200
$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,125
$R_STBD_OVSHOOT,54
$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
$GPS1,300120,211256,2237.9741,-15807.5781,19,0.8,39,9.8,0.5,276.8,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,300120,211920,2237.9814,-15807.5771,7,0.8,14,9.8,0.0,147.9,10,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,CTR3i
$TGT_LATLONG,2240.000,-15803.000
$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,73.6,8669,-18.9,-10.000,-21.62,2087
$D_GRID,300
$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,16,-0.71,-136.8,179,2266,1614,1691,0.0,0.0,0,97,0.00,0.00,-77.88,0.000,16390,0.000,0.000,179,2265,3809,3795,3823,0,0,0,0,0,0,26.64,24.49,26.65
$GC,101,-0.71,-136.8,179,2266,3796,3823,4.6,-8.2,10,118,10.35,2.12,0.00,0.000,2308,0.214,0.032,2747,3657,3811,3799,3823,0,0,0,0,0,0,25.14,25.52,25.34
$GC,204,-0.71,-136.8,2746,3657,3806,3820,38.4,-19.5,23,215,0.05,1.92,0.00,0.000,3078,0.196,0.019,2763,2306,3813,3809,3817,0,0,0,0,0,0,24.71,26.41,24.85
$GC,458,-0.71,-136.8,2763,2304,3812,3816,80.9,-16.1,48,469,0.00,2.08,0.00,0.000,2564,0.000,0.028,2764,887,3814,3812,3816,0,0,0,0,0,0,26.86,26.30,26.86
$GC,504,-0.71,-136.8,2763,887,3813,3816,88.9,-15.7,52,516,0.00,2.00,0.00,0.000,3078,0.000,0.025,2756,2248,3814,3812,3816,0,0,0,0,0,0,26.50,26.39,26.53
$GC,758,-0.71,-136.8,2755,2249,3815,3816,119.4,-12.0,77,767,0.00,1.98,0.00,0.000,2564,0.000,0.026,2756,893,3815,3815,3816,0,0,0,0,0,0,26.91,26.39,26.91
$GC,793,-0.71,-136.8,2755,893,3815,3816,123.8,-11.7,80,797,0.05,2.03,0.00,0.000,3078,0.177,0.025,2763,2266,3815,3815,3815,0,0,0,0,0,0,26.30,26.43,26.39
$GC,1050,-0.71,-136.8,2763,2265,3817,3816,150.5,-10.8,105,1054,0.00,2.03,0.00,0.000,2564,0.000,0.025,2764,884,3816,3817,3816,0,0,0,0,0,0,26.91,26.41,26.91
$GC,1086,-0.71,-136.8,2763,884,3817,3816,154.6,-10.7,108,1095,0.00,2.05,0.00,0.000,3078,0.000,0.024,2755,2258,3816,3817,3816,0,0,0,0,0,0,26.50,26.46,26.52
$GC,1339,-0.71,-136.8,2755,2258,3817,3816,180.5,-10.1,133,1347,0.00,2.00,0.00,0.000,2564,0.000,0.027,2755,888,3816,3817,3816,0,0,0,0,0,0,26.93,26.39,26.93
$GC,1424,-0.71,-136.8,2755,888,3817,3816,189.3,-10.0,141,1437,0.05,2.00,0.00,0.000,3078,0.148,0.024,2765,2267,3816,3817,3816,0,0,0,0,0,0,26.27,26.46,26.32
$GC,1676,-0.71,-136.8,2764,2267,3817,3816,210.6,-8.5,157,1681,0.00,1.98,0.00,0.000,516,0.000,0.024,2765,893,3816,3817,3816,0,0,0,0,0,0,26.94,26.41,26.94
$GC,1748,-0.71,-136.8,2764,893,3818,3816,214.1,-8.6,158,1755,0.00,2.00,0.00,0.000,3078,0.000,0.024,2757,2267,3816,3817,3816,0,0,0,0,0,0,26.56,26.46,26.59
$GC,1996,-0.71,-136.8,2757,2268,3817,3815,237.8,-8.7,165,2000,0.00,2.20,0.00,0.000,2308,0.000,0.057,2755,3652,3816,3817,3815,0,0,0,0,0,0,26.95,26.15,26.95
$GC,2072,-0.71,-136.8,2754,3652,3817,3814,241.9,-8.8,166,2078,0.00,1.98,0.00,0.000,3078,0.000,0.020,2755,2248,3815,3817,3814,0,0,0,0,0,0,26.67,26.62,26.68
$GC,2318,-0.71,-136.8,2754,2245,3817,3814,270.4,-10.5,173,2324,0.00,2.28,0.00,0.000,2308,0.000,0.060,2754,3655,3815,3817,3813,0,0,0,0,0,0,26.95,26.09,26.96
$GC,2382,-0.71,-136.8,2754,3655,3817,3813,274.3,-10.4,174,2386,0.00,1.98,0.00,0.000,3078,0.000,0.021,2755,2253,3815,3817,3813,0,0,0,0,0,0,26.67,26.61,26.68
$GC,2634,-0.71,-136.8,2754,2250,3817,3810,297.0,-7.9,181,2636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2755,2250,3813,3817,3810,0,0,0,0,0,0,26.95,26.96,26.96
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2719,-0.14,0.0,2754,2030,3817,3810,302.4,-7.1,183,2834,0.55,0.00,110.75,0.696,10246,0.091,0.000,2947,2023,3250,3257,3243,0,0,0,0,0,0,26.06,25.15,24.31
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2838,0.71,136.8,2946,2023,3255,3243,304.3,0.0,186,2958,0.68,2.05,111.85,0.681,10756,0.048,0.031,3223,693,2691,2710,2672,0,0,0,0,0,0,25.65,25.18,24.34
$GC,3016,0.71,136.8,3222,693,2703,2672,297.5,5.4,190,3020,0.00,2.08,0.00,0.000,5126,0.000,0.024,3223,2070,2687,2703,2672,0,0,0,0,0,0,26.04,25.94,26.06
$GC,3279,0.76,175.4,3221,2070,2698,2670,274.0,8.1,197,3318,0.00,2.25,32.65,0.662,10500,0.000,0.048,3222,3449,2533,2558,2509,0,0,0,0,0,0,26.72,25.56,24.68
$GC,3454,0.76,175.4,3222,3449,2555,2506,257.7,10.1,201,3458,0.00,1.98,0.00,0.000,1030,0.000,0.021,3232,2098,2530,2555,2506,0,0,0,0,0,0,26.34,26.27,26.35
$GC,3717,0.76,175.4,3232,2097,2553,2502,229.7,10.2,208,3721,0.00,2.15,0.00,0.000,260,0.000,0.049,3232,3449,2527,2553,2502,0,0,0,0,0,0,26.79,26.18,26.81
$GC,3823,0.76,175.4,3232,3449,2552,2502,220.7,10.5,210,3827,0.00,2.03,0.00,0.000,5126,0.000,0.021,3242,2066,2527,2552,2502,0,0,0,0,0,0,26.49,26.40,26.51
$GC,4078,0.76,178.4,3241,2065,2551,2500,191.5,9.9,223,4084,0.00,0.00,0.00,0.000,4102,0.000,0.000,3242,2065,2525,2551,2500,0,0,0,0,0,0,26.89,26.89,26.89
$GC,4325,0.80,213.2,3242,2065,2550,2499,169.4,8.3,248,4364,0.00,0.00,32.55,0.624,10246,0.000,0.000,3242,2066,2378,2412,2345,0,0,0,0,0,0,26.91,25.24,24.76
$GC,4608,0.83,239.7,3242,2065,2406,2340,145.2,8.7,276,4638,0.00,2.15,22.70,0.595,10756,0.000,0.035,3242,665,2272,2307,2238,0,0,0,0,0,0,26.78,25.30,24.82
$GC,4685,0.85,255.2,3242,664,2305,2236,138.2,9.2,283,4705,0.00,2.05,14.65,0.574,11270,0.000,0.022,3242,2057,2209,2245,2173,0,0,0,0,0,0,26.25,26.21,24.78
$GC,4946,0.88,278.4,3242,2057,2239,2169,112.8,8.9,309,4974,0.05,2.20,20.08,0.567,10500,0.128,0.048,3295,3446,2116,2153,2079,0,0,0,0,0,0,26.53,25.32,24.88
$GC,5063,0.88,278.4,3294,3446,2151,2078,98.6,12.2,320,5068,0.10,2.05,0.00,0.000,5126,0.131,0.021,3271,2061,2114,2151,2077,0,0,0,0,0,0,26.07,26.29,26.18
$GC,5318,1.00,376.7,3271,2060,2150,2074,79.0,5.2,345,5411,0.08,2.15,81.38,0.547,10756,0.090,0.034,3339,665,1712,1730,1694,0,0,0,0,0,0,26.59,25.10,24.68
$GC,5451,1.00,376.7,3339,665,1725,1693,65.0,12.6,357,5462,0.08,2.08,0.00,0.000,5126,0.135,0.022,3315,2065,1709,1725,1693,0,0,0,0,0,0,25.77,26.00,25.85
$GC,5702,1.00,376.7,3314,2065,1721,1693,34.4,12.2,382,5707,0.00,2.15,0.00,0.000,260,0.000,0.047,3315,3447,1707,1721,1693,0,0,0,0,0,0,26.71,26.10,26.72
$GC,5730,1.00,376.7,3314,3447,1721,1692,31.2,12.5,384,5738,0.00,2.10,0.00,0.000,5126,0.000,0.021,3323,2063,1707,1721,1693,0,0,0,0,0,0,26.38,26.37,26.40
$STATE,5954,end climb,SURFACE_DEPTH_REACHED
$STATE,5954,begin surface coast
$FINISH,0.6,1.023094
$STATE,5981,end surface coast,CONTROL_FINISHED_OK
$STATE,5981,begin surface
$SM_CCo,6000,5.55,0.064,0,0,1660,390.02
$SM_GC,2.08,7.95,0.28,5.55,0.025,0.049,0.064,174,2263,1660,-8.65,-1.61,390.02,0,0,0,0,0,0,26.46,26.50,26.13
$IRIDIUM_FIX,2227.67,-15806.28,300120,192646
$TT8_MAMPS,0.019474,0.378245
$HUMID,55.67
$INTERNAL_PRESSURE,9.46842
$TCM_TEMP,22.00
$XPDR_PINGS,70
$24V_AH,24.31,81.010
$10V_AH,9.94,63.291
$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,19.975,62.525,426.600,5.550,0.000,27.639,41.735,176.923,17.500,0.000,15.153,1150.758,2935.739,453.968,1654.536,202.320,0.000,1081.107,0.000,1381.914,0.000,0.545,0.000
$DEVICE_MAMPS,214.200,59.670,696.150,64.260,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.645,275.341,523.545,493.977,758.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339184
$DATA_FILE_SIZE,37451,425
$CAP_FILE_SIZE,74260,0
$CFSIZE,260165632,212242432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,300.84,1
$GPS,300120,230101,2238.265,-15807.064,6,0.9,32,9.8,0.8,100.4,9,6.3