version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 790
start: 1 30 120 23 7 57
data:
$ID,512
$MISSION,10
$DIVE,790
$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,44
$R_STBD_OVSHOOT,56
$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
$GPS1,300120,230101,2238.2651,-15807.0645,6,0.9,32,9.8,0.8,100.4,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.8
$GPS2,300120,230733,2238.2815,-15807.0752,7,0.9,16,9.8,0.0,269.9,9,9.8
$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,70.8,7657,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.71,-136.8,173,2267,1633,1676,0.0,0.0,0,91,0.00,0.00,-71.40,0.000,16386,0.000,0.000,173,2268,3561,3544,3578,0,0,0,0,0,0,26.62,28.83,26.63
$GC,94,-0.71,-136.8,173,2268,3545,3579,3.2,-3.7,9,121,10.55,2.17,-4.62,0.000,18692,0.220,0.054,2743,3637,3811,3810,3813,0,0,0,0,0,0,25.11,24.27,25.34
$GC,240,-0.71,-136.8,2743,3637,3815,3813,39.2,-18.6,27,249,0.05,2.08,0.00,0.000,3078,0.191,0.020,2760,2230,3814,3815,3813,0,0,0,0,0,0,24.72,26.41,24.87
$GC,490,-0.71,-136.8,2760,2226,3816,3813,84.1,-17.9,52,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2760,2226,3814,3816,3813,0,0,0,0,0,0,26.86,26.86,26.86
$GC,739,-0.71,-136.8,2760,2227,3818,3813,117.1,-11.1,77,746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2760,2227,3815,3817,3813,0,0,0,0,0,0,26.90,26.91,26.90
$GC,989,-0.71,-136.8,2760,2227,3819,3813,142.9,-11.5,102,997,0.00,0.00,0.00,0.000,2054,0.000,0.000,2760,2226,3816,3819,3813,0,0,0,0,0,0,26.92,26.92,26.92
$GC,1239,-0.71,-136.8,2760,2226,3820,3813,171.2,-10.8,127,1248,0.00,1.98,0.00,0.000,2564,0.000,0.027,2761,870,3817,3821,3813,0,0,0,0,0,0,26.93,26.39,26.94
$GC,1346,-0.71,-136.8,2760,870,3821,3813,182.6,-10.3,137,1355,0.00,2.03,0.00,0.000,3078,0.000,0.025,2754,2248,3817,3821,3813,0,0,0,0,0,0,26.55,26.44,26.58
$GC,1607,-0.71,-136.8,2753,2249,3821,3813,209.4,-10.5,157,1613,0.00,2.00,0.00,0.000,2564,0.000,0.027,2755,881,3817,3821,3813,0,0,0,0,0,0,26.94,26.39,26.94
$GC,1639,-0.71,-136.8,2754,881,3821,3812,209.4,-10.5,157,1646,0.05,2.03,0.00,0.000,3078,0.176,0.025,2763,2267,3817,3821,3813,0,0,0,0,0,0,26.32,26.45,26.41
$GC,1888,-0.71,-136.8,2762,2268,3821,3813,235.9,-9.3,164,1893,0.00,2.15,0.00,0.000,2308,0.000,0.054,2755,3639,3817,3821,3813,0,0,0,0,0,0,26.94,26.16,26.95
$GC,1949,-0.71,-136.8,2754,3639,3821,3812,239.7,-9.4,165,1953,0.00,2.00,0.00,0.000,3078,0.000,0.028,2754,2239,3817,3821,3813,0,0,0,0,0,0,26.55,26.46,26.58
$GC,2206,-0.71,-136.8,2754,2235,3821,3812,269.7,-11.0,172,2213,0.00,1.98,0.00,0.000,2564,0.000,0.028,2754,894,3816,3821,3811,0,0,0,0,0,0,26.94,26.36,26.95
$GC,2256,-0.71,-136.8,2754,894,3821,3811,274.1,-11.0,173,2262,0.05,2.00,0.00,0.000,3078,0.174,0.026,2764,2260,3816,3821,3811,0,0,0,0,0,0,26.32,26.44,26.41
$GC,2528,-0.71,-136.8,2764,2260,3821,3809,297.4,-7.9,180,2534,0.00,2.20,0.00,0.000,260,0.000,0.057,2755,3655,3815,3821,3809,0,0,0,0,0,0,26.94,26.13,26.95
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2574,-0.14,0.0,2755,2068,3821,3808,300.6,-7.9,181,2689,0.55,0.00,111.38,0.695,10246,0.093,0.000,2947,2062,3249,3256,3243,0,0,0,0,0,0,26.05,25.15,24.32
$STATE,2690,end apogee,CONTROL_FINISHED_OK
$STATE,2690,begin climb
$GC,2693,0.71,136.8,2947,2062,3256,3242,303.7,0.0,184,2815,0.68,2.15,111.55,0.680,10756,0.049,0.031,3222,678,2690,2709,2671,0,0,0,0,0,0,25.62,24.84,24.34
$GC,2857,0.71,136.8,3222,678,2703,2672,296.7,5.9,188,2861,0.00,2.08,0.00,0.000,1030,0.000,0.023,3223,2067,2687,2703,2672,0,0,0,0,0,0,25.96,25.89,25.99
$GC,3124,0.73,155.8,3222,2066,2697,2670,271.3,9.1,195,3146,0.00,2.17,16.45,0.638,10500,0.000,0.050,3222,3446,2613,2629,2598,0,0,0,0,0,0,26.70,25.63,24.72
$GC,3253,0.73,155.8,3222,3446,2626,2597,259.0,10.4,198,3258,0.00,2.03,0.00,0.000,5126,0.000,0.021,3233,2064,2611,2626,2597,0,0,0,0,0,0,26.38,26.30,26.40
$GC,3522,0.73,155.8,3232,2063,2624,2593,229.1,10.8,205,3528,0.00,2.20,0.00,0.000,4356,0.000,0.048,3233,3446,2608,2624,2593,0,0,0,0,0,0,26.82,26.19,26.82
$GC,3594,0.73,155.8,3232,3446,2624,2593,224.3,11.0,206,3601,0.00,2.03,0.00,0.000,5126,0.000,0.020,3242,2056,2608,2624,2593,0,0,0,0,0,0,26.54,26.46,26.55
$GC,3842,0.73,155.8,3242,2055,2622,2591,193.9,10.2,216,3846,0.00,2.20,0.00,0.000,4356,0.000,0.048,3242,3450,2607,2623,2591,0,0,0,0,0,0,26.89,26.22,26.89
$GC,3908,0.73,155.8,3242,3450,2623,2591,187.1,10.2,222,3913,0.08,2.03,0.00,0.000,5126,0.150,0.019,3228,2050,2607,2623,2591,0,0,0,0,0,0,26.29,26.51,26.39
$GC,4164,0.82,225.6,3228,2049,2622,2589,168.6,6.6,247,4232,0.00,2.12,58.60,0.620,10756,0.000,0.033,3237,678,2328,2364,2293,0,0,0,0,0,0,26.91,25.48,24.64
$GC,4257,0.87,270.9,3236,678,2362,2292,161.7,7.8,256,4305,0.05,2.05,39.15,0.601,11270,0.134,0.022,3276,2056,2144,2183,2106,0,0,0,0,0,0,24.61,26.02,24.57
$GC,4548,0.87,270.9,3276,2055,2176,2100,125.7,12.8,285,4552,0.00,2.22,0.00,0.000,4356,0.000,0.050,3276,3457,2138,2176,2100,0,0,0,0,0,0,26.67,26.06,26.68
$GC,4625,0.87,270.9,3276,3457,2175,2100,115.8,11.9,292,4636,0.00,2.05,0.00,0.000,5126,0.000,0.021,3286,2073,2137,2175,2100,0,0,0,0,0,0,26.41,26.36,26.44
$GC,4880,0.94,321.3,3285,2072,2173,2097,89.8,7.5,317,4924,0.00,0.00,41.97,0.558,10758,0.000,0.000,3286,2072,1939,1975,1904,0,0,0,0,0,0,26.84,25.52,24.81
$GC,5167,0.95,331.4,3286,2073,1968,1900,64.0,9.5,346,5182,0.00,2.22,9.18,0.500,10500,0.000,0.048,3286,3452,1898,1930,1867,0,0,0,0,0,0,26.74,25.62,24.75
$GC,5205,0.95,331.9,3286,3451,1930,1866,60.3,10.0,349,5215,0.00,2.05,0.00,0.000,1030,0.000,0.021,3296,2061,1898,1930,1866,0,0,0,0,0,0,26.34,26.32,26.36
$GC,5459,0.95,331.9,3295,2061,1928,1865,32.9,10.9,374,5470,0.00,2.08,0.00,0.000,516,0.000,0.035,3306,655,1896,1927,1865,0,0,0,0,0,0,26.81,26.27,26.82
$GC,5475,0.95,331.9,3306,655,1926,1865,31.5,10.6,375,5484,0.00,2.10,0.00,0.000,5126,0.000,0.022,3306,2062,1895,1926,1865,0,0,0,0,0,0,26.43,26.39,26.45
$STATE,5735,end climb,SURFACE_DEPTH_REACHED
$STATE,5735,begin surface coast
$FINISH,0.4,1.009874
$STATE,5766,end surface coast,CONTROL_FINISHED_OK
$STATE,5766,begin surface
$SM_CCo,5785,26.17,0.061,0,0,1659,390.02
$SM_GC,1.85,7.90,0.25,26.17,0.026,0.041,0.061,193,2273,1659,-8.60,-1.53,390.02,0,0,0,0,0,0,26.48,26.61,26.13
$IRIDIUM_FIX,2225.34,-15806.28,300120,211443
$TT8_MAMPS,0.018725,0.298102
$HUMID,54.33
$INTERNAL_PRESSURE,9.46842
$TCM_TEMP,22.70
$XPDR_PINGS,71
$24V_AH,24.27,81.098
$10V_AH,9.93,63.353
$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,19.950,58.975,388.275,26.175,0.000,27.892,42.535,183.336,17.750,0.000,17.760,1136.965,2786.046,458.150,1640.697,188.776,0.000,1041.980,0.000,1359.168,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,56.610,694.620,61.200,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.541,278.445,526.565,513.308,787.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339140
$DATA_FILE_SIZE,37144,423
$CAP_FILE_SIZE,70548,0
$CFSIZE,260165632,212201472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,267.79,1
$GPS,310120,004601,2238.465,-15806.612,7,0.9,33,9.8,0.3,336.9,9,4.8