version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 492 start: 9 24 121 4 35 33 data: $ID,626 $MISSION,3 $DIVE,492 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,200 $D_ABORT,250 $D_NO_BLEED,150 $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,66 $T_MISSION,180 $T_ABORT,550 $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,120 $COURSE_BIAS,0 $GLIDE_SLOPE,25 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,54816 $MASS_COMP,0 $NAV_MODE,2 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0019952599 $HD_B,0.011885 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,270 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2141 $TGT_DEFAULT_LON,-15809 $TGT_AUTO_DEFAULT,0 $SM_CC,400 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $PROTOCOL,9 $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,4 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,199 $PITCH_MAX,3921 $C_PITCH,2750 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,37.799999 $PITCH_TIMEOUT,25 $PITCH_AD_RATE,125 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,183 $ROLL_MAX,3761 $ROLL_DEG,40 $C_ROLL_DIVE,2265 $C_ROLL_CLIMB,2125 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,30 $R_STBD_OVSHOOT,32 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,600 $VBD_MAX,3960 $C_VBD,2800 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_LP_IGNORE,0 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.00061500003 $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,310 $AH0_10V,0 $MINV_24V,11.5 $MINV_10V,10 $MAXI_24V,3 $MAXI_10V,2 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-177.91942 $PRESSURE_SLOPE,0.00014088588 $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,0 $DEEPGLIDER,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,37 $DEVICE4,67 $DEVICE5,54 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $LOGGERDEVICE3,-1 $LOGGERDEVICE4,-1 $COMPASS_DEVICE,17 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,49 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0044219922 $SEABIRD_T_H,0.00064468966 $SEABIRD_T_I,2.6862755e-05 $SEABIRD_T_J,3.3151866e-06 $SEABIRD_C_G,-10.061407 $SEABIRD_C_H,1.1334444 $SEABIRD_C_I,-0.0030129163 $SEABIRD_C_J,0.00029655115 $GPS1,240921,042931,2245.3247,-15800.3027,6,0.9,26,9.8,0.2,355.1,9,7.5 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.20 $_SM_ANGLEo,-75.9 $GPS2,240921,043443,2245.3584,-15800.3408,6,0.9,14,9.8,0.7,339.6,9,9.8 $SPEED_LIMITS,0.217,0.227 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,1300.000 $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,122.7,883,-18.0,-10.101,-24.02,1992 $D_GRID,200 $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,-0.55,-116.8,124,2261,1199,1114,0.0,0.0,0,80,0.00,0.00,-62.12,0.000,16386,0.000,0.000,124,2261,3141,3106,3176,0,0,0,0,0,0,15.19,28.83,15.19 $GC,83,-0.55,-116.8,124,2261,3106,3176,3.5,-6.2,9,99,8.35,2.35,-2.20,0.000,18948,0.434,0.062,2574,830,3280,3251,3310,0,0,0,0,0,0,14.28,13.45,14.57 $GC,112,-0.55,-116.8,2574,831,3261,3302,18.7,-44.8,13,121,0.00,2.42,0.00,0.000,3078,0.000,0.044,2565,2271,3281,3261,3301,0,0,0,0,0,0,14.84,14.78,14.87 $GC,375,-0.55,-116.8,2564,2274,3263,3299,86.5,-22.9,62,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,2274,3281,3264,3299,0,0,0,0,0,0,15.22,15.22,15.22 $GC,633,-0.55,-116.8,2565,2274,3266,3298,134.4,-15.8,111,640,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,2274,3282,3266,3298,0,0,0,0,0,0,15.25,15.25,15.25 $GC,890,-0.55,-116.8,2565,2274,3267,3298,174.0,-16.1,146,891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,2274,3282,3267,3298,0,0,0,0,0,0,15.29,15.30,15.30 $STATE,1060,end dive,TARGET_DEPTH_EXCEEDED $STATE,1060,begin apogee $GC,1065,-0.13,0.0,2565,2059,3267,3298,200.6,-13.9,163,1163,0.35,0.12,93.05,1.081,10246,0.245,0.109,2699,2164,2798,2863,2734,0,0,0,0,0,0,14.61,14.67,14.07 $STATE,1164,end apogee,CONTROL_FINISHED_OK $STATE,1164,begin climb $GC,1166,0.55,116.8,2700,2164,2863,2733,205.2,0.0,173,1272,0.52,0.00,95.50,1.073,10246,0.156,0.000,2918,2164,2321,2406,2237,0,0,0,0,0,0,14.54,14.57,14.00 $GC,1512,0.58,168.1,2918,2164,2406,2232,184.9,7.5,208,1561,0.00,2.22,41.47,1.052,10500,0.000,0.060,2918,3502,2113,2202,2024,0,0,0,0,0,0,15.18,14.59,14.15 $GC,1587,0.58,176.8,2918,3502,2202,2024,178.4,9.6,215,1606,0.00,2.28,8.75,0.945,11270,0.000,0.043,2930,2111,2077,2165,1990,0,0,0,0,0,0,14.90,14.81,14.06 $GC,1844,0.58,176.8,2929,2110,2164,1985,148.0,11.2,242,1851,0.00,0.00,0.00,0.000,2054,0.000,0.000,2930,2110,2074,2164,1985,0,0,0,0,0,0,15.21,15.21,15.21 $GC,2111,0.60,196.1,2929,2110,2164,1984,120.0,9.1,291,2133,0.00,2.38,16.00,0.974,10500,0.000,0.060,2929,3510,1998,2084,1912,0,0,0,0,0,0,15.23,14.90,14.30 $GC,2163,0.60,196.1,2929,3511,2084,1912,114.5,10.8,299,2170,0.00,2.28,0.00,0.000,1030,0.000,0.044,2940,2119,1998,2084,1913,0,0,0,0,0,0,15.01,14.92,15.02 $GC,2427,0.60,196.1,2940,2118,2084,1910,89.1,11.7,348,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2118,1997,2084,1910,0,0,0,0,0,0,15.23,15.23,15.23 $GC,2691,0.65,291.0,2940,2118,2084,1909,69.6,5.2,397,2773,0.00,2.35,73.10,0.952,10756,0.000,0.054,2952,716,1612,1705,1520,0,0,0,0,0,0,15.23,14.53,14.14 $GC,2792,0.68,330.5,2951,716,1699,1521,62.9,8.1,411,2835,0.00,2.35,31.58,0.918,11270,0.000,0.047,2952,2095,1451,1541,1361,0,0,0,0,0,0,14.76,14.70,14.05 $GC,3089,0.68,330.5,2951,2097,1541,1354,28.5,13.6,465,3096,0.00,2.42,0.00,0.000,2308,0.000,0.063,2951,3539,1447,1540,1355,0,0,0,0,0,0,15.16,14.83,15.16 $GC,3119,0.68,330.5,2951,3539,1540,1355,24.2,13.9,470,3127,0.00,2.40,0.00,0.000,3078,0.000,0.052,2962,2114,1448,1541,1355,0,0,0,0,0,0,14.98,14.85,15.00 $STATE,3274,end climb,SURFACE_DEPTH_REACHED $STATE,3275,begin surface coast $FINISH,0.3,1.023057 $STATE,3303,end surface coast,CONTROL_FINISHED_OK $STATE,3303,begin surface $SM_CCo,3319,28.42,0.192,0,0,1167,400.08 $SM_GC,1.46,6.40,0.25,28.42,0.056,0.064,0.192,155,2300,1167,-7.89,-1.16,400.08,0,0,0,0,0,0,15.00,14.98,14.71 $IRIDIUM_FIX,2234.68,-15802.37,240921,043053 $TT8_MAMPS,0.02247,0.283122 $HUMID,50.47 $INTERNAL_PRESSURE,9.32615 $TCM_TEMP,25.20 $XPDR_PINGS,2 $24V_AH,13.45,124.845 $10V_AH,12.94,0.000 $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,15.625,24.075,359.450,28.425,0.000,31.414,42.743,122.394,0.500,0.000,15.685,1213.691,619.613,412.219,1306.252,140.135,0.000,884.868,0.000,1126.913,0.000,0.555,0.000 $DEVICE_MAMPS,433.755,108.630,1080.945,192.015,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,334.393,387.948,773.982,655.987,766.627,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339104 $DATA_FILE_SIZE,43933,504 $CAP_FILE_SIZE,105893,0 $CFSIZE,1023623168,972128256 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1 $CURRENT,0.069,351.12,1 $GPS,240921,053213,2245.188,-15800.066,6,0.9,17,9.8,0.6,276.3,9,9.7