version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 533 start: 9 26 121 0 25 12 data: $ID,626 $MISSION,3 $DIVE,533 $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,60 $R_STBD_OVSHOOT,29 $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 $GPS1,260921,001701,2244.5803,-15800.4463,7,0.9,35,9.8,0.4,233.4,10,5.5 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.21 $_SM_ANGLEo,-76.7 $GPS2,260921,002420,2244.5564,-15800.5332,6,0.8,14,9.8,0.0,25.6,11,9.4 $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,47.5,1226,-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,-116.8,122,2241,1198,1114,0.0,0.0,0,81,0.00,0.00,-62.65,0.000,16386,0.000,0.000,123,2237,3211,3174,3249,0,0,0,0,0,0,15.16,28.83,15.17 $GC,84,-0.55,-116.8,122,2237,3174,3248,4.2,-9.0,9,100,8.40,2.40,-1.02,0.000,18692,0.435,0.063,2552,3688,3280,3252,3309,0,0,0,0,0,0,14.27,13.47,14.54 $GC,155,-0.55,-116.8,2551,3689,3257,3305,29.4,-17.9,21,163,0.05,2.38,0.00,0.000,3078,0.374,0.047,2569,2288,3281,3261,3302,0,0,0,0,0,0,14.63,14.81,14.87 $GC,417,-0.55,-116.8,2568,2284,3266,3296,85.2,-18.7,70,424,0.00,2.42,0.00,0.000,2564,0.000,0.055,2570,844,3281,3267,3296,0,0,0,0,0,0,15.21,14.86,15.21 $GC,529,-0.55,-116.8,2569,844,3267,3296,103.8,-13.4,91,537,0.00,2.38,0.00,0.000,3078,0.000,0.051,2560,2270,3281,3268,3295,0,0,0,0,0,0,15.03,14.90,15.04 $GC,790,-0.55,-116.8,2560,2270,3268,3296,143.8,-13.2,140,797,0.00,2.40,0.00,0.000,2308,0.000,0.065,2549,3688,3281,3268,3295,0,0,0,0,0,0,15.23,14.85,15.24 $GC,810,-0.55,-116.8,2549,3688,3268,3296,146.8,-13.4,143,819,0.08,2.33,0.00,0.000,3078,0.307,0.044,2578,2261,3281,3267,3296,0,0,0,0,0,0,14.69,14.95,14.92 $GC,1062,-0.55,-116.8,2577,2257,3268,3295,176.1,-11.7,170,1072,0.00,2.28,0.00,0.000,516,0.000,0.051,2578,854,3282,3269,3295,0,0,0,0,0,0,15.28,14.95,15.29 $GC,1137,-0.55,-116.8,2578,854,3269,3295,183.8,-9.5,177,1146,0.00,2.33,0.00,0.000,3078,0.000,0.051,2569,2262,3282,3270,3295,0,0,0,0,0,0,14.72,14.67,14.74 $STATE,1284,end dive,TARGET_DEPTH_EXCEEDED $STATE,1284,begin apogee $GC,1290,-0.13,0.0,2569,2078,3270,3294,200.5,-11.6,192,1388,0.35,0.10,93.20,1.088,10246,0.230,0.129,2704,2161,2798,2862,2734,0,0,0,0,0,0,14.45,14.66,14.07 $STATE,1389,end apogee,CONTROL_FINISHED_OK $STATE,1389,begin climb $GC,1391,0.55,116.8,2704,2161,2862,2734,203.6,0.0,202,1495,0.50,0.00,95.50,1.076,10502,0.151,0.000,2914,2161,2321,2404,2238,0,0,0,0,0,0,14.59,14.56,14.00 $GC,1736,0.57,152.0,2914,2161,2402,2234,179.0,8.3,237,1776,0.00,2.35,28.65,1.041,10756,0.000,0.050,2926,757,2177,2263,2092,0,0,0,0,0,0,15.18,14.64,14.19 $GC,1852,0.58,175.1,2925,757,2257,2092,169.1,8.9,248,1881,0.00,2.20,19.52,1.016,11270,0.000,0.047,2925,2096,2085,2170,2000,0,0,0,0,0,0,14.83,14.77,14.14 $GC,2125,0.58,175.1,2925,2096,2170,1994,140.7,10.9,283,2132,0.00,2.42,0.00,0.000,2308,0.000,0.066,2926,3540,2082,2170,1994,0,0,0,0,0,0,15.20,14.88,15.20 $GC,2267,0.58,175.1,2926,3540,2170,1994,123.8,12.7,309,2274,0.00,2.25,0.00,0.000,1030,0.000,0.046,2937,2167,2082,2169,1995,0,0,0,0,0,0,15.03,14.93,15.04 $GC,2532,0.58,175.1,2937,2165,2170,1994,92.7,10.6,358,2539,0.00,2.38,0.00,0.000,260,0.000,0.063,2937,3534,2082,2170,1994,0,0,0,0,0,0,15.23,14.83,15.23 $GC,2568,0.58,175.1,2937,3534,2170,1994,88.8,10.5,364,2576,0.00,2.38,0.00,0.000,5126,0.000,0.044,2947,2124,2082,2170,1994,0,0,0,0,0,0,15.04,14.88,15.06 $GC,2835,0.61,219.6,2947,2123,2169,1994,66.7,7.8,413,2877,0.00,2.40,35.20,0.959,8452,0.000,0.061,2948,3537,1900,1983,1818,0,0,0,0,0,0,15.23,14.65,14.27 $GC,2885,0.64,263.6,2947,3537,1983,1820,62.8,7.8,420,2930,0.00,2.40,35.40,0.936,13318,0.000,0.046,2958,2121,1722,1809,1636,0,0,0,0,0,0,14.85,14.80,14.13 $GC,3188,0.64,263.6,2958,2121,1809,1630,29.9,11.9,474,3196,0.00,2.38,0.00,0.000,516,0.000,0.059,2970,723,1719,1808,1630,0,0,0,0,0,0,15.14,14.74,15.15 $GC,3247,0.64,263.6,2970,723,1803,1631,22.9,11.4,484,3255,0.00,2.40,0.00,0.000,5126,0.000,0.051,2970,2137,1716,1802,1631,0,0,0,0,0,0,14.97,14.84,15.00 $STATE,3408,end climb,SURFACE_DEPTH_REACHED $STATE,3408,begin surface coast $FINISH,0.3,1.023060 $STATE,3430,end surface coast,CONTROL_FINISHED_OK $STATE,3431,begin surface $SM_CCo,3446,55.75,0.189,0,0,1168,400.08 $SM_GC,1.43,6.47,0.20,55.75,0.062,0.083,0.189,162,2281,1168,-7.91,-0.93,400.08,0,0,0,0,0,0,14.97,14.95,14.68 $IRIDIUM_FIX,2237.01,-15801.49,260921,001824 $TT8_MAMPS,0.02247,0.290612 $HUMID,50.98 $INTERNAL_PRESSURE,9.30662 $TCM_TEMP,24.70 $XPDR_PINGS,4 $24V_AH,13.47,131.613 $10V_AH,12.82,0.000 $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,15.850,43.050,307.475,55.750,0.000,26.175,46.445,252.829,1.000,0.000,15.362,1275.582,633.756,407.889,1469.157,188.437,0.000,908.949,0.000,1187.842,0.000,0.556,0.000 $DEVICE_MAMPS,435.285,133.875,1087.830,188.955,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,344.370,485.413,788.787,668.905,784.054,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339216 $DATA_FILE_SIZE,47259,518 $CAP_FILE_SIZE,111278,0 $CFSIZE,1023623168,968851456 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2 $CURRENT,0.170,248.09,1 $GPS,260921,012428,2244.684,-15800.611,6,0.8,17,9.8,0.0,269.7,10,9.6