version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 551 start: 9 26 121 19 48 59 data: $ID,626 $MISSION,3 $DIVE,551 $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,62 $R_STBD_OVSHOOT,33 $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 $GPS1,260921,194249,2245.1870,-15800.1221,7,1.1,42,9.8,1.2,291.3,8,5.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.24 $_SM_ANGLEo,-75.6 $GPS2,260921,194809,2245.2124,-15800.1475,7,1.0,17,9.8,0.0,269.3,8,9.9 $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,139.4,467,-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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,16,-0.55,-116.8,123,2231,1199,1115,0.0,0.0,0,80,0.00,0.00,-61.53,0.000,16386,0.000,0.000,123,2231,3142,3110,3174,0,0,0,0,0,0,15.19,28.83,15.19 $GC,83,-0.55,-116.8,123,2231,3110,3175,3.5,-5.9,9,99,8.45,2.25,-2.17,0.000,18948,0.439,0.060,2574,859,3278,3250,3307,0,0,0,0,0,0,14.29,13.46,14.57 $GC,150,-0.55,-116.8,2573,859,3263,3296,28.5,-23.9,20,157,0.00,2.42,0.00,0.000,3078,0.000,0.054,2565,2264,3280,3266,3295,0,0,0,0,0,0,14.86,14.80,14.90 $GC,415,-0.55,-116.8,2565,2265,3266,3295,90.7,-20.2,69,421,0.00,2.38,0.00,0.000,2308,0.000,0.064,2554,3684,3280,3266,3295,0,0,0,0,0,0,15.22,14.87,15.22 $GC,450,-0.55,-116.8,2552,3685,3266,3295,96.9,-16.5,75,459,0.05,2.30,0.00,0.000,3078,0.364,0.046,2572,2284,3280,3266,3295,0,0,0,0,0,0,14.69,14.93,14.91 $GC,710,-0.55,-116.8,2572,2280,3267,3295,135.8,-14.4,124,717,0.00,2.40,0.00,0.000,516,0.000,0.054,2572,853,3281,3268,3294,0,0,0,0,0,0,15.24,14.88,15.24 $GC,840,-0.55,-116.8,2572,852,3268,3294,152.4,-12.4,147,848,0.00,2.40,0.00,0.000,3078,0.000,0.052,2563,2259,3280,3268,3292,0,0,0,0,0,0,14.79,14.73,14.83 $GC,1090,-0.55,-116.8,2563,2260,3269,3292,187.2,-14.2,172,1096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2260,3280,3269,3292,0,0,0,0,0,0,15.28,15.29,15.28 $STATE,1196,end dive,TARGET_DEPTH_EXCEEDED $STATE,1196,begin apogee $GC,1202,-0.13,0.0,2563,2078,3269,3291,201.1,-11.9,183,1300,0.38,0.10,92.60,1.081,10246,0.242,0.129,2705,2163,2797,2861,2734,0,0,0,0,0,0,14.43,14.66,14.09 $STATE,1301,end apogee,CONTROL_FINISHED_OK $STATE,1301,begin climb $GC,1303,0.55,116.8,2705,2162,2863,2734,204.6,0.0,193,1409,0.50,2.38,95.40,1.069,10756,0.150,0.049,2929,748,2320,2401,2239,0,0,0,0,0,0,14.59,14.59,14.00 $GC,1465,0.58,166.3,2928,748,2390,2239,199.5,7.5,209,1515,0.00,2.25,40.15,1.048,11270,0.000,0.050,2929,2098,2120,2206,2035,0,0,0,0,0,0,14.71,14.66,13.98 $GC,1755,0.58,166.3,2928,2098,2205,2031,167.4,11.0,238,1765,0.00,2.40,0.00,0.000,2308,0.000,0.066,2929,3534,2119,2206,2032,0,0,0,0,0,0,15.19,14.74,15.19 $GC,1859,0.58,166.3,2928,3533,2205,2032,155.5,11.7,248,1869,0.00,2.25,0.00,0.000,5126,0.000,0.046,2940,2158,2118,2205,2032,0,0,0,0,0,0,15.04,14.93,15.05 $GC,2122,0.58,166.3,2939,2156,2205,2031,125.7,10.7,293,2129,0.00,2.40,0.00,0.000,4612,0.000,0.056,2951,715,2118,2206,2030,0,0,0,0,0,0,15.24,14.92,15.24 $GC,2171,0.58,172.2,2951,714,2198,2030,120.9,9.8,301,2185,0.00,2.35,5.53,0.852,13318,0.000,0.051,2951,2126,2096,2182,2011,0,0,0,0,0,0,15.05,14.93,14.21 $GC,2443,0.61,210.5,2951,2126,2182,2011,95.4,8.1,351,2483,0.00,2.38,31.02,0.972,12548,0.000,0.064,2951,3531,1941,2021,1861,0,0,0,0,0,0,15.24,14.65,14.22 $GC,2540,0.61,210.5,2951,3531,2021,1861,84.5,11.8,367,2548,0.05,2.33,0.00,0.000,5126,0.390,0.047,2946,2129,1941,2021,1861,0,0,0,0,0,0,14.63,14.87,14.88 $GC,2804,0.64,265.0,2945,2126,2021,1857,60.3,7.3,416,2855,0.00,2.40,43.12,0.932,10500,0.000,0.063,2945,3531,1717,1805,1630,0,0,0,0,0,0,15.20,14.64,14.23 $GC,2927,0.64,265.0,2945,3531,1805,1630,48.4,10.9,436,2935,0.00,2.40,0.00,0.000,1030,0.000,0.050,2955,2110,1717,1805,1630,0,0,0,0,0,0,14.91,14.81,14.93 $GC,3189,0.64,265.0,2954,2107,1805,1626,20.0,10.8,485,3197,0.00,2.35,0.00,0.000,516,0.000,0.060,2966,713,1715,1804,1626,0,0,0,0,0,0,15.18,14.83,15.19 $GC,3253,0.64,265.0,2966,712,1798,1626,12.5,11.9,496,3262,0.00,2.40,0.00,0.000,5126,0.000,0.051,2966,2127,1712,1798,1626,0,0,0,0,0,0,15.00,14.85,15.02 $STATE,3330,end climb,SURFACE_DEPTH_REACHED $STATE,3330,begin surface coast $FINISH,0.2,1.023131 $STATE,3353,end surface coast,CONTROL_FINISHED_OK $STATE,3353,begin surface $SM_CCo,3369,55.53,0.181,0,0,1166,400.08 $SM_GC,1.39,6.47,0.22,55.53,0.061,0.073,0.181,157,2305,1166,-7.93,-0.76,400.08,0,0,0,0,0,0,15.00,14.97,14.69 $IRIDIUM_FIX,2234.68,-15802.37,260921,194414 $TT8_MAMPS,0.023219,0.283871 $HUMID,50.90 $INTERNAL_PRESSURE,9.31638 $TCM_TEMP,24.90 $XPDR_PINGS,3 $24V_AH,13.46,134.677 $10V_AH,13.00,0.000 $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,15.900,43.075,307.825,55.525,0.000,27.207,45.242,126.502,0.750,0.000,18.748,1264.825,581.324,405.506,1362.679,162.420,0.000,903.983,0.000,1186.645,0.000,0.556,0.000 $DEVICE_MAMPS,439.110,128.520,1080.945,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,341.084,369.631,799.430,676.775,782.808,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339072 $DATA_FILE_SIZE,44183,514 $CAP_FILE_SIZE,116865,0 $CFSIZE,1023623168,967409664 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.092,332.26,1 $GPS,260921,204719,2245.089,-15759.977,6,0.9,39,9.8,0.6,290.8,9,4.7