version: 66.12 revision: DORADO glider: 626 mission: 3 dive: 619 start: 9 30 121 0 0 19 data: $ID,626 $MISSION,3 $DIVE,619 $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,31 $R_STBD_OVSHOOT,53 $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 $GPS1,290921,235115,2245.0396,-15800.0352,8,1.1,19,9.8,0.7,3.6,8,9.9 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.19 $_SM_ANGLEo,-75.0 $GPS2,290921,235928,2245.0513,-15800.0791,7,1.0,18,9.8,0.5,50.8,8,9.5 $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,119.3,165,-19.1,-10.101,-25.00,1808 $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,-0.58,-116.8,123,2297,1202,1113,0.0,0.0,0,75,0.00,0.00,-56.12,0.000,16386,0.000,0.000,124,2297,2931,2913,2949,0,0,0,0,0,0,15.18,28.83,15.19 $GC,78,-0.58,-116.8,123,2297,2913,2950,3.1,-5.8,8,101,8.35,2.40,-6.10,0.000,18948,0.433,0.064,2561,843,3279,3261,3298,0,0,0,0,0,0,14.26,13.94,14.54 $GC,131,-0.58,-116.8,2560,843,3265,3295,20.2,-27.2,16,138,0.00,2.40,0.00,0.000,3078,0.000,0.054,2552,2250,3280,3266,3295,0,0,0,0,0,0,14.97,14.83,14.99 $GC,392,-0.58,-116.8,2552,2250,3267,3294,79.5,-21.5,65,400,0.00,2.40,0.00,0.000,2564,0.000,0.054,2552,847,3280,3267,3293,0,0,0,0,0,0,15.21,14.83,15.21 $GC,434,-0.58,-116.8,2552,846,3267,3293,87.7,-18.7,72,443,0.05,2.45,0.00,0.000,3078,0.357,0.055,2558,2262,3280,3268,3293,0,0,0,0,0,0,14.50,14.80,14.69 $GC,700,-0.58,-116.8,2557,2265,3268,3293,130.6,-15.8,121,707,0.00,2.38,0.00,0.000,2564,0.000,0.053,2558,848,3279,3267,3292,0,0,0,0,0,0,15.23,14.90,15.23 $GC,742,-0.58,-116.8,2558,847,3266,3292,137.2,-15.2,128,749,0.00,2.42,0.00,0.000,3078,0.000,0.054,2549,2271,3279,3268,3291,0,0,0,0,0,0,15.02,14.87,15.03 $GC,999,-0.58,-116.8,2549,2271,3268,3291,174.7,-13.9,160,1008,0.00,2.30,0.00,0.000,2308,0.000,0.064,2538,3668,3279,3268,3291,0,0,0,0,0,0,15.28,14.77,15.28 $GC,1034,-0.58,-116.8,2538,3668,3268,3291,179.5,-14.4,163,1041,0.08,2.30,0.00,0.000,3078,0.299,0.046,2566,2261,3279,3268,3291,0,0,0,0,0,0,14.71,14.95,14.94 $STATE,1218,end dive,TARGET_DEPTH_EXCEEDED $STATE,1218,begin apogee $GC,1226,-0.13,0.0,2566,2075,3268,3290,200.4,-10.9,182,1323,0.35,0.10,92.93,1.092,10246,0.233,0.127,2703,2159,2799,2865,2733,0,0,0,0,0,0,14.54,14.65,14.03 $STATE,1324,end apogee,CONTROL_FINISHED_OK $STATE,1324,begin climb $GC,1327,0.58,116.8,2703,2160,2864,2732,204.4,0.0,192,1434,0.52,2.28,96.03,1.074,10500,0.143,0.060,2926,3512,2322,2407,2238,0,0,0,0,0,0,14.59,14.41,13.97 $GC,1591,0.59,130.7,2925,3512,2406,2238,190.5,9.3,218,1612,0.00,2.22,12.95,1.003,9222,0.000,0.043,2936,2156,2263,2350,2177,0,0,0,0,0,0,14.93,14.83,14.14 $GC,1852,0.59,140.0,2936,2156,2350,2172,166.0,9.6,244,1871,0.00,2.25,8.35,0.951,8452,0.000,0.060,2936,3510,2228,2317,2139,0,0,0,0,0,0,15.21,14.70,14.19 $GC,1980,0.59,140.0,2936,3511,2316,2139,152.2,10.5,256,1986,0.00,2.28,0.00,0.000,5126,0.000,0.046,2947,2125,2227,2316,2139,0,0,0,0,0,0,15.04,14.93,15.05 $GC,2242,0.62,190.0,2947,2125,2317,2136,130.1,7.3,303,2289,0.00,2.42,40.42,1.019,8452,0.000,0.063,2947,3512,2023,2108,1938,0,0,0,0,0,0,15.23,14.81,14.21 $GC,2321,0.62,190.0,2947,3512,2108,1937,122.7,11.8,315,2327,0.00,2.33,0.00,0.000,5126,0.000,0.047,2958,2119,2021,2106,1937,0,0,0,0,0,0,14.93,14.83,14.95 $GC,2585,0.62,190.0,2958,2118,2108,1933,92.1,12.0,364,2593,0.00,2.40,0.00,0.000,4612,0.000,0.059,2969,710,2019,2106,1932,0,0,0,0,0,0,15.20,14.83,15.21 $GC,2607,0.62,190.0,2969,710,2101,1933,89.7,11.6,367,2614,0.05,2.33,0.00,0.000,5126,0.376,0.051,2951,2096,2016,2101,1932,0,0,0,0,0,0,14.66,14.90,14.92 $GC,2870,0.68,278.5,2951,2098,2101,1933,66.6,5.1,416,2944,0.00,0.00,67.82,0.949,10502,0.000,0.000,2951,2098,1664,1754,1574,0,0,0,0,0,0,15.21,14.55,14.16 $GC,3201,0.68,278.5,2950,2098,1754,1568,36.1,10.1,474,3209,0.00,2.40,0.00,0.000,2564,0.000,0.058,2960,708,1660,1753,1568,0,0,0,0,0,0,15.16,14.81,15.16 $GC,3229,0.68,278.5,2960,707,1749,1569,33.3,10.2,478,3238,0.00,2.42,0.00,0.000,3078,0.000,0.053,2960,2128,1658,1749,1568,0,0,0,0,0,0,14.97,14.85,14.99 $GC,3495,0.68,278.5,2960,2128,1749,1567,3.1,12.2,527,3502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2961,2128,1658,1749,1567,0,0,0,0,0,0,15.20,15.20,15.20 $STATE,3508,end climb,SURFACE_DEPTH_REACHED $STATE,3508,begin surface coast $FINISH,0.2,1.023042 $STATE,3530,end surface coast,CONTROL_FINISHED_OK $STATE,3530,begin surface $SM_CCo,3547,50.10,0.185,0,0,1166,400.08 $SM_GC,1.05,6.28,0.22,50.10,0.028,0.069,0.185,155,2301,1166,-7.95,-0.74,400.08,0,0,0,0,0,0,14.95,14.97,14.67 $IRIDIUM_FIX,2234.68,-15800.20,290921,235524 $TT8_MAMPS,0.023219,0.341544 $HUMID,51.49 $INTERNAL_PRESSURE,9.31638 $TCM_TEMP,25.00 $XPDR_PINGS,0 $24V_AH,13.94,146.622 $10V_AH,12.89,0.000 $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,15.675,42.900,318.500,50.100,0.000,65.746,96.005,132.807,0.000,0.000,19.452,1315.537,678.682,403.484,1538.981,184.645,0.000,927.379,0.000,1262.055,0.000,0.555,0.000 $DEVICE_MAMPS,432.990,126.990,1092.420,185.130,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,353.815,480.382,834.368,711.394,833.076,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000 $MEM,339136 $DATA_FILE_SIZE,47132,533 $CAP_FILE_SIZE,120689,0 $CFSIZE,1023623168,961937408 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1 $CURRENT,0.067,210.83,1 $GPS,300921,010118,2244.744,-15759.812,8,0.9,25,9.8,0.6,293.5,8,9.7